id	sid	tid	token	lemma	pos
fuelectenerg-2188	1	1	instruction	instruction	NOUN
fuelectenerg-2188	1	2	facta	facta	PROPN
fuelectenerg-2188	1	3	universitatis	universitatis	PROPN
fuelectenerg-2188	1	4	series	series	NOUN
fuelectenerg-2188	1	5	:	:	PUNCT
fuelectenerg-2188	1	6	electronics	electronic	NOUN
fuelectenerg-2188	1	7	and	and	CCONJ
fuelectenerg-2188	1	8	energetics	energetics	NOUN
fuelectenerg-2188	1	9	vol	vol	NOUN
fuelectenerg-2188	1	10	.	.	PROPN
fuelectenerg-2188	1	11	30	30	NUM
fuelectenerg-2188	1	12	,	,	PUNCT
fuelectenerg-2188	1	13	no	no	DET
fuelectenerg-2188	1	14	3	3	NUM
fuelectenerg-2188	1	15	,	,	PUNCT
fuelectenerg-2188	1	16	september	september	PROPN
fuelectenerg-2188	1	17	2017	2017	NUM
fuelectenerg-2188	1	18	,	,	PUNCT
fuelectenerg-2188	1	19	pp	pp	ADJ
fuelectenerg-2188	1	20	.	.	PUNCT
fuelectenerg-2188	2	1	403	403	NUM
fuelectenerg-2188	2	2	416	416	NUM
fuelectenerg-2188	2	3	doi	doi	NOUN
fuelectenerg-2188	2	4	:	:	PUNCT
fuelectenerg-2188	2	5	10.2298	10.2298	NUM
fuelectenerg-2188	2	6	/	/	SYM
fuelectenerg-2188	2	7	fuee1703403p	fuee1703403p	PROPN
fuelectenerg-2188	2	8	analasys	analasys	NOUN
fuelectenerg-2188	2	9	of	of	ADP
fuelectenerg-2188	2	10	two	two	NUM
fuelectenerg-2188	2	11	low	low	ADJ
fuelectenerg-2188	2	12	-	-	PUNCT
fuelectenerg-2188	2	13	cost	cost	NOUN
fuelectenerg-2188	2	14	and	and	CCONJ
fuelectenerg-2188	2	15	robust	robust	ADJ
fuelectenerg-2188	2	16	methods	method	NOUN
fuelectenerg-2188	2	17	for	for	ADP
fuelectenerg-2188	2	18	indoor	indoor	ADJ
fuelectenerg-2188	2	19	localisation	localisation	NOUN
fuelectenerg-2188	2	20	of	of	ADP
fuelectenerg-2188	2	21	mobile	mobile	ADJ
fuelectenerg-2188	2	22	robots	robot	NOUN
fuelectenerg-2188	2	23			PROPN
fuelectenerg-2188	2	24	*	*	PROPN
fuelectenerg-2188	2	25	miloš	miloš	PROPN
fuelectenerg-2188	2	26	petković	petković	NOUN
fuelectenerg-2188	2	27	,	,	PUNCT
fuelectenerg-2188	2	28	vladimir	vladimir	PROPN
fuelectenerg-2188	2	29	sibinović	sibinović	PROPN
fuelectenerg-2188	2	30	,	,	PUNCT
fuelectenerg-2188	2	31	dragiša	dragiša	PROPN
fuelectenerg-2188	2	32	popović	popović	PROPN
fuelectenerg-2188	2	33	,	,	PUNCT
fuelectenerg-2188	2	34	vladimir	vladimir	PROPN
fuelectenerg-2188	2	35	mitić	mitić	PROPN
fuelectenerg-2188	2	36	,	,	PUNCT
fuelectenerg-2188	2	37	darko	darko	PROPN
fuelectenerg-2188	2	38	todorović	todorović	PROPN
fuelectenerg-2188	2	39	,	,	PUNCT
fuelectenerg-2188	2	40	goran	goran	PROPN
fuelectenerg-2188	2	41	s.	s.	PROPN
fuelectenerg-2188	2	42	đorđević	đorđević	PROPN
fuelectenerg-2188	2	43	university	university	PROPN
fuelectenerg-2188	2	44	of	of	ADP
fuelectenerg-2188	2	45	niš	niš	PROPN
fuelectenerg-2188	2	46	,	,	PUNCT
fuelectenerg-2188	2	47	faculty	faculty	NOUN
fuelectenerg-2188	2	48	of	of	ADP
fuelectenerg-2188	2	49	electronic	electronic	ADJ
fuelectenerg-2188	2	50	engineering	engineering	NOUN
fuelectenerg-2188	2	51	,	,	PUNCT
fuelectenerg-2188	2	52	niš	niš	NOUN
fuelectenerg-2188	2	53	,	,	PUNCT
fuelectenerg-2188	2	54	serbia	serbia	PROPN
fuelectenerg-2188	2	55	abstract	abstract	ADJ
fuelectenerg-2188	2	56	.	.	PUNCT
fuelectenerg-2188	3	1	this	this	DET
fuelectenerg-2188	3	2	paper	paper	NOUN
fuelectenerg-2188	3	3	presents	present	VERB
fuelectenerg-2188	3	4	two	two	NUM
fuelectenerg-2188	3	5	simple	simple	ADJ
fuelectenerg-2188	3	6	and	and	CCONJ
fuelectenerg-2188	3	7	cost	cost	VERB
fuelectenerg-2188	3	8	effective	effective	ADJ
fuelectenerg-2188	3	9	indoor	indoor	ADJ
fuelectenerg-2188	3	10	localisation	localisation	NOUN
fuelectenerg-2188	3	11	methods	method	NOUN
fuelectenerg-2188	3	12	.	.	PUNCT
fuelectenerg-2188	4	1	the	the	DET
fuelectenerg-2188	4	2	first	first	ADJ
fuelectenerg-2188	4	3	method	method	NOUN
fuelectenerg-2188	4	4	uses	use	VERB
fuelectenerg-2188	4	5	ceiling	ceiling	NOUN
fuelectenerg-2188	4	6	-	-	PUNCT
fuelectenerg-2188	4	7	mounted	mount	VERB
fuelectenerg-2188	4	8	wide	wide	ADJ
fuelectenerg-2188	4	9	-	-	PUNCT
fuelectenerg-2188	4	10	view	view	NOUN
fuelectenerg-2188	4	11	angle	angle	NOUN
fuelectenerg-2188	4	12	webcam	webcam	NOUN
fuelectenerg-2188	4	13	,	,	PUNCT
fuelectenerg-2188	4	14	computer	computer	NOUN
fuelectenerg-2188	4	15	vision	vision	NOUN
fuelectenerg-2188	4	16	and	and	CCONJ
fuelectenerg-2188	4	17	coloured	coloured	ADJ
fuelectenerg-2188	4	18	circular	circular	ADJ
fuelectenerg-2188	4	19	markers	marker	NOUN
fuelectenerg-2188	4	20	,	,	PUNCT
fuelectenerg-2188	4	21	placed	place	VERB
fuelectenerg-2188	4	22	on	on	ADP
fuelectenerg-2188	4	23	the	the	DET
fuelectenerg-2188	4	24	top	top	NOUN
fuelectenerg-2188	4	25	of	of	ADP
fuelectenerg-2188	4	26	a	a	DET
fuelectenerg-2188	4	27	robot	robot	NOUN
fuelectenerg-2188	4	28	.	.	PUNCT
fuelectenerg-2188	5	1	main	main	ADJ
fuelectenerg-2188	5	2	drawbacks	drawback	NOUN
fuelectenerg-2188	5	3	of	of	ADP
fuelectenerg-2188	5	4	this	this	DET
fuelectenerg-2188	5	5	method	method	NOUN
fuelectenerg-2188	5	6	are	be	AUX
fuelectenerg-2188	5	7	lens	lens	NOUN
fuelectenerg-2188	5	8	distortion	distortion	NOUN
fuelectenerg-2188	5	9	and	and	CCONJ
fuelectenerg-2188	5	10	sensitivity	sensitivity	NOUN
fuelectenerg-2188	5	11	to	to	ADP
fuelectenerg-2188	5	12	lighting	lighting	NOUN
fuelectenerg-2188	5	13	conditions	condition	NOUN
fuelectenerg-2188	5	14	.	.	PUNCT
fuelectenerg-2188	6	1	after	after	ADP
fuelectenerg-2188	6	2	solving	solve	VERB
fuelectenerg-2188	6	3	these	these	DET
fuelectenerg-2188	6	4	problems	problem	NOUN
fuelectenerg-2188	6	5	,	,	PUNCT
fuelectenerg-2188	6	6	a	a	DET
fuelectenerg-2188	6	7	high	high	ADJ
fuelectenerg-2188	6	8	localisation	localisation	NOUN
fuelectenerg-2188	6	9	accuracy	accuracy	NOUN
fuelectenerg-2188	6	10	of	of	ADP
fuelectenerg-2188	6	11	±1	±1	ADJ
fuelectenerg-2188	6	12	cm	cm	NOUN
fuelectenerg-2188	6	13	is	be	AUX
fuelectenerg-2188	6	14	achieved	achieve	VERB
fuelectenerg-2188	6	15	at	at	ADP
fuelectenerg-2188	6	16	about	about	ADV
fuelectenerg-2188	6	17	5	5	NUM
fuelectenerg-2188	6	18	hz	hz	VERB
fuelectenerg-2188	6	19	sampling	sample	VERB
fuelectenerg-2188	6	20	rate	rate	NOUN
fuelectenerg-2188	6	21	.	.	PUNCT
fuelectenerg-2188	7	1	the	the	DET
fuelectenerg-2188	7	2	second	second	ADJ
fuelectenerg-2188	7	3	method	method	NOUN
fuelectenerg-2188	7	4	is	be	AUX
fuelectenerg-2188	7	5	a	a	DET
fuelectenerg-2188	7	6	version	version	NOUN
fuelectenerg-2188	7	7	of	of	ADP
fuelectenerg-2188	7	8	trilateration	trilateration	NOUN
fuelectenerg-2188	7	9	,	,	PUNCT
fuelectenerg-2188	7	10	based	base	VERB
fuelectenerg-2188	7	11	on	on	ADP
fuelectenerg-2188	7	12	ultrasound	ultrasound	ADJ
fuelectenerg-2188	7	13	time	time	NOUN
fuelectenerg-2188	7	14	of	of	ADP
fuelectenerg-2188	7	15	flight	flight	NOUN
fuelectenerg-2188	7	16	distance	distance	NOUN
fuelectenerg-2188	7	17	measurement	measurement	NOUN
fuelectenerg-2188	7	18	.	.	PUNCT
fuelectenerg-2188	8	1	an	an	DET
fuelectenerg-2188	8	2	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	8	3	beacon	beacon	NOUN
fuelectenerg-2188	8	4	is	be	AUX
fuelectenerg-2188	8	5	placed	place	VERB
fuelectenerg-2188	8	6	on	on	ADP
fuelectenerg-2188	8	7	a	a	DET
fuelectenerg-2188	8	8	robot	robot	NOUN
fuelectenerg-2188	8	9	while	while	SCONJ
fuelectenerg-2188	8	10	wall	wall	NOUN
fuelectenerg-2188	8	11	detectors	detector	NOUN
fuelectenerg-2188	8	12	are	be	AUX
fuelectenerg-2188	8	13	strategically	strategically	ADV
fuelectenerg-2188	8	14	placed	place	VERB
fuelectenerg-2188	8	15	to	to	PART
fuelectenerg-2188	8	16	avoid	avoid	VERB
fuelectenerg-2188	8	17	an	an	DET
fuelectenerg-2188	8	18	excessive	excessive	ADJ
fuelectenerg-2188	8	19	occlusion	occlusion	NOUN
fuelectenerg-2188	8	20	.	.	PUNCT
fuelectenerg-2188	9	1	the	the	DET
fuelectenerg-2188	9	2	zigbee	zigbee	PROPN
fuelectenerg-2188	9	3	network	network	NOUN
fuelectenerg-2188	9	4	is	be	AUX
fuelectenerg-2188	9	5	used	use	VERB
fuelectenerg-2188	9	6	for	for	ADP
fuelectenerg-2188	9	7	inter	inter	ADJ
fuelectenerg-2188	9	8	-	-	ADJ
fuelectenerg-2188	9	9	device	device	ADJ
fuelectenerg-2188	9	10	synchronisation	synchronisation	NOUN
fuelectenerg-2188	9	11	and	and	CCONJ
fuelectenerg-2188	9	12	for	for	ADP
fuelectenerg-2188	9	13	broadcasting	broadcast	VERB
fuelectenerg-2188	9	14	measured	measure	VERB
fuelectenerg-2188	9	15	data	datum	NOUN
fuelectenerg-2188	9	16	.	.	PUNCT
fuelectenerg-2188	10	1	robot	robot	NOUN
fuelectenerg-2188	10	2	location	location	NOUN
fuelectenerg-2188	10	3	is	be	AUX
fuelectenerg-2188	10	4	determined	determine	VERB
fuelectenerg-2188	10	5	as	as	ADP
fuelectenerg-2188	10	6	a	a	DET
fuelectenerg-2188	10	7	solution	solution	NOUN
fuelectenerg-2188	10	8	to	to	ADP
fuelectenerg-2188	10	9	the	the	DET
fuelectenerg-2188	10	10	minimisation	minimisation	NOUN
fuelectenerg-2188	10	11	of	of	ADP
fuelectenerg-2188	10	12	measurement	measurement	NOUN
fuelectenerg-2188	10	13	errors	error	NOUN
fuelectenerg-2188	10	14	.	.	PUNCT
fuelectenerg-2188	11	1	using	use	VERB
fuelectenerg-2188	11	2	nelder	nelder	ADJ
fuelectenerg-2188	11	3	-	-	PUNCT
fuelectenerg-2188	11	4	mead	mead	NOUN
fuelectenerg-2188	11	5	algorithm	algorithm	NOUN
fuelectenerg-2188	11	6	and	and	CCONJ
fuelectenerg-2188	11	7	low	low	ADJ
fuelectenerg-2188	11	8	-	-	PUNCT
fuelectenerg-2188	11	9	cost	cost	NOUN
fuelectenerg-2188	11	10	distance	distance	NOUN
fuelectenerg-2188	11	11	measuring	measure	VERB
fuelectenerg-2188	11	12	devices	device	NOUN
fuelectenerg-2188	11	13	,	,	PUNCT
fuelectenerg-2188	11	14	a	a	DET
fuelectenerg-2188	11	15	solid	solid	ADJ
fuelectenerg-2188	11	16	sub	sub	NOUN
fuelectenerg-2188	11	17	5	5	NUM
fuelectenerg-2188	11	18	cm	cm	NOUN
fuelectenerg-2188	11	19	localisation	localisation	NOUN
fuelectenerg-2188	11	20	accuracy	accuracy	NOUN
fuelectenerg-2188	11	21	is	be	AUX
fuelectenerg-2188	11	22	achieved	achieve	VERB
fuelectenerg-2188	11	23	at	at	ADP
fuelectenerg-2188	11	24	10hz	10hz	ADJ
fuelectenerg-2188	11	25	.	.	PUNCT
fuelectenerg-2188	12	1	key	key	ADJ
fuelectenerg-2188	12	2	words	word	NOUN
fuelectenerg-2188	12	3	:	:	PUNCT
fuelectenerg-2188	12	4	robot	robot	NOUN
fuelectenerg-2188	12	5	localization	localization	NOUN
fuelectenerg-2188	12	6	,	,	PUNCT
fuelectenerg-2188	12	7	nelder	nelder	NOUN
fuelectenerg-2188	12	8	-	-	PUNCT
fuelectenerg-2188	12	9	mead	mead	NOUN
fuelectenerg-2188	12	10	,	,	PUNCT
fuelectenerg-2188	12	11	gnu	gnu	X
fuelectenerg-2188	12	12	scientific	scientific	ADJ
fuelectenerg-2188	12	13	library	library	NOUN
fuelectenerg-2188	12	14	,	,	PUNCT
fuelectenerg-2188	12	15	usb	usb	PROPN
fuelectenerg-2188	12	16	camera	camera	NOUN
fuelectenerg-2188	12	17	,	,	PUNCT
fuelectenerg-2188	12	18	opencv	opencv	PROPN
fuelectenerg-2188	12	19	1	1	NUM
fuelectenerg-2188	12	20	.	.	PUNCT
fuelectenerg-2188	12	21	introduction	introduction	NOUN
fuelectenerg-2188	12	22	the	the	DET
fuelectenerg-2188	12	23	robot	robot	NOUN
fuelectenerg-2188	12	24	or	or	CCONJ
fuelectenerg-2188	12	25	objects	object	VERB
fuelectenerg-2188	12	26	indoor	indoor	ADJ
fuelectenerg-2188	12	27	localisation	localisation	NOUN
fuelectenerg-2188	12	28	is	be	AUX
fuelectenerg-2188	12	29	a	a	DET
fuelectenerg-2188	12	30	vital	vital	ADJ
fuelectenerg-2188	12	31	research	research	NOUN
fuelectenerg-2188	12	32	area	area	NOUN
fuelectenerg-2188	12	33	,	,	PUNCT
fuelectenerg-2188	12	34	intrinsically	intrinsically	ADV
fuelectenerg-2188	12	35	important	important	ADJ
fuelectenerg-2188	12	36	in	in	ADP
fuelectenerg-2188	12	37	expanding	expand	VERB
fuelectenerg-2188	12	38	competences	competence	NOUN
fuelectenerg-2188	12	39	of	of	ADP
fuelectenerg-2188	12	40	future	future	ADJ
fuelectenerg-2188	12	41	low	low	ADJ
fuelectenerg-2188	12	42	-	-	PUNCT
fuelectenerg-2188	12	43	cost	cost	NOUN
fuelectenerg-2188	12	44	home	home	NOUN
fuelectenerg-2188	12	45	robots	robot	NOUN
fuelectenerg-2188	12	46	.	.	PUNCT
fuelectenerg-2188	13	1	a	a	DET
fuelectenerg-2188	13	2	comprehensive	comprehensive	ADJ
fuelectenerg-2188	13	3	research	research	NOUN
fuelectenerg-2188	13	4	overview	overview	NOUN
fuelectenerg-2188	13	5	is	be	AUX
fuelectenerg-2188	13	6	best	well	ADV
fuelectenerg-2188	13	7	gained	gain	VERB
fuelectenerg-2188	13	8	by	by	ADP
fuelectenerg-2188	13	9	browsing	browse	VERB
fuelectenerg-2188	13	10	applications	application	NOUN
fuelectenerg-2188	13	11	in	in	ADP
fuelectenerg-2188	13	12	microsoft	microsoft	PROPN
fuelectenerg-2188	13	13	’s	’s	PART
fuelectenerg-2188	13	14	indoor	indoor	ADJ
fuelectenerg-2188	13	15	localisation	localisation	NOUN
fuelectenerg-2188	13	16	competition	competition	NOUN
fuelectenerg-2188	13	17	,	,	PUNCT
fuelectenerg-2188	13	18	held	hold	VERB
fuelectenerg-2188	13	19	three	three	NUM
fuelectenerg-2188	13	20	years	year	NOUN
fuelectenerg-2188	13	21	in	in	ADP
fuelectenerg-2188	13	22	a	a	DET
fuelectenerg-2188	13	23	row	row	NOUN
fuelectenerg-2188	13	24	[	[	X
fuelectenerg-2188	13	25	2	2	NUM
fuelectenerg-2188	13	26	]	]	PUNCT
fuelectenerg-2188	13	27	,	,	PUNCT
fuelectenerg-2188	13	28	starting	start	VERB
fuelectenerg-2188	13	29	with	with	ADP
fuelectenerg-2188	13	30	2014	2014	NUM
fuelectenerg-2188	13	31	.	.	PUNCT
fuelectenerg-2188	14	1	the	the	DET
fuelectenerg-2188	14	2	best	good	ADJ
fuelectenerg-2188	14	3	scores	score	NOUN
fuelectenerg-2188	14	4	are	be	AUX
fuelectenerg-2188	14	5	often	often	ADV
fuelectenerg-2188	14	6	achieved	achieve	VERB
fuelectenerg-2188	14	7	through	through	ADP
fuelectenerg-2188	14	8	engagement	engagement	NOUN
fuelectenerg-2188	14	9	of	of	ADP
fuelectenerg-2188	14	10	expensive	expensive	ADJ
fuelectenerg-2188	14	11	components	component	NOUN
fuelectenerg-2188	14	12	such	such	ADJ
fuelectenerg-2188	14	13	as	as	ADP
fuelectenerg-2188	14	14	lidar	lidar	NOUN
fuelectenerg-2188	14	15	’s	’s	PART
fuelectenerg-2188	14	16	.	.	PUNCT
fuelectenerg-2188	15	1	however	however	ADV
fuelectenerg-2188	15	2	,	,	PUNCT
fuelectenerg-2188	15	3	when	when	SCONJ
fuelectenerg-2188	15	4	it	it	PRON
fuelectenerg-2188	15	5	comes	come	VERB
fuelectenerg-2188	15	6	to	to	ADP
fuelectenerg-2188	15	7	a	a	DET
fuelectenerg-2188	15	8	low	low	ADJ
fuelectenerg-2188	15	9	-	-	PUNCT
fuelectenerg-2188	15	10	cost	cost	NOUN
fuelectenerg-2188	15	11	mobile	mobile	ADJ
fuelectenerg-2188	15	12	robot	robot	NOUN
fuelectenerg-2188	15	13	,	,	PUNCT
fuelectenerg-2188	15	14	it	it	PRON
fuelectenerg-2188	15	15	is	be	AUX
fuelectenerg-2188	15	16	demanded	demand	VERB
fuelectenerg-2188	15	17	that	that	SCONJ
fuelectenerg-2188	15	18	localisation	localisation	NOUN
fuelectenerg-2188	15	19	is	be	AUX
fuelectenerg-2188	15	20	both	both	CCONJ
fuelectenerg-2188	15	21	reliable	reliable	ADJ
fuelectenerg-2188	15	22	and	and	CCONJ
fuelectenerg-2188	15	23	inexpensive	inexpensive	ADJ
fuelectenerg-2188	15	24	.	.	PUNCT
fuelectenerg-2188	16	1	consequently	consequently	ADV
fuelectenerg-2188	16	2	,	,	PUNCT
fuelectenerg-2188	16	3	a	a	DET
fuelectenerg-2188	16	4	compromise	compromise	NOUN
fuelectenerg-2188	16	5	is	be	AUX
fuelectenerg-2188	16	6	reduced	reduce	VERB
fuelectenerg-2188	16	7	to	to	ADP
fuelectenerg-2188	16	8	the	the	DET
fuelectenerg-2188	16	9	ratio	ratio	NOUN
fuelectenerg-2188	16	10	of	of	ADP
fuelectenerg-2188	16	11	positioning	positioning	NOUN
fuelectenerg-2188	16	12	accuracy	accuracy	NOUN
fuelectenerg-2188	16	13	and	and	CCONJ
fuelectenerg-2188	16	14	the	the	DET
fuelectenerg-2188	16	15	costs	cost	NOUN
fuelectenerg-2188	16	16	of	of	ADP
fuelectenerg-2188	16	17	producing	produce	VERB
fuelectenerg-2188	16	18	and	and	CCONJ
fuelectenerg-2188	16	19	implementing	implement	VERB
fuelectenerg-2188	16	20	localisation	localisation	NOUN
fuelectenerg-2188	16	21	.	.	PUNCT
fuelectenerg-2188	17	1	this	this	PRON
fuelectenerg-2188	17	2	is	be	AUX
fuelectenerg-2188	17	3	not	not	PART
fuelectenerg-2188	17	4	difficult	difficult	ADJ
fuelectenerg-2188	17	5	to	to	PART
fuelectenerg-2188	17	6	received	receive	VERB
fuelectenerg-2188	17	7	october	october	PROPN
fuelectenerg-2188	17	8	7	7	NUM
fuelectenerg-2188	17	9	,	,	PUNCT
fuelectenerg-2188	17	10	2016	2016	NUM
fuelectenerg-2188	17	11	;	;	PUNCT
fuelectenerg-2188	17	12	received	receive	VERB
fuelectenerg-2188	17	13	in	in	ADP
fuelectenerg-2188	17	14	revised	revise	VERB
fuelectenerg-2188	17	15	form	form	NOUN
fuelectenerg-2188	17	16	december	december	PROPN
fuelectenerg-2188	17	17	15	15	NUM
fuelectenerg-2188	17	18	,	,	PUNCT
fuelectenerg-2188	17	19	2016	2016	NUM
fuelectenerg-2188	17	20	corresponding	correspond	VERB
fuelectenerg-2188	17	21	author	author	NOUN
fuelectenerg-2188	17	22	:	:	PUNCT
fuelectenerg-2188	17	23	miloš	miloš	PROPN
fuelectenerg-2188	17	24	petković	petković	NOUN
fuelectenerg-2188	17	25	faculty	faculty	NOUN
fuelectenerg-2188	17	26	of	of	ADP
fuelectenerg-2188	17	27	electronic	electronic	ADJ
fuelectenerg-2188	17	28	engineering	engineering	NOUN
fuelectenerg-2188	17	29	,	,	PUNCT
fuelectenerg-2188	17	30	university	university	NOUN
fuelectenerg-2188	17	31	of	of	ADP
fuelectenerg-2188	17	32	niš	niš	PROPN
fuelectenerg-2188	17	33	,	,	PUNCT
fuelectenerg-2188	17	34	serbia	serbia	PROPN
fuelectenerg-2188	17	35	,	,	PUNCT
fuelectenerg-2188	17	36	aleksandra	aleksandra	PROPN
fuelectenerg-2188	17	37	medvedeva	medvedeva	PROPN
fuelectenerg-2188	17	38	14	14	NUM
fuelectenerg-2188	17	39	,	,	PUNCT
fuelectenerg-2188	17	40	18000	18000	NUM
fuelectenerg-2188	17	41	niš	niš	NOUN
fuelectenerg-2188	17	42	,	,	PUNCT
fuelectenerg-2188	17	43	serbia	serbia	PROPN
fuelectenerg-2188	17	44	(	(	PUNCT
fuelectenerg-2188	17	45	e	e	NOUN
fuelectenerg-2188	17	46	-	-	NOUN
fuelectenerg-2188	17	47	mail	mail	NOUN
fuelectenerg-2188	17	48	:	:	PUNCT
fuelectenerg-2188	17	49	milos.petkovic@elfak.ni.ac.rs	milos.petkovic@elfak.ni.ac.rs	NUM
fuelectenerg-2188	17	50	)	)	PUNCT
fuelectenerg-2188	17	51	*	*	PUNCT
fuelectenerg-2188	17	52	an	an	DET
fuelectenerg-2188	17	53	earlier	early	ADJ
fuelectenerg-2188	17	54	version	version	NOUN
fuelectenerg-2188	17	55	of	of	ADP
fuelectenerg-2188	17	56	this	this	DET
fuelectenerg-2188	17	57	paper	paper	NOUN
fuelectenerg-2188	17	58	received	receive	VERB
fuelectenerg-2188	17	59	best	good	ADJ
fuelectenerg-2188	17	60	section	section	NOUN
fuelectenerg-2188	17	61	paper	paper	NOUN
fuelectenerg-2188	17	62	award	award	NOUN
fuelectenerg-2188	17	63	at	at	ADP
fuelectenerg-2188	17	64	electronics	electronic	NOUN
fuelectenerg-2188	17	65	section	section	NOUN
fuelectenerg-2188	17	66	at	at	ADP
fuelectenerg-2188	17	67	3rd	3rd	ADJ
fuelectenerg-2188	17	68	international	international	ADJ
fuelectenerg-2188	17	69	conference	conference	NOUN
fuelectenerg-2188	17	70	on	on	ADP
fuelectenerg-2188	17	71	electrical	electrical	ADJ
fuelectenerg-2188	17	72	,	,	PUNCT
fuelectenerg-2188	17	73	electronic	electronic	ADJ
fuelectenerg-2188	17	74	and	and	CCONJ
fuelectenerg-2188	17	75	computing	compute	VERB
fuelectenerg-2188	17	76	engineering	engineering	NOUN
fuelectenerg-2188	17	77	icetran	icetran	NOUN
fuelectenerg-2188	17	78	2016	2016	NUM
fuelectenerg-2188	17	79	,	,	PUNCT
fuelectenerg-2188	17	80	zlatibor	zlatibor	NOUN
fuelectenerg-2188	17	81	,	,	PUNCT
fuelectenerg-2188	17	82	serbia	serbia	PROPN
fuelectenerg-2188	17	83	,	,	PUNCT
fuelectenerg-2188	17	84	13	13	NUM
fuelectenerg-2188	17	85	-	-	SYM
fuelectenerg-2188	17	86	16	16	NUM
fuelectenerg-2188	17	87	june	june	PROPN
fuelectenerg-2188	17	88	,	,	PUNCT
fuelectenerg-2188	17	89	2016	2016	NUM
fuelectenerg-2188	18	1	[	[	X
fuelectenerg-2188	18	2	1	1	NUM
fuelectenerg-2188	18	3	]	]	SYM
fuelectenerg-2188	18	4	404	404	NUM
fuelectenerg-2188	18	5	m.	m.	NOUN
fuelectenerg-2188	18	6	petković	petković	NOUN
fuelectenerg-2188	18	7	,	,	PUNCT
fuelectenerg-2188	18	8	v.	v.	ADP
fuelectenerg-2188	18	9	sibinović	sibinović	PROPN
fuelectenerg-2188	18	10	,	,	PUNCT
fuelectenerg-2188	18	11	d.	d.	PROPN
fuelectenerg-2188	18	12	popović	popović	PROPN
fuelectenerg-2188	18	13	,	,	PUNCT
fuelectenerg-2188	18	14	v.	v.	CCONJ
fuelectenerg-2188	18	15	mitić	mitić	NOUN
fuelectenerg-2188	18	16	,	,	PUNCT
fuelectenerg-2188	18	17	d.	d.	PROPN
fuelectenerg-2188	18	18	todorović	todorović	PROPN
fuelectenerg-2188	18	19	,	,	PUNCT
fuelectenerg-2188	18	20	g.	g.	PROPN
fuelectenerg-2188	18	21	s.	s.	PROPN
fuelectenerg-2188	18	22	đorđević	đorđević	PROPN
fuelectenerg-2188	18	23	achieve	achieve	VERB
fuelectenerg-2188	18	24	for	for	ADP
fuelectenerg-2188	18	25	service	service	NOUN
fuelectenerg-2188	18	26	robots	robot	NOUN
fuelectenerg-2188	18	27	.	.	PUNCT
fuelectenerg-2188	19	1	for	for	ADP
fuelectenerg-2188	19	2	example	example	NOUN
fuelectenerg-2188	19	3	,	,	PUNCT
fuelectenerg-2188	19	4	home	home	NOUN
fuelectenerg-2188	19	5	cleaning	clean	VERB
fuelectenerg-2188	19	6	robots	robot	NOUN
fuelectenerg-2188	19	7	do	do	AUX
fuelectenerg-2188	19	8	not	not	PART
fuelectenerg-2188	19	9	require	require	VERB
fuelectenerg-2188	19	10	high	high	ADJ
fuelectenerg-2188	19	11	precision	precision	NOUN
fuelectenerg-2188	19	12	localisation	localisation	NOUN
fuelectenerg-2188	19	13	for	for	ADP
fuelectenerg-2188	19	14	wandering	wander	VERB
fuelectenerg-2188	19	15	.	.	PUNCT
fuelectenerg-2188	20	1	however	however	ADV
fuelectenerg-2188	20	2	,	,	PUNCT
fuelectenerg-2188	20	3	if	if	SCONJ
fuelectenerg-2188	20	4	servicing	service	VERB
fuelectenerg-2188	20	5	an	an	DET
fuelectenerg-2188	20	6	arbitrary	arbitrary	ADJ
fuelectenerg-2188	20	7	point	point	NOUN
fuelectenerg-2188	20	8	in	in	ADP
fuelectenerg-2188	20	9	workspace	workspace	NOUN
fuelectenerg-2188	20	10	is	be	AUX
fuelectenerg-2188	20	11	required	require	VERB
fuelectenerg-2188	20	12	,	,	PUNCT
fuelectenerg-2188	20	13	a	a	DET
fuelectenerg-2188	20	14	comprehensive	comprehensive	ADJ
fuelectenerg-2188	20	15	research	research	NOUN
fuelectenerg-2188	20	16	would	would	AUX
fuelectenerg-2188	20	17	be	be	AUX
fuelectenerg-2188	20	18	needed	need	VERB
fuelectenerg-2188	20	19	in	in	ADP
fuelectenerg-2188	20	20	order	order	NOUN
fuelectenerg-2188	20	21	to	to	PART
fuelectenerg-2188	20	22	stay	stay	VERB
fuelectenerg-2188	20	23	below	below	ADP
fuelectenerg-2188	20	24	the	the	DET
fuelectenerg-2188	20	25	price	price	NOUN
fuelectenerg-2188	20	26	tag	tag	NOUN
fuelectenerg-2188	20	27	.	.	PUNCT
fuelectenerg-2188	21	1	furthermore	furthermore	ADV
fuelectenerg-2188	21	2	,	,	PUNCT
fuelectenerg-2188	21	3	the	the	DET
fuelectenerg-2188	21	4	indoor	indoor	ADJ
fuelectenerg-2188	21	5	localisation	localisation	NOUN
fuelectenerg-2188	21	6	is	be	AUX
fuelectenerg-2188	21	7	especially	especially	ADV
fuelectenerg-2188	21	8	challenging	challenge	VERB
fuelectenerg-2188	21	9	[	[	X
fuelectenerg-2188	21	10	3	3	NUM
fuelectenerg-2188	21	11	]	]	PUNCT
fuelectenerg-2188	21	12	due	due	ADP
fuelectenerg-2188	21	13	to	to	ADP
fuelectenerg-2188	21	14	a	a	DET
fuelectenerg-2188	21	15	problem	problem	NOUN
fuelectenerg-2188	21	16	with	with	ADP
fuelectenerg-2188	21	17	weak	weak	ADJ
fuelectenerg-2188	21	18	or	or	CCONJ
fuelectenerg-2188	21	19	non	non	ADJ
fuelectenerg-2188	21	20	-	-	ADJ
fuelectenerg-2188	21	21	existing	existing	ADJ
fuelectenerg-2188	21	22	gps	gps	NOUN
fuelectenerg-2188	21	23	signal	signal	NOUN
fuelectenerg-2188	21	24	,	,	PUNCT
fuelectenerg-2188	21	25	and	and	CCONJ
fuelectenerg-2188	21	26	due	due	ADP
fuelectenerg-2188	21	27	to	to	ADP
fuelectenerg-2188	21	28	occlusion	occlusion	NOUN
fuelectenerg-2188	21	29	problems	problem	NOUN
fuelectenerg-2188	21	30	as	as	ADP
fuelectenerg-2188	21	31	a	a	DET
fuelectenerg-2188	21	32	result	result	NOUN
fuelectenerg-2188	21	33	of	of	ADP
fuelectenerg-2188	21	34	variety	variety	NOUN
fuelectenerg-2188	21	35	of	of	ADP
fuelectenerg-2188	21	36	objects	object	NOUN
fuelectenerg-2188	21	37	and	and	CCONJ
fuelectenerg-2188	21	38	their	their	PRON
fuelectenerg-2188	21	39	placement	placement	NOUN
fuelectenerg-2188	21	40	within	within	ADP
fuelectenerg-2188	21	41	a	a	DET
fuelectenerg-2188	21	42	room	room	NOUN
fuelectenerg-2188	21	43	.	.	PUNCT
fuelectenerg-2188	22	1	thus	thus	ADV
fuelectenerg-2188	22	2	,	,	PUNCT
fuelectenerg-2188	22	3	usage	usage	NOUN
fuelectenerg-2188	22	4	of	of	ADP
fuelectenerg-2188	22	5	any	any	DET
fuelectenerg-2188	22	6	method	method	NOUN
fuelectenerg-2188	22	7	that	that	PRON
fuelectenerg-2188	22	8	needs	need	VERB
fuelectenerg-2188	22	9	a	a	DET
fuelectenerg-2188	22	10	straight	straight	ADJ
fuelectenerg-2188	22	11	line	line	NOUN
fuelectenerg-2188	22	12	visibility	visibility	NOUN
fuelectenerg-2188	22	13	between	between	ADP
fuelectenerg-2188	22	14	two	two	NUM
fuelectenerg-2188	22	15	parts	part	NOUN
fuelectenerg-2188	22	16	would	would	AUX
fuelectenerg-2188	22	17	require	require	VERB
fuelectenerg-2188	22	18	a	a	DET
fuelectenerg-2188	22	19	redundant	redundant	ADJ
fuelectenerg-2188	22	20	solution	solution	NOUN
fuelectenerg-2188	22	21	.	.	PUNCT
fuelectenerg-2188	23	1	on	on	ADP
fuelectenerg-2188	23	2	the	the	DET
fuelectenerg-2188	23	3	other	other	ADJ
fuelectenerg-2188	23	4	hand	hand	NOUN
fuelectenerg-2188	23	5	,	,	PUNCT
fuelectenerg-2188	23	6	such	such	ADJ
fuelectenerg-2188	23	7	increasing	increase	VERB
fuelectenerg-2188	23	8	of	of	ADP
fuelectenerg-2188	23	9	complexity	complexity	NOUN
fuelectenerg-2188	23	10	leads	lead	VERB
fuelectenerg-2188	23	11	to	to	ADP
fuelectenerg-2188	23	12	the	the	DET
fuelectenerg-2188	23	13	increase	increase	NOUN
fuelectenerg-2188	23	14	of	of	ADP
fuelectenerg-2188	23	15	the	the	DET
fuelectenerg-2188	23	16	overall	overall	ADJ
fuelectenerg-2188	23	17	costs	cost	NOUN
fuelectenerg-2188	23	18	.	.	PUNCT
fuelectenerg-2188	24	1	therefore	therefore	ADV
fuelectenerg-2188	24	2	,	,	PUNCT
fuelectenerg-2188	24	3	a	a	DET
fuelectenerg-2188	24	4	careful	careful	ADJ
fuelectenerg-2188	24	5	consideration	consideration	NOUN
fuelectenerg-2188	24	6	has	have	VERB
fuelectenerg-2188	24	7	to	to	PART
fuelectenerg-2188	24	8	be	be	AUX
fuelectenerg-2188	24	9	made	make	VERB
fuelectenerg-2188	24	10	before	before	ADP
fuelectenerg-2188	24	11	choosing	choose	VERB
fuelectenerg-2188	24	12	the	the	DET
fuelectenerg-2188	24	13	right	right	ADJ
fuelectenerg-2188	24	14	method	method	NOUN
fuelectenerg-2188	24	15	.	.	PUNCT
fuelectenerg-2188	25	1	the	the	DET
fuelectenerg-2188	25	2	localisation	localisation	NOUN
fuelectenerg-2188	25	3	is	be	AUX
fuelectenerg-2188	25	4	based	base	VERB
fuelectenerg-2188	25	5	on	on	ADP
fuelectenerg-2188	25	6	a	a	DET
fuelectenerg-2188	25	7	low	low	ADJ
fuelectenerg-2188	25	8	-	-	PUNCT
fuelectenerg-2188	25	9	cost	cost	NOUN
fuelectenerg-2188	25	10	,	,	PUNCT
fuelectenerg-2188	25	11	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	25	12	,	,	PUNCT
fuelectenerg-2188	25	13	time	time	NOUN
fuelectenerg-2188	25	14	-	-	PUNCT
fuelectenerg-2188	25	15	of	of	ADP
fuelectenerg-2188	25	16	-	-	PUNCT
fuelectenerg-2188	25	17	flight	flight	NOUN
fuelectenerg-2188	25	18	,	,	PUNCT
fuelectenerg-2188	25	19	distance	distance	NOUN
fuelectenerg-2188	25	20	measuring	measure	VERB
fuelectenerg-2188	25	21	system	system	NOUN
fuelectenerg-2188	25	22	.	.	PUNCT
fuelectenerg-2188	26	1	it	it	PRON
fuelectenerg-2188	26	2	is	be	AUX
fuelectenerg-2188	26	3	similar	similar	ADJ
fuelectenerg-2188	26	4	to	to	ADP
fuelectenerg-2188	26	5	cricket	cricket	NOUN
fuelectenerg-2188	26	6	[	[	X
fuelectenerg-2188	26	7	4	4	NUM
fuelectenerg-2188	26	8	,	,	PUNCT
fuelectenerg-2188	26	9	5	5	NUM
fuelectenerg-2188	26	10	]	]	PUNCT
fuelectenerg-2188	26	11	.	.	PUNCT
fuelectenerg-2188	27	1	the	the	DET
fuelectenerg-2188	27	2	robot	robot	NOUN
fuelectenerg-2188	27	3	emits	emit	VERB
fuelectenerg-2188	27	4	an	an	DET
fuelectenerg-2188	27	5	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	27	6	beacon	beacon	NOUN
fuelectenerg-2188	27	7	signal	signal	NOUN
fuelectenerg-2188	27	8	,	,	PUNCT
fuelectenerg-2188	27	9	while	while	SCONJ
fuelectenerg-2188	27	10	fixed	fixed	ADJ
fuelectenerg-2188	27	11	wall	wall	PROPN
fuelectenerg-2188	27	12	-	-	PUNCT
fuelectenerg-2188	27	13	mount	mount	PROPN
fuelectenerg-2188	27	14	devices	device	NOUN
fuelectenerg-2188	27	15	measure	measure	VERB
fuelectenerg-2188	27	16	time	time	NOUN
fuelectenerg-2188	27	17	-	-	PUNCT
fuelectenerg-2188	27	18	of	of	ADP
fuelectenerg-2188	27	19	-	-	PUNCT
fuelectenerg-2188	27	20	flight	flight	NOUN
fuelectenerg-2188	27	21	.	.	PUNCT
fuelectenerg-2188	28	1	this	this	DET
fuelectenerg-2188	28	2	kind	kind	NOUN
fuelectenerg-2188	28	3	of	of	ADP
fuelectenerg-2188	28	4	system	system	NOUN
fuelectenerg-2188	28	5	is	be	AUX
fuelectenerg-2188	28	6	often	often	ADV
fuelectenerg-2188	28	7	inexpensive	inexpensive	ADJ
fuelectenerg-2188	28	8	,	,	PUNCT
fuelectenerg-2188	28	9	so	so	ADV
fuelectenerg-2188	28	10	increasing	increase	VERB
fuelectenerg-2188	28	11	redundancy	redundancy	NOUN
fuelectenerg-2188	28	12	by	by	ADP
fuelectenerg-2188	28	13	adding	add	VERB
fuelectenerg-2188	28	14	more	more	ADJ
fuelectenerg-2188	28	15	of	of	ADP
fuelectenerg-2188	28	16	wall	wall	NOUN
fuelectenerg-2188	28	17	devices	device	NOUN
fuelectenerg-2188	28	18	is	be	AUX
fuelectenerg-2188	28	19	not	not	PART
fuelectenerg-2188	28	20	increasing	increase	VERB
fuelectenerg-2188	28	21	the	the	DET
fuelectenerg-2188	28	22	overall	overall	ADJ
fuelectenerg-2188	28	23	system	system	NOUN
fuelectenerg-2188	28	24	cost	cost	VERB
fuelectenerg-2188	28	25	considerably	considerably	ADV
fuelectenerg-2188	28	26	.	.	PUNCT
fuelectenerg-2188	29	1	use	use	NOUN
fuelectenerg-2188	29	2	of	of	ADP
fuelectenerg-2188	29	3	straightforward	straightforward	ADJ
fuelectenerg-2188	29	4	trilateration	trilateration	NOUN
fuelectenerg-2188	29	5	imposes	impose	VERB
fuelectenerg-2188	29	6	few	few	ADJ
fuelectenerg-2188	29	7	problems	problem	NOUN
fuelectenerg-2188	29	8	.	.	PUNCT
fuelectenerg-2188	30	1	the	the	DET
fuelectenerg-2188	30	2	first	first	ADJ
fuelectenerg-2188	30	3	one	one	NOUN
fuelectenerg-2188	30	4	appears	appear	VERB
fuelectenerg-2188	30	5	when	when	SCONJ
fuelectenerg-2188	30	6	,	,	PUNCT
fuelectenerg-2188	30	7	due	due	ADP
fuelectenerg-2188	30	8	to	to	ADP
fuelectenerg-2188	30	9	a	a	DET
fuelectenerg-2188	30	10	measurement	measurement	NOUN
fuelectenerg-2188	30	11	error	error	NOUN
fuelectenerg-2188	30	12	,	,	PUNCT
fuelectenerg-2188	30	13	three	three	NUM
fuelectenerg-2188	30	14	or	or	CCONJ
fuelectenerg-2188	30	15	more	more	ADJ
fuelectenerg-2188	30	16	spheres	sphere	NOUN
fuelectenerg-2188	30	17	do	do	AUX
fuelectenerg-2188	30	18	not	not	PART
fuelectenerg-2188	30	19	intersect	intersect	VERB
fuelectenerg-2188	30	20	at	at	ADP
fuelectenerg-2188	30	21	a	a	DET
fuelectenerg-2188	30	22	single	single	ADJ
fuelectenerg-2188	30	23	point	point	NOUN
fuelectenerg-2188	30	24	.	.	PUNCT
fuelectenerg-2188	31	1	for	for	ADP
fuelectenerg-2188	31	2	smaller	small	ADJ
fuelectenerg-2188	31	3	measurement	measurement	NOUN
fuelectenerg-2188	31	4	errors	error	NOUN
fuelectenerg-2188	31	5	this	this	PRON
fuelectenerg-2188	31	6	could	could	AUX
fuelectenerg-2188	31	7	be	be	AUX
fuelectenerg-2188	31	8	neglected	neglect	VERB
fuelectenerg-2188	31	9	and	and	CCONJ
fuelectenerg-2188	31	10	considered	consider	VERB
fuelectenerg-2188	31	11	as	as	ADP
fuelectenerg-2188	31	12	a	a	DET
fuelectenerg-2188	31	13	rounding	rounding	NOUN
fuelectenerg-2188	31	14	error	error	NOUN
fuelectenerg-2188	31	15	.	.	PUNCT
fuelectenerg-2188	32	1	since	since	SCONJ
fuelectenerg-2188	32	2	our	our	PRON
fuelectenerg-2188	32	3	system	system	NOUN
fuelectenerg-2188	32	4	had	have	VERB
fuelectenerg-2188	32	5	better	well	ADJ
fuelectenerg-2188	32	6	than	than	ADP
fuelectenerg-2188	32	7	±	±	NUM
fuelectenerg-2188	32	8	10	10	NUM
fuelectenerg-2188	32	9	cm	cm	NUM
fuelectenerg-2188	32	10	accuracy	accuracy	NOUN
fuelectenerg-2188	32	11	,	,	PUNCT
fuelectenerg-2188	32	12	this	this	PRON
fuelectenerg-2188	32	13	could	could	AUX
fuelectenerg-2188	32	14	not	not	PART
fuelectenerg-2188	32	15	be	be	AUX
fuelectenerg-2188	32	16	the	the	DET
fuelectenerg-2188	32	17	case	case	NOUN
fuelectenerg-2188	32	18	.	.	PUNCT
fuelectenerg-2188	33	1	the	the	DET
fuelectenerg-2188	33	2	other	other	ADJ
fuelectenerg-2188	33	3	problem	problem	NOUN
fuelectenerg-2188	33	4	,	,	PUNCT
fuelectenerg-2188	33	5	a	a	DET
fuelectenerg-2188	33	6	special	special	ADJ
fuelectenerg-2188	33	7	case	case	NOUN
fuelectenerg-2188	33	8	of	of	ADP
fuelectenerg-2188	33	9	the	the	DET
fuelectenerg-2188	33	10	first	first	ADJ
fuelectenerg-2188	33	11	one	one	NUM
fuelectenerg-2188	33	12	,	,	PUNCT
fuelectenerg-2188	33	13	is	be	AUX
fuelectenerg-2188	33	14	absence	absence	NOUN
fuelectenerg-2188	33	15	of	of	ADP
fuelectenerg-2188	33	16	intersection	intersection	NOUN
fuelectenerg-2188	33	17	between	between	ADP
fuelectenerg-2188	33	18	spheres	sphere	NOUN
fuelectenerg-2188	33	19	in	in	ADP
fuelectenerg-2188	33	20	case	case	NOUN
fuelectenerg-2188	33	21	of	of	ADP
fuelectenerg-2188	33	22	negative	negative	ADJ
fuelectenerg-2188	33	23	errors	error	NOUN
fuelectenerg-2188	33	24	.	.	PUNCT
fuelectenerg-2188	34	1	mathematically	mathematically	ADV
fuelectenerg-2188	34	2	speaking	speak	VERB
fuelectenerg-2188	34	3	,	,	PUNCT
fuelectenerg-2188	34	4	a	a	DET
fuelectenerg-2188	34	5	solution	solution	NOUN
fuelectenerg-2188	34	6	of	of	ADP
fuelectenerg-2188	34	7	trilateration	trilateration	NOUN
fuelectenerg-2188	34	8	is	be	AUX
fuelectenerg-2188	34	9	imaginary	imaginary	ADJ
fuelectenerg-2188	34	10	.	.	PUNCT
fuelectenerg-2188	35	1	arguably	arguably	ADV
fuelectenerg-2188	35	2	,	,	PUNCT
fuelectenerg-2188	35	3	accuracy	accuracy	NOUN
fuelectenerg-2188	35	4	could	could	AUX
fuelectenerg-2188	35	5	be	be	AUX
fuelectenerg-2188	35	6	improved	improve	VERB
fuelectenerg-2188	35	7	by	by	ADP
fuelectenerg-2188	35	8	calibrating	calibrate	VERB
fuelectenerg-2188	35	9	each	each	DET
fuelectenerg-2188	35	10	wall	wall	PROPN
fuelectenerg-2188	35	11	unit	unit	PROPN
fuelectenerg-2188	35	12	separately	separately	ADV
fuelectenerg-2188	35	13	,	,	PUNCT
fuelectenerg-2188	35	14	and	and	CCONJ
fuelectenerg-2188	35	15	ensuring	ensure	VERB
fuelectenerg-2188	35	16	their	their	PRON
fuelectenerg-2188	35	17	precise	precise	ADJ
fuelectenerg-2188	35	18	coordinates	coordinate	NOUN
fuelectenerg-2188	35	19	.	.	PUNCT
fuelectenerg-2188	36	1	however	however	ADV
fuelectenerg-2188	36	2	,	,	PUNCT
fuelectenerg-2188	36	3	in	in	ADP
fuelectenerg-2188	36	4	cases	case	NOUN
fuelectenerg-2188	36	5	of	of	ADP
fuelectenerg-2188	36	6	occlusion	occlusion	NOUN
fuelectenerg-2188	36	7	and	and	CCONJ
fuelectenerg-2188	36	8	reflections	reflection	NOUN
fuelectenerg-2188	36	9	,	,	PUNCT
fuelectenerg-2188	36	10	these	these	DET
fuelectenerg-2188	36	11	kinds	kind	NOUN
fuelectenerg-2188	36	12	of	of	ADP
fuelectenerg-2188	36	13	problems	problem	NOUN
fuelectenerg-2188	36	14	would	would	AUX
fuelectenerg-2188	36	15	reappear	reappear	VERB
fuelectenerg-2188	36	16	.	.	PUNCT
fuelectenerg-2188	37	1	therefore	therefore	ADV
fuelectenerg-2188	37	2	,	,	PUNCT
fuelectenerg-2188	37	3	we	we	PRON
fuelectenerg-2188	37	4	seek	seek	VERB
fuelectenerg-2188	37	5	a	a	DET
fuelectenerg-2188	37	6	solution	solution	NOUN
fuelectenerg-2188	37	7	through	through	ADP
fuelectenerg-2188	37	8	a	a	DET
fuelectenerg-2188	37	9	criterion	criterion	NOUN
fuelectenerg-2188	37	10	-	-	PUNCT
fuelectenerg-2188	37	11	based	base	VERB
fuelectenerg-2188	37	12	optimisation	optimisation	NOUN
fuelectenerg-2188	37	13	to	to	PART
fuelectenerg-2188	37	14	get	get	VERB
fuelectenerg-2188	37	15	as	as	ADV
fuelectenerg-2188	37	16	close	close	ADJ
fuelectenerg-2188	37	17	as	as	ADP
fuelectenerg-2188	37	18	possible	possible	ADJ
fuelectenerg-2188	37	19	to	to	ADP
fuelectenerg-2188	37	20	the	the	DET
fuelectenerg-2188	37	21	point	point	NOUN
fuelectenerg-2188	37	22	that	that	PRON
fuelectenerg-2188	37	23	minimises	minimise	VERB
fuelectenerg-2188	37	24	the	the	DET
fuelectenerg-2188	37	25	measurement	measurement	NOUN
fuelectenerg-2188	37	26	error	error	NOUN
fuelectenerg-2188	37	27	.	.	PUNCT
fuelectenerg-2188	38	1	further	further	ADJ
fuelectenerg-2188	38	2	improvement	improvement	NOUN
fuelectenerg-2188	38	3	could	could	AUX
fuelectenerg-2188	38	4	be	be	AUX
fuelectenerg-2188	38	5	achieved	achieve	VERB
fuelectenerg-2188	38	6	by	by	ADP
fuelectenerg-2188	38	7	using	use	VERB
fuelectenerg-2188	38	8	a	a	DET
fuelectenerg-2188	38	9	secondary	secondary	ADJ
fuelectenerg-2188	38	10	,	,	PUNCT
fuelectenerg-2188	38	11	more	more	ADV
fuelectenerg-2188	38	12	accurate	accurate	ADJ
fuelectenerg-2188	38	13	,	,	PUNCT
fuelectenerg-2188	38	14	localisation	localisation	NOUN
fuelectenerg-2188	38	15	system	system	NOUN
fuelectenerg-2188	38	16	.	.	PUNCT
fuelectenerg-2188	39	1	when	when	SCONJ
fuelectenerg-2188	39	2	these	these	DET
fuelectenerg-2188	39	3	two	two	NUM
fuelectenerg-2188	39	4	systems	system	NOUN
fuelectenerg-2188	39	5	run	run	VERB
fuelectenerg-2188	39	6	in	in	ADP
fuelectenerg-2188	39	7	parallel	parallel	NOUN
fuelectenerg-2188	39	8	,	,	PUNCT
fuelectenerg-2188	39	9	the	the	DET
fuelectenerg-2188	39	10	second	second	ADJ
fuelectenerg-2188	39	11	system	system	NOUN
fuelectenerg-2188	39	12	would	would	AUX
fuelectenerg-2188	39	13	be	be	AUX
fuelectenerg-2188	39	14	a	a	DET
fuelectenerg-2188	39	15	good	good	ADJ
fuelectenerg-2188	39	16	reference	reference	NOUN
fuelectenerg-2188	39	17	for	for	ADP
fuelectenerg-2188	39	18	the	the	DET
fuelectenerg-2188	39	19	calibration	calibration	NOUN
fuelectenerg-2188	39	20	of	of	ADP
fuelectenerg-2188	39	21	the	the	DET
fuelectenerg-2188	39	22	initial	initial	ADJ
fuelectenerg-2188	39	23	one	one	NUM
fuelectenerg-2188	39	24	.	.	PUNCT
fuelectenerg-2188	40	1	for	for	ADP
fuelectenerg-2188	40	2	this	this	DET
fuelectenerg-2188	40	3	purpose	purpose	NOUN
fuelectenerg-2188	40	4	,	,	PUNCT
fuelectenerg-2188	40	5	localisation	localisation	NOUN
fuelectenerg-2188	40	6	rate	rate	NOUN
fuelectenerg-2188	40	7	does	do	AUX
fuelectenerg-2188	40	8	not	not	PART
fuelectenerg-2188	40	9	even	even	ADV
fuelectenerg-2188	40	10	need	need	VERB
fuelectenerg-2188	40	11	to	to	PART
fuelectenerg-2188	40	12	be	be	AUX
fuelectenerg-2188	40	13	high	high	ADJ
fuelectenerg-2188	40	14	.	.	PUNCT
fuelectenerg-2188	41	1	therefore	therefore	ADV
fuelectenerg-2188	41	2	,	,	PUNCT
fuelectenerg-2188	41	3	we	we	PRON
fuelectenerg-2188	41	4	decided	decide	VERB
fuelectenerg-2188	41	5	to	to	PART
fuelectenerg-2188	41	6	base	base	VERB
fuelectenerg-2188	41	7	the	the	DET
fuelectenerg-2188	41	8	secondary	secondary	ADJ
fuelectenerg-2188	41	9	system	system	NOUN
fuelectenerg-2188	41	10	on	on	ADP
fuelectenerg-2188	41	11	computer	computer	NOUN
fuelectenerg-2188	41	12	vision	vision	NOUN
fuelectenerg-2188	41	13	and	and	CCONJ
fuelectenerg-2188	41	14	recognition	recognition	NOUN
fuelectenerg-2188	41	15	of	of	ADP
fuelectenerg-2188	41	16	passive	passive	ADJ
fuelectenerg-2188	41	17	markers	marker	NOUN
fuelectenerg-2188	41	18	.	.	PUNCT
fuelectenerg-2188	42	1	low	low	ADJ
fuelectenerg-2188	42	2	-	-	PUNCT
fuelectenerg-2188	42	3	cost	cost	NOUN
fuelectenerg-2188	42	4	requirement	requirement	NOUN
fuelectenerg-2188	42	5	was	be	AUX
fuelectenerg-2188	42	6	priority	priority	NOUN
fuelectenerg-2188	42	7	as	as	ADV
fuelectenerg-2188	42	8	well	well	ADV
fuelectenerg-2188	42	9	,	,	PUNCT
fuelectenerg-2188	42	10	so	so	ADV
fuelectenerg-2188	42	11	overcoming	overcome	VERB
fuelectenerg-2188	42	12	typical	typical	ADJ
fuelectenerg-2188	42	13	drawbacks	drawback	NOUN
fuelectenerg-2188	42	14	of	of	ADP
fuelectenerg-2188	42	15	such	such	DET
fuelectenerg-2188	42	16	an	an	DET
fuelectenerg-2188	42	17	image	image	NOUN
fuelectenerg-2188	42	18	processing	processing	NOUN
fuelectenerg-2188	42	19	methods	method	NOUN
fuelectenerg-2188	42	20	was	be	AUX
fuelectenerg-2188	42	21	important	important	ADJ
fuelectenerg-2188	42	22	.	.	PUNCT
fuelectenerg-2188	43	1	fisheye	fisheye	ADJ
fuelectenerg-2188	43	2	lens	lens	NOUN
fuelectenerg-2188	43	3	distortion	distortion	NOUN
fuelectenerg-2188	43	4	was	be	AUX
fuelectenerg-2188	43	5	removed	remove	VERB
fuelectenerg-2188	43	6	by	by	ADP
fuelectenerg-2188	43	7	using	use	VERB
fuelectenerg-2188	43	8	known	known	ADJ
fuelectenerg-2188	43	9	geometry	geometry	NOUN
fuelectenerg-2188	43	10	[	[	X
fuelectenerg-2188	43	11	6	6	NUM
fuelectenerg-2188	43	12	]	]	PUNCT
fuelectenerg-2188	43	13	,	,	PUNCT
fuelectenerg-2188	43	14	and	and	CCONJ
fuelectenerg-2188	43	15	complexity	complexity	NOUN
fuelectenerg-2188	43	16	of	of	ADP
fuelectenerg-2188	43	17	object	object	NOUN
fuelectenerg-2188	43	18	recognition	recognition	NOUN
fuelectenerg-2188	43	19	was	be	AUX
fuelectenerg-2188	43	20	avoided	avoid	VERB
fuelectenerg-2188	43	21	by	by	ADP
fuelectenerg-2188	43	22	simplification	simplification	NOUN
fuelectenerg-2188	43	23	and	and	CCONJ
fuelectenerg-2188	43	24	colour	colour	NOUN
fuelectenerg-2188	43	25	coding	coding	NOUN
fuelectenerg-2188	43	26	of	of	ADP
fuelectenerg-2188	43	27	markers	marker	NOUN
fuelectenerg-2188	44	1	[	[	X
fuelectenerg-2188	44	2	7	7	NUM
fuelectenerg-2188	44	3	]	]	PUNCT
fuelectenerg-2188	44	4	.	.	PUNCT
fuelectenerg-2188	45	1	the	the	DET
fuelectenerg-2188	45	2	rest	rest	NOUN
fuelectenerg-2188	45	3	of	of	ADP
fuelectenerg-2188	45	4	them	they	PRON
fuelectenerg-2188	45	5	will	will	AUX
fuelectenerg-2188	45	6	be	be	AUX
fuelectenerg-2188	45	7	presented	present	VERB
fuelectenerg-2188	45	8	in	in	ADP
fuelectenerg-2188	45	9	details	detail	NOUN
fuelectenerg-2188	45	10	in	in	ADP
fuelectenerg-2188	45	11	the	the	DET
fuelectenerg-2188	45	12	following	follow	VERB
fuelectenerg-2188	45	13	section	section	NOUN
fuelectenerg-2188	45	14	.	.	PUNCT
fuelectenerg-2188	46	1	2	2	X
fuelectenerg-2188	46	2	.	.	X
fuelectenerg-2188	46	3	visual	visual	ADJ
fuelectenerg-2188	46	4	feedback	feedback	NOUN
fuelectenerg-2188	46	5	mapping	mapping	NOUN
fuelectenerg-2188	46	6	for	for	ADP
fuelectenerg-2188	46	7	localisation	localisation	NOUN
fuelectenerg-2188	46	8	2.1	2.1	NUM
fuelectenerg-2188	46	9	.	.	PUNCT
fuelectenerg-2188	47	1	materials	material	NOUN
fuelectenerg-2188	47	2	and	and	CCONJ
fuelectenerg-2188	47	3	method	method	NOUN
fuelectenerg-2188	47	4	we	we	PRON
fuelectenerg-2188	47	5	have	have	AUX
fuelectenerg-2188	47	6	placed	place	VERB
fuelectenerg-2188	47	7	a	a	DET
fuelectenerg-2188	47	8	fish	fish	NOUN
fuelectenerg-2188	47	9	-	-	PUNCT
fuelectenerg-2188	47	10	eye	eye	NOUN
fuelectenerg-2188	47	11	webcam	webcam	NOUN
fuelectenerg-2188	47	12	on	on	ADP
fuelectenerg-2188	47	13	the	the	DET
fuelectenerg-2188	47	14	ceiling	ceiling	NOUN
fuelectenerg-2188	47	15	in	in	ADP
fuelectenerg-2188	47	16	the	the	DET
fuelectenerg-2188	47	17	middle	middle	NOUN
fuelectenerg-2188	47	18	of	of	ADP
fuelectenerg-2188	47	19	the	the	DET
fuelectenerg-2188	47	20	test	test	NOUN
fuelectenerg-2188	47	21	room	room	NOUN
fuelectenerg-2188	47	22	.	.	PUNCT
fuelectenerg-2188	48	1	in	in	ADP
fuelectenerg-2188	48	2	order	order	NOUN
fuelectenerg-2188	48	3	to	to	PART
fuelectenerg-2188	48	4	make	make	VERB
fuelectenerg-2188	48	5	this	this	DET
fuelectenerg-2188	48	6	system	system	NOUN
fuelectenerg-2188	48	7	affordable	affordable	ADJ
fuelectenerg-2188	48	8	,	,	PUNCT
fuelectenerg-2188	48	9	we	we	PRON
fuelectenerg-2188	48	10	based	base	VERB
fuelectenerg-2188	48	11	it	it	PRON
fuelectenerg-2188	48	12	on	on	ADP
fuelectenerg-2188	48	13	a	a	DET
fuelectenerg-2188	48	14	full	full	ADJ
fuelectenerg-2188	48	15	hd	hd	NOUN
fuelectenerg-2188	48	16	webcam	webcam	NOUN
fuelectenerg-2188	48	17	,	,	PUNCT
fuelectenerg-2188	48	18	genius	genius	NOUN
fuelectenerg-2188	48	19	f100	f100	PROPN
fuelectenerg-2188	48	20	,	,	PUNCT
fuelectenerg-2188	48	21	with	with	ADP
fuelectenerg-2188	48	22	120	120	NUM
fuelectenerg-2188	48	23	°	°	NUM
fuelectenerg-2188	48	24	view	view	NOUN
fuelectenerg-2188	48	25	angle	angle	NOUN
fuelectenerg-2188	48	26	lens	len	NOUN
fuelectenerg-2188	48	27	,	,	PUNCT
fuelectenerg-2188	48	28	and	and	CCONJ
fuelectenerg-2188	48	29	moderate	moderate	ADJ
fuelectenerg-2188	48	30	power	power	NOUN
fuelectenerg-2188	48	31	pc	pc	NOUN
fuelectenerg-2188	48	32	of	of	ADP
fuelectenerg-2188	48	33	amd	amd	PROPN
fuelectenerg-2188	48	34	athlon	athlon	NOUN
fuelectenerg-2188	48	35	ii	ii	PROPN
fuelectenerg-2188	48	36	x3	x3	VERB
fuelectenerg-2188	48	37	455	455	NUM
fuelectenerg-2188	48	38	3.30ghz	3.30ghz	NUM
fuelectenerg-2188	48	39	,	,	PUNCT
fuelectenerg-2188	48	40	ati	ati	NOUN
fuelectenerg-2188	48	41	radeon	radeon	NOUN
fuelectenerg-2188	48	42	hd	hd	PROPN
fuelectenerg-2188	48	43	6450	6450	NUM
fuelectenerg-2188	48	44	and	and	CCONJ
fuelectenerg-2188	48	45	4	4	NUM
fuelectenerg-2188	48	46	gb	gb	PROPN
fuelectenerg-2188	48	47	ddr3	ddr3	PROPN
fuelectenerg-2188	48	48	ram	ram	NOUN
fuelectenerg-2188	48	49	.	.	PUNCT
fuelectenerg-2188	49	1	the	the	DET
fuelectenerg-2188	49	2	distance	distance	NOUN
fuelectenerg-2188	49	3	between	between	ADP
fuelectenerg-2188	49	4	the	the	DET
fuelectenerg-2188	49	5	camera	camera	NOUN
fuelectenerg-2188	49	6	lens	lens	NOUN
fuelectenerg-2188	49	7	and	and	CCONJ
fuelectenerg-2188	49	8	the	the	DET
fuelectenerg-2188	49	9	floor	floor	NOUN
fuelectenerg-2188	49	10	is	be	AUX
fuelectenerg-2188	49	11	3.1	3.1	NUM
fuelectenerg-2188	49	12	metres	metre	NOUN
fuelectenerg-2188	49	13	therefore	therefore	ADV
fuelectenerg-2188	49	14	,	,	PUNCT
fuelectenerg-2188	49	15	the	the	DET
fuelectenerg-2188	49	16	camera	camera	NOUN
fuelectenerg-2188	49	17	with	with	ADP
fuelectenerg-2188	49	18	120	120	NUM
fuelectenerg-2188	49	19	°	°	NOUN
fuelectenerg-2188	49	20	wide	wide	ADJ
fuelectenerg-2188	49	21	view	view	NOUN
fuelectenerg-2188	49	22	angle	angle	NOUN
fuelectenerg-2188	49	23	lens	len	NOUN
fuelectenerg-2188	49	24	can	can	AUX
fuelectenerg-2188	49	25	cover	cover	VERB
fuelectenerg-2188	49	26	the	the	DET
fuelectenerg-2188	49	27	area	area	NOUN
fuelectenerg-2188	49	28	of	of	ADP
fuelectenerg-2188	49	29	4×3	4×3	PROPN
fuelectenerg-2188	49	30	m.	m.	NOUN
fuelectenerg-2188	49	31	a	a	DET
fuelectenerg-2188	49	32	grid	grid	NOUN
fuelectenerg-2188	49	33	of	of	ADP
fuelectenerg-2188	49	34	0.5	0.5	NUM
fuelectenerg-2188	49	35	×	×	NOUN
fuelectenerg-2188	49	36	0.5	0.5	NUM
fuelectenerg-2188	49	37	m	m	NOUN
fuelectenerg-2188	49	38	was	be	AUX
fuelectenerg-2188	49	39	drawn	draw	VERB
fuelectenerg-2188	49	40	on	on	ADP
fuelectenerg-2188	49	41	the	the	DET
fuelectenerg-2188	49	42	floor	floor	NOUN
fuelectenerg-2188	49	43	to	to	PART
fuelectenerg-2188	49	44	ease	ease	VERB
fuelectenerg-2188	49	45	calibration	calibration	NOUN
fuelectenerg-2188	49	46	and	and	CCONJ
fuelectenerg-2188	49	47	provide	provide	VERB
fuelectenerg-2188	49	48	a	a	DET
fuelectenerg-2188	49	49	visual	visual	ADJ
fuelectenerg-2188	49	50	clue	clue	NOUN
fuelectenerg-2188	49	51	during	during	ADP
fuelectenerg-2188	49	52	the	the	DET
fuelectenerg-2188	49	53	measuring	measuring	NOUN
fuelectenerg-2188	49	54	.	.	PUNCT
fuelectenerg-2188	50	1	the	the	DET
fuelectenerg-2188	50	2	grid	grid	NOUN
fuelectenerg-2188	50	3	is	be	AUX
fuelectenerg-2188	50	4	highly	highly	ADV
fuelectenerg-2188	50	5	accurate	accurate	ADJ
fuelectenerg-2188	50	6	,	,	PUNCT
fuelectenerg-2188	50	7	with	with	SCONJ
fuelectenerg-2188	50	8	only	only	ADV
fuelectenerg-2188	50	9	5	5	NUM
fuelectenerg-2188	50	10	mm	mm	NOUN
fuelectenerg-2188	50	11	distortion	distortion	NOUN
fuelectenerg-2188	50	12	error	error	NOUN
fuelectenerg-2188	50	13	over	over	ADP
fuelectenerg-2188	50	14	the	the	DET
fuelectenerg-2188	50	15	diagonals	diagonal	NOUN
fuelectenerg-2188	50	16	of	of	ADP
fuelectenerg-2188	50	17	5	5	NUM
fuelectenerg-2188	50	18	m.	m.	NOUN
fuelectenerg-2188	50	19	analasys	analasys	NOUN
fuelectenerg-2188	50	20	of	of	ADP
fuelectenerg-2188	50	21	two	two	NUM
fuelectenerg-2188	50	22	low	low	ADJ
fuelectenerg-2188	50	23	-	-	PUNCT
fuelectenerg-2188	50	24	cost	cost	NOUN
fuelectenerg-2188	50	25	and	and	CCONJ
fuelectenerg-2188	50	26	robust	robust	ADJ
fuelectenerg-2188	50	27	methods	method	NOUN
fuelectenerg-2188	50	28	for	for	ADP
fuelectenerg-2188	50	29	indoor	indoor	ADJ
fuelectenerg-2188	50	30	localisation	localisation	NOUN
fuelectenerg-2188	50	31	of	of	ADP
fuelectenerg-2188	50	32	mobile	mobile	ADJ
fuelectenerg-2188	50	33	robots	robot	NOUN
fuelectenerg-2188	50	34	405	405	NUM
fuelectenerg-2188	50	35	rectification	rectification	NOUN
fuelectenerg-2188	50	36	was	be	AUX
fuelectenerg-2188	50	37	crucial	crucial	ADJ
fuelectenerg-2188	50	38	for	for	ADP
fuelectenerg-2188	50	39	this	this	DET
fuelectenerg-2188	50	40	system	system	NOUN
fuelectenerg-2188	50	41	because	because	SCONJ
fuelectenerg-2188	50	42	a	a	DET
fuelectenerg-2188	50	43	wide	wide	ADJ
fuelectenerg-2188	50	44	-	-	PUNCT
fuelectenerg-2188	50	45	angle	angle	NOUN
fuelectenerg-2188	50	46	lens	lens	NOUN
fuelectenerg-2188	50	47	that	that	PRON
fuelectenerg-2188	50	48	is	be	AUX
fuelectenerg-2188	50	49	used	use	VERB
fuelectenerg-2188	50	50	has	have	VERB
fuelectenerg-2188	50	51	intrinsic	intrinsic	ADJ
fuelectenerg-2188	50	52	distortion	distortion	NOUN
fuelectenerg-2188	50	53	.	.	PUNCT
fuelectenerg-2188	51	1	its	its	PRON
fuelectenerg-2188	51	2	removal	removal	NOUN
fuelectenerg-2188	51	3	is	be	AUX
fuelectenerg-2188	51	4	easy	easy	ADJ
fuelectenerg-2188	51	5	since	since	SCONJ
fuelectenerg-2188	51	6	the	the	DET
fuelectenerg-2188	51	7	camera	camera	NOUN
fuelectenerg-2188	51	8	itself	itself	PRON
fuelectenerg-2188	51	9	is	be	AUX
fuelectenerg-2188	51	10	stationary	stationary	ADJ
fuelectenerg-2188	51	11	and	and	CCONJ
fuelectenerg-2188	51	12	marker	marker	NOUN
fuelectenerg-2188	51	13	height	height	NOUN
fuelectenerg-2188	51	14	was	be	AUX
fuelectenerg-2188	51	15	supposed	suppose	VERB
fuelectenerg-2188	51	16	to	to	PART
fuelectenerg-2188	51	17	be	be	AUX
fuelectenerg-2188	51	18	constant	constant	ADJ
fuelectenerg-2188	51	19	.	.	PUNCT
fuelectenerg-2188	52	1	sampling	sample	VERB
fuelectenerg-2188	52	2	images	image	NOUN
fuelectenerg-2188	52	3	of	of	ADP
fuelectenerg-2188	52	4	the	the	DET
fuelectenerg-2188	52	5	marker	marker	NOUN
fuelectenerg-2188	52	6	at	at	ADP
fuelectenerg-2188	52	7	different	different	ADJ
fuelectenerg-2188	52	8	positions	position	NOUN
fuelectenerg-2188	52	9	reveals	reveal	VERB
fuelectenerg-2188	52	10	levels	level	NOUN
fuelectenerg-2188	52	11	of	of	ADP
fuelectenerg-2188	52	12	distortion	distortion	NOUN
fuelectenerg-2188	52	13	.	.	PUNCT
fuelectenerg-2188	53	1	this	this	DET
fuelectenerg-2188	53	2	data	data	NOUN
fuelectenerg-2188	53	3	is	be	AUX
fuelectenerg-2188	53	4	then	then	ADV
fuelectenerg-2188	53	5	used	use	VERB
fuelectenerg-2188	53	6	to	to	PART
fuelectenerg-2188	53	7	invert	invert	VERB
fuelectenerg-2188	53	8	the	the	DET
fuelectenerg-2188	53	9	effects	effect	NOUN
fuelectenerg-2188	53	10	.	.	PUNCT
fuelectenerg-2188	54	1	we	we	PRON
fuelectenerg-2188	54	2	gathered	gather	VERB
fuelectenerg-2188	54	3	those	those	DET
fuelectenerg-2188	54	4	samples	sample	NOUN
fuelectenerg-2188	54	5	at	at	ADP
fuelectenerg-2188	54	6	drawn	draw	VERB
fuelectenerg-2188	54	7	greed	greed	NOUN
fuelectenerg-2188	54	8	points	point	NOUN
fuelectenerg-2188	54	9	.	.	PUNCT
fuelectenerg-2188	55	1	as	as	ADP
fuelectenerg-2188	55	2	an	an	DET
fuelectenerg-2188	55	3	aid	aid	NOUN
fuelectenerg-2188	55	4	we	we	PRON
fuelectenerg-2188	55	5	used	use	VERB
fuelectenerg-2188	55	6	a	a	DET
fuelectenerg-2188	55	7	tripod	tripod	NOUN
fuelectenerg-2188	55	8	,	,	PUNCT
fuelectenerg-2188	55	9	and	and	CCONJ
fuelectenerg-2188	55	10	as	as	ADP
fuelectenerg-2188	55	11	a	a	DET
fuelectenerg-2188	55	12	marker	marker	NOUN
fuelectenerg-2188	55	13	we	we	PRON
fuelectenerg-2188	55	14	used	use	VERB
fuelectenerg-2188	55	15	an	an	DET
fuelectenerg-2188	55	16	orange	orange	PROPN
fuelectenerg-2188	55	17	ball	ball	NOUN
fuelectenerg-2188	55	18	,	,	PUNCT
fuelectenerg-2188	55	19	as	as	SCONJ
fuelectenerg-2188	55	20	shown	show	VERB
fuelectenerg-2188	55	21	in	in	ADP
fuelectenerg-2188	55	22	fig	fig	NOUN
fuelectenerg-2188	55	23	.	.	PUNCT
fuelectenerg-2188	56	1	1	1	X
fuelectenerg-2188	56	2	.	.	X
fuelectenerg-2188	56	3	height	height	NOUN
fuelectenerg-2188	56	4	of	of	ADP
fuelectenerg-2188	56	5	this	this	DET
fuelectenerg-2188	56	6	customized	customize	VERB
fuelectenerg-2188	56	7	calibration	calibration	NOUN
fuelectenerg-2188	56	8	tool	tool	NOUN
fuelectenerg-2188	56	9	was	be	AUX
fuelectenerg-2188	56	10	set	set	VERB
fuelectenerg-2188	56	11	to	to	ADP
fuelectenerg-2188	56	12	1.1	1.1	NUM
fuelectenerg-2188	56	13	m	m	NOUN
fuelectenerg-2188	56	14	which	which	PRON
fuelectenerg-2188	56	15	reduced	reduce	VERB
fuelectenerg-2188	56	16	the	the	DET
fuelectenerg-2188	56	17	distance	distance	NOUN
fuelectenerg-2188	56	18	between	between	ADP
fuelectenerg-2188	56	19	the	the	DET
fuelectenerg-2188	56	20	camera	camera	NOUN
fuelectenerg-2188	56	21	lens	lens	NOUN
fuelectenerg-2188	56	22	and	and	CCONJ
fuelectenerg-2188	56	23	the	the	DET
fuelectenerg-2188	56	24	markers	marker	NOUN
fuelectenerg-2188	56	25	to	to	ADP
fuelectenerg-2188	56	26	exactly	exactly	ADV
fuelectenerg-2188	56	27	2	2	NUM
fuelectenerg-2188	56	28	m.	m.	NOUN
fuelectenerg-2188	56	29	after	after	ADP
fuelectenerg-2188	56	30	relocating	relocate	VERB
fuelectenerg-2188	56	31	the	the	DET
fuelectenerg-2188	56	32	tripod	tripod	NOUN
fuelectenerg-2188	56	33	around	around	ADP
fuelectenerg-2188	56	34	the	the	DET
fuelectenerg-2188	56	35	grid	grid	NOUN
fuelectenerg-2188	56	36	,	,	PUNCT
fuelectenerg-2188	56	37	and	and	CCONJ
fuelectenerg-2188	56	38	overlaying	overlay	VERB
fuelectenerg-2188	56	39	all	all	DET
fuelectenerg-2188	56	40	images	image	NOUN
fuelectenerg-2188	56	41	one	one	NUM
fuelectenerg-2188	56	42	on	on	ADP
fuelectenerg-2188	56	43	top	top	NOUN
fuelectenerg-2188	56	44	of	of	ADP
fuelectenerg-2188	56	45	the	the	DET
fuelectenerg-2188	56	46	other	other	ADJ
fuelectenerg-2188	56	47	,	,	PUNCT
fuelectenerg-2188	56	48	we	we	PRON
fuelectenerg-2188	56	49	generated	generate	VERB
fuelectenerg-2188	56	50	fig	fig	NOUN
fuelectenerg-2188	56	51	.	.	PUNCT
fuelectenerg-2188	57	1	1	1	X
fuelectenerg-2188	57	2	.	.	X
fuelectenerg-2188	57	3	the	the	DET
fuelectenerg-2188	57	4	central	central	ADJ
fuelectenerg-2188	57	5	part	part	NOUN
fuelectenerg-2188	57	6	of	of	ADP
fuelectenerg-2188	57	7	the	the	DET
fuelectenerg-2188	57	8	grid	grid	NOUN
fuelectenerg-2188	57	9	,	,	PUNCT
fuelectenerg-2188	57	10	which	which	PRON
fuelectenerg-2188	57	11	aligns	align	VERB
fuelectenerg-2188	57	12	with	with	ADP
fuelectenerg-2188	57	13	the	the	DET
fuelectenerg-2188	57	14	middle	middle	NOUN
fuelectenerg-2188	57	15	of	of	ADP
fuelectenerg-2188	57	16	the	the	DET
fuelectenerg-2188	57	17	camera	camera	NOUN
fuelectenerg-2188	57	18	,	,	PUNCT
fuelectenerg-2188	57	19	is	be	AUX
fuelectenerg-2188	57	20	free	free	ADJ
fuelectenerg-2188	57	21	from	from	ADP
fuelectenerg-2188	57	22	the	the	DET
fuelectenerg-2188	57	23	lens	lens	NOUN
fuelectenerg-2188	57	24	distortion	distortion	NOUN
fuelectenerg-2188	57	25	.	.	PUNCT
fuelectenerg-2188	58	1	that	that	PRON
fuelectenerg-2188	58	2	is	be	AUX
fuelectenerg-2188	58	3	why	why	SCONJ
fuelectenerg-2188	58	4	we	we	PRON
fuelectenerg-2188	58	5	dropped	drop	VERB
fuelectenerg-2188	58	6	out	out	ADP
fuelectenerg-2188	58	7	some	some	DET
fuelectenerg-2188	58	8	middle	middle	ADJ
fuelectenerg-2188	58	9	points	point	NOUN
fuelectenerg-2188	58	10	but	but	CCONJ
fuelectenerg-2188	58	11	left	leave	VERB
fuelectenerg-2188	58	12	one	one	NUM
fuelectenerg-2188	58	13	on	on	ADP
fuelectenerg-2188	58	14	the	the	DET
fuelectenerg-2188	58	15	edges	edge	NOUN
fuelectenerg-2188	58	16	and	and	CCONJ
fuelectenerg-2188	58	17	corners	corner	NOUN
fuelectenerg-2188	58	18	,	,	PUNCT
fuelectenerg-2188	58	19	where	where	SCONJ
fuelectenerg-2188	58	20	the	the	DET
fuelectenerg-2188	58	21	distortion	distortion	NOUN
fuelectenerg-2188	58	22	is	be	AUX
fuelectenerg-2188	58	23	at	at	ADP
fuelectenerg-2188	58	24	its	its	PRON
fuelectenerg-2188	58	25	largest	large	ADJ
fuelectenerg-2188	58	26	.	.	PUNCT
fuelectenerg-2188	59	1	fig	fig	NOUN
fuelectenerg-2188	59	2	.	.	PUNCT
fuelectenerg-2188	60	1	1	1	NUM
fuelectenerg-2188	60	2	overlay	overlay	NOUN
fuelectenerg-2188	60	3	of	of	ADP
fuelectenerg-2188	60	4	tripod	tripod	NOUN
fuelectenerg-2188	60	5	with	with	ADP
fuelectenerg-2188	60	6	marker	marker	NOUN
fuelectenerg-2188	60	7	as	as	ADP
fuelectenerg-2188	60	8	calibration	calibration	NOUN
fuelectenerg-2188	60	9	points	point	NOUN
fuelectenerg-2188	60	10	in	in	ADP
fuelectenerg-2188	60	11	our	our	PRON
fuelectenerg-2188	60	12	test	test	NOUN
fuelectenerg-2188	60	13	room	room	NOUN
fuelectenerg-2188	60	14	.	.	PUNCT
fuelectenerg-2188	61	1	we	we	PRON
fuelectenerg-2188	61	2	found	find	VERB
fuelectenerg-2188	61	3	it	it	PRON
fuelectenerg-2188	61	4	fitting	fitting	ADJ
fuelectenerg-2188	61	5	to	to	PART
fuelectenerg-2188	61	6	divide	divide	VERB
fuelectenerg-2188	61	7	the	the	DET
fuelectenerg-2188	61	8	frame	frame	NOUN
fuelectenerg-2188	61	9	to	to	ADP
fuelectenerg-2188	61	10	9	9	NUM
fuelectenerg-2188	61	11	regions	region	NOUN
fuelectenerg-2188	61	12	and	and	CCONJ
fuelectenerg-2188	61	13	linearize	linearize	VERB
fuelectenerg-2188	61	14	them	they	PRON
fuelectenerg-2188	61	15	independently	independently	ADV
fuelectenerg-2188	61	16	.	.	PUNCT
fuelectenerg-2188	62	1	this	this	PRON
fuelectenerg-2188	62	2	keeps	keep	VERB
fuelectenerg-2188	62	3	rectification	rectification	NOUN
fuelectenerg-2188	62	4	simple	simple	ADJ
fuelectenerg-2188	62	5	and	and	CCONJ
fuelectenerg-2188	62	6	calibration	calibration	NOUN
fuelectenerg-2188	62	7	easy	easy	ADJ
fuelectenerg-2188	62	8	.	.	PUNCT
fuelectenerg-2188	63	1	number	number	NOUN
fuelectenerg-2188	63	2	of	of	ADP
fuelectenerg-2188	63	3	pixels	pixel	NOUN
fuelectenerg-2188	63	4	between	between	ADP
fuelectenerg-2188	63	5	sampled	sample	VERB
fuelectenerg-2188	63	6	points	point	NOUN
fuelectenerg-2188	63	7	was	be	AUX
fuelectenerg-2188	63	8	manually	manually	ADV
fuelectenerg-2188	63	9	counted	count	VERB
fuelectenerg-2188	63	10	and	and	CCONJ
fuelectenerg-2188	63	11	converted	convert	VERB
fuelectenerg-2188	63	12	to	to	ADP
fuelectenerg-2188	63	13	centimetres	centimetre	NOUN
fuelectenerg-2188	63	14	.	.	PUNCT
fuelectenerg-2188	64	1	later	later	ADV
fuelectenerg-2188	64	2	on	on	ADV
fuelectenerg-2188	64	3	,	,	PUNCT
fuelectenerg-2188	64	4	calibration	calibration	NOUN
fuelectenerg-2188	64	5	constants	constant	NOUN
fuelectenerg-2188	64	6	and	and	CCONJ
fuelectenerg-2188	64	7	offsets	offset	NOUN
fuelectenerg-2188	64	8	for	for	ADP
fuelectenerg-2188	64	9	each	each	DET
fuelectenerg-2188	64	10	region	region	NOUN
fuelectenerg-2188	64	11	were	be	AUX
fuelectenerg-2188	64	12	calculated	calculate	VERB
fuelectenerg-2188	64	13	,	,	PUNCT
fuelectenerg-2188	64	14	and	and	CCONJ
fuelectenerg-2188	64	15	embedded	embed	VERB
fuelectenerg-2188	64	16	in	in	ADP
fuelectenerg-2188	64	17	the	the	DET
fuelectenerg-2188	64	18	positioning	positioning	NOUN
fuelectenerg-2188	64	19	algorithm	algorithm	NOUN
fuelectenerg-2188	64	20	.	.	PUNCT
fuelectenerg-2188	65	1	distortional	distortional	ADJ
fuelectenerg-2188	65	2	displacement	displacement	NOUN
fuelectenerg-2188	65	3	within	within	ADP
fuelectenerg-2188	65	4	the	the	DET
fuelectenerg-2188	65	5	camera	camera	NOUN
fuelectenerg-2188	65	6	image	image	NOUN
fuelectenerg-2188	65	7	is	be	AUX
fuelectenerg-2188	65	8	not	not	PART
fuelectenerg-2188	65	9	the	the	DET
fuelectenerg-2188	65	10	same	same	ADJ
fuelectenerg-2188	65	11	for	for	ADP
fuelectenerg-2188	65	12	close	close	ADJ
fuelectenerg-2188	65	13	and	and	CCONJ
fuelectenerg-2188	65	14	distant	distant	ADJ
fuelectenerg-2188	65	15	objects	object	NOUN
fuelectenerg-2188	65	16	.	.	PUNCT
fuelectenerg-2188	66	1	obviously	obviously	ADV
fuelectenerg-2188	66	2	,	,	PUNCT
fuelectenerg-2188	66	3	an	an	DET
fuelectenerg-2188	66	4	additional	additional	ADJ
fuelectenerg-2188	66	5	calibration	calibration	NOUN
fuelectenerg-2188	66	6	is	be	AUX
fuelectenerg-2188	66	7	required	require	VERB
fuelectenerg-2188	66	8	if	if	SCONJ
fuelectenerg-2188	66	9	height	height	NOUN
fuelectenerg-2188	66	10	of	of	ADP
fuelectenerg-2188	66	11	the	the	DET
fuelectenerg-2188	66	12	marker	marker	NOUN
fuelectenerg-2188	66	13	is	be	AUX
fuelectenerg-2188	66	14	changed	change	VERB
fuelectenerg-2188	66	15	.	.	PUNCT
fuelectenerg-2188	67	1	however	however	ADV
fuelectenerg-2188	67	2	,	,	PUNCT
fuelectenerg-2188	67	3	there	there	PRON
fuelectenerg-2188	67	4	is	be	VERB
fuelectenerg-2188	67	5	no	no	DET
fuelectenerg-2188	67	6	need	need	NOUN
fuelectenerg-2188	67	7	for	for	ADP
fuelectenerg-2188	67	8	this	this	PRON
fuelectenerg-2188	67	9	if	if	SCONJ
fuelectenerg-2188	67	10	its	its	PRON
fuelectenerg-2188	67	11	placement	placement	NOUN
fuelectenerg-2188	67	12	is	be	AUX
fuelectenerg-2188	67	13	optimal	optimal	ADJ
fuelectenerg-2188	67	14	.	.	PUNCT
fuelectenerg-2188	68	1	the	the	DET
fuelectenerg-2188	68	2	best	good	ADJ
fuelectenerg-2188	68	3	place	place	NOUN
fuelectenerg-2188	68	4	for	for	ADP
fuelectenerg-2188	68	5	the	the	DET
fuelectenerg-2188	68	6	marker	marker	NOUN
fuelectenerg-2188	68	7	is	be	AUX
fuelectenerg-2188	68	8	on	on	ADP
fuelectenerg-2188	68	9	the	the	DET
fuelectenerg-2188	68	10	top	top	NOUN
fuelectenerg-2188	68	11	of	of	ADP
fuelectenerg-2188	68	12	the	the	DET
fuelectenerg-2188	68	13	tracked	track	VERB
fuelectenerg-2188	68	14	object	object	NOUN
fuelectenerg-2188	68	15	,	,	PUNCT
fuelectenerg-2188	68	16	where	where	SCONJ
fuelectenerg-2188	68	17	chances	chance	NOUN
fuelectenerg-2188	68	18	for	for	ADP
fuelectenerg-2188	68	19	occlusion	occlusion	NOUN
fuelectenerg-2188	68	20	are	be	AUX
fuelectenerg-2188	68	21	negligible	negligible	ADJ
fuelectenerg-2188	68	22	.	.	PUNCT
fuelectenerg-2188	69	1	we	we	PRON
fuelectenerg-2188	69	2	should	should	AUX
fuelectenerg-2188	69	3	note	note	VERB
fuelectenerg-2188	69	4	that	that	SCONJ
fuelectenerg-2188	69	5	markers	marker	NOUN
fuelectenerg-2188	69	6	placed	place	VERB
fuelectenerg-2188	69	7	higher	high	ADJ
fuelectenerg-2188	69	8	do	do	AUX
fuelectenerg-2188	69	9	require	require	VERB
fuelectenerg-2188	69	10	more	more	ADJ
fuelectenerg-2188	69	11	linearization	linearization	NOUN
fuelectenerg-2188	69	12	sectors	sector	NOUN
fuelectenerg-2188	69	13	,	,	PUNCT
fuelectenerg-2188	69	14	as	as	SCONJ
fuelectenerg-2188	69	15	the	the	DET
fuelectenerg-2188	69	16	difference	difference	NOUN
fuelectenerg-2188	69	17	between	between	ADP
fuelectenerg-2188	69	18	the	the	DET
fuelectenerg-2188	69	19	real	real	ADJ
fuelectenerg-2188	69	20	position	position	NOUN
fuelectenerg-2188	69	21	of	of	ADP
fuelectenerg-2188	69	22	the	the	DET
fuelectenerg-2188	69	23	object	object	NOUN
fuelectenerg-2188	69	24	on	on	ADP
fuelectenerg-2188	69	25	the	the	DET
fuelectenerg-2188	69	26	floor	floor	NOUN
fuelectenerg-2188	69	27	and	and	CCONJ
fuelectenerg-2188	69	28	the	the	DET
fuelectenerg-2188	69	29	camera	camera	NOUN
fuelectenerg-2188	69	30	frame	frame	NOUN
fuelectenerg-2188	69	31	varies	vary	VERB
fuelectenerg-2188	69	32	.	.	PUNCT
fuelectenerg-2188	70	1	an	an	DET
fuelectenerg-2188	70	2	important	important	ADJ
fuelectenerg-2188	70	3	part	part	NOUN
fuelectenerg-2188	70	4	of	of	ADP
fuelectenerg-2188	70	5	the	the	DET
fuelectenerg-2188	70	6	simplification	simplification	NOUN
fuelectenerg-2188	70	7	of	of	ADP
fuelectenerg-2188	70	8	the	the	DET
fuelectenerg-2188	70	9	marker	marker	NOUN
fuelectenerg-2188	70	10	recognition	recognition	NOUN
fuelectenerg-2188	70	11	is	be	AUX
fuelectenerg-2188	70	12	its	its	PRON
fuelectenerg-2188	70	13	colour	colour	NOUN
fuelectenerg-2188	70	14	coding	coding	NOUN
fuelectenerg-2188	70	15	.	.	PUNCT
fuelectenerg-2188	71	1	this	this	PRON
fuelectenerg-2188	71	2	makes	make	VERB
fuelectenerg-2188	71	3	identification	identification	NOUN
fuelectenerg-2188	71	4	easy	easy	ADJ
fuelectenerg-2188	71	5	.	.	PUNCT
fuelectenerg-2188	72	1	in	in	ADP
fuelectenerg-2188	72	2	addition	addition	NOUN
fuelectenerg-2188	72	3	,	,	PUNCT
fuelectenerg-2188	72	4	extracted	extract	VERB
fuelectenerg-2188	72	5	marker	marker	NOUN
fuelectenerg-2188	72	6	shape	shape	NOUN
fuelectenerg-2188	72	7	is	be	AUX
fuelectenerg-2188	72	8	more	more	ADV
fuelectenerg-2188	72	9	accurate	accurate	ADJ
fuelectenerg-2188	72	10	,	,	PUNCT
fuelectenerg-2188	72	11	which	which	PRON
fuelectenerg-2188	72	12	enhances	enhance	VERB
fuelectenerg-2188	72	13	precision	precision	NOUN
fuelectenerg-2188	72	14	in	in	ADP
fuelectenerg-2188	72	15	marker	marker	NOUN
fuelectenerg-2188	72	16	centre	centre	NOUN
fuelectenerg-2188	72	17	calculation	calculation	NOUN
fuelectenerg-2188	72	18	.	.	PUNCT
fuelectenerg-2188	73	1	we	we	PRON
fuelectenerg-2188	73	2	implemented	implement	VERB
fuelectenerg-2188	73	3	this	this	DET
fuelectenerg-2188	73	4	extraction	extraction	NOUN
fuelectenerg-2188	73	5	through	through	ADP
fuelectenerg-2188	73	6	pixels	pixel	NOUN
fuelectenerg-2188	73	7	classification	classification	NOUN
fuelectenerg-2188	73	8	.	.	PUNCT
fuelectenerg-2188	74	1	the	the	DET
fuelectenerg-2188	74	2	classification	classification	NOUN
fuelectenerg-2188	74	3	of	of	ADP
fuelectenerg-2188	74	4	pixels	pixel	NOUN
fuelectenerg-2188	74	5	generates	generate	VERB
fuelectenerg-2188	74	6	a	a	DET
fuelectenerg-2188	74	7	black	black	ADJ
fuelectenerg-2188	74	8	and	and	CCONJ
fuelectenerg-2188	74	9	white	white	ADJ
fuelectenerg-2188	74	10	image	image	NOUN
fuelectenerg-2188	74	11	,	,	PUNCT
fuelectenerg-2188	74	12	where	where	SCONJ
fuelectenerg-2188	74	13	white	white	ADJ
fuelectenerg-2188	74	14	pixels	pixel	NOUN
fuelectenerg-2188	74	15	are	be	AUX
fuelectenerg-2188	74	16	originally	originally	ADV
fuelectenerg-2188	74	17	in	in	ADP
fuelectenerg-2188	74	18	adjacent	adjacent	ADJ
fuelectenerg-2188	74	19	colour	colour	NOUN
fuelectenerg-2188	74	20	space	space	NOUN
fuelectenerg-2188	74	21	of	of	ADP
fuelectenerg-2188	74	22	the	the	DET
fuelectenerg-2188	74	23	marker	marker	NOUN
fuelectenerg-2188	74	24	.	.	PUNCT
fuelectenerg-2188	75	1	this	this	DET
fuelectenerg-2188	75	2	new	new	ADJ
fuelectenerg-2188	75	3	image	image	NOUN
fuelectenerg-2188	75	4	contains	contain	VERB
fuelectenerg-2188	75	5	slightly	slightly	ADV
fuelectenerg-2188	75	6	etched	etch	VERB
fuelectenerg-2188	75	7	shapes	shape	NOUN
fuelectenerg-2188	75	8	of	of	ADP
fuelectenerg-2188	75	9	markers	marker	NOUN
fuelectenerg-2188	75	10	with	with	ADP
fuelectenerg-2188	75	11	some	some	DET
fuelectenerg-2188	75	12	artefacts	artefact	NOUN
fuelectenerg-2188	75	13	as	as	ADV
fuelectenerg-2188	75	14	well	well	ADV
fuelectenerg-2188	75	15	.	.	PUNCT
fuelectenerg-2188	76	1	another	another	DET
fuelectenerg-2188	76	2	layer	layer	NOUN
fuelectenerg-2188	76	3	of	of	ADP
fuelectenerg-2188	76	4	smoothing	smooth	VERB
fuelectenerg-2188	76	5	filter	filter	NOUN
fuelectenerg-2188	76	6	corrects	correct	NOUN
fuelectenerg-2188	76	7	this	this	PRON
fuelectenerg-2188	76	8	.	.	PUNCT
fuelectenerg-2188	77	1	we	we	PRON
fuelectenerg-2188	77	2	suggest	suggest	VERB
fuelectenerg-2188	77	3	gaussian	gaussian	ADJ
fuelectenerg-2188	77	4	blur	blur	NOUN
fuelectenerg-2188	77	5	,	,	PUNCT
fuelectenerg-2188	77	6	as	as	SCONJ
fuelectenerg-2188	77	7	it	it	PRON
fuelectenerg-2188	77	8	produced	produce	VERB
fuelectenerg-2188	77	9	quite	quite	ADV
fuelectenerg-2188	77	10	useful	useful	ADJ
fuelectenerg-2188	77	11	results	result	NOUN
fuelectenerg-2188	77	12	for	for	ADP
fuelectenerg-2188	77	13	us	we	PRON
fuelectenerg-2188	77	14	.	.	PUNCT
fuelectenerg-2188	78	1	larger	large	ADJ
fuelectenerg-2188	78	2	artefacts	artefact	NOUN
fuelectenerg-2188	78	3	,	,	PUNCT
fuelectenerg-2188	78	4	if	if	SCONJ
fuelectenerg-2188	78	5	they	they	PRON
fuelectenerg-2188	78	6	happen	happen	VERB
fuelectenerg-2188	78	7	to	to	PART
fuelectenerg-2188	78	8	persist	persist	VERB
fuelectenerg-2188	78	9	,	,	PUNCT
fuelectenerg-2188	78	10	are	be	AUX
fuelectenerg-2188	78	11	filtered	filter	VERB
fuelectenerg-2188	78	12	out	out	ADP
fuelectenerg-2188	78	13	by	by	ADP
fuelectenerg-2188	78	14	shape	shape	NOUN
fuelectenerg-2188	78	15	and	and	CCONJ
fuelectenerg-2188	78	16	size	size	NOUN
fuelectenerg-2188	78	17	classification	classification	NOUN
fuelectenerg-2188	78	18	.	.	PUNCT
fuelectenerg-2188	79	1	we	we	PRON
fuelectenerg-2188	79	2	opted	opt	VERB
fuelectenerg-2188	79	3	for	for	ADP
fuelectenerg-2188	79	4	a	a	DET
fuelectenerg-2188	79	5	circular	circular	ADJ
fuelectenerg-2188	79	6	marker	marker	NOUN
fuelectenerg-2188	79	7	design	design	NOUN
fuelectenerg-2188	79	8	.	.	PUNCT
fuelectenerg-2188	80	1	406	406	NUM
fuelectenerg-2188	80	2	m.	m.	NOUN
fuelectenerg-2188	80	3	petković	petković	NOUN
fuelectenerg-2188	80	4	,	,	PUNCT
fuelectenerg-2188	80	5	v.	v.	ADP
fuelectenerg-2188	80	6	sibinović	sibinović	PROPN
fuelectenerg-2188	80	7	,	,	PUNCT
fuelectenerg-2188	80	8	d.	d.	PROPN
fuelectenerg-2188	80	9	popović	popović	PROPN
fuelectenerg-2188	80	10	,	,	PUNCT
fuelectenerg-2188	80	11	v.	v.	CCONJ
fuelectenerg-2188	80	12	mitić	mitić	NOUN
fuelectenerg-2188	80	13	,	,	PUNCT
fuelectenerg-2188	80	14	d.	d.	PROPN
fuelectenerg-2188	80	15	todorović	todorović	PROPN
fuelectenerg-2188	80	16	,	,	PUNCT
fuelectenerg-2188	80	17	g.	g.	PROPN
fuelectenerg-2188	80	18	s.	s.	PROPN
fuelectenerg-2188	80	19	đorđević	đorđević	PROPN
fuelectenerg-2188	80	20	marker	marker	NOUN
fuelectenerg-2188	80	21	colour	colour	NOUN
fuelectenerg-2188	80	22	distinction	distinction	NOUN
fuelectenerg-2188	80	23	also	also	ADV
fuelectenerg-2188	80	24	enables	enable	VERB
fuelectenerg-2188	80	25	multi	multi	ADJ
fuelectenerg-2188	80	26	object	object	NOUN
fuelectenerg-2188	80	27	tracking	tracking	NOUN
fuelectenerg-2188	80	28	,	,	PUNCT
fuelectenerg-2188	80	29	or	or	CCONJ
fuelectenerg-2188	80	30	orientation	orientation	NOUN
fuelectenerg-2188	80	31	recognition	recognition	NOUN
fuelectenerg-2188	80	32	by	by	ADP
fuelectenerg-2188	80	33	engaging	engage	VERB
fuelectenerg-2188	80	34	two	two	NUM
fuelectenerg-2188	80	35	markers	marker	NOUN
fuelectenerg-2188	80	36	per	per	ADP
fuelectenerg-2188	80	37	object	object	NOUN
fuelectenerg-2188	80	38	.	.	PUNCT
fuelectenerg-2188	81	1	in	in	ADP
fuelectenerg-2188	81	2	particular	particular	ADJ
fuelectenerg-2188	81	3	we	we	PRON
fuelectenerg-2188	81	4	used	use	VERB
fuelectenerg-2188	81	5	the	the	DET
fuelectenerg-2188	81	6	larger	large	ADJ
fuelectenerg-2188	81	7	,	,	PUNCT
fuelectenerg-2188	81	8	orange	orange	NOUN
fuelectenerg-2188	81	9	coloured	colour	VERB
fuelectenerg-2188	81	10	,	,	PUNCT
fuelectenerg-2188	81	11	marker	marker	NOUN
fuelectenerg-2188	81	12	for	for	ADP
fuelectenerg-2188	81	13	tracking	tracking	NOUN
fuelectenerg-2188	81	14	position	position	NOUN
fuelectenerg-2188	81	15	,	,	PUNCT
fuelectenerg-2188	81	16	while	while	SCONJ
fuelectenerg-2188	81	17	the	the	DET
fuelectenerg-2188	81	18	smaller	small	ADJ
fuelectenerg-2188	81	19	one	one	NOUN
fuelectenerg-2188	81	20	which	which	PRON
fuelectenerg-2188	81	21	was	be	AUX
fuelectenerg-2188	81	22	green	green	ADJ
fuelectenerg-2188	81	23	,	,	PUNCT
fuelectenerg-2188	81	24	was	be	AUX
fuelectenerg-2188	81	25	an	an	DET
fuelectenerg-2188	81	26	aid	aid	NOUN
fuelectenerg-2188	81	27	in	in	ADP
fuelectenerg-2188	81	28	tracking	tracking	NOUN
fuelectenerg-2188	81	29	robot	robot	NOUN
fuelectenerg-2188	81	30	heading	heading	NOUN
fuelectenerg-2188	81	31	.	.	PUNCT
fuelectenerg-2188	82	1	this	this	DET
fuelectenerg-2188	82	2	marker	marker	NOUN
fuelectenerg-2188	82	3	combination	combination	NOUN
fuelectenerg-2188	82	4	proved	prove	VERB
fuelectenerg-2188	82	5	to	to	PART
fuelectenerg-2188	82	6	be	be	AUX
fuelectenerg-2188	82	7	the	the	DET
fuelectenerg-2188	82	8	most	most	ADV
fuelectenerg-2188	82	9	desirable	desirable	ADJ
fuelectenerg-2188	82	10	with	with	ADP
fuelectenerg-2188	82	11	respect	respect	NOUN
fuelectenerg-2188	82	12	to	to	ADP
fuelectenerg-2188	82	13	the	the	DET
fuelectenerg-2188	82	14	program	program	NOUN
fuelectenerg-2188	82	15	execution	execution	NOUN
fuelectenerg-2188	82	16	time	time	NOUN
fuelectenerg-2188	82	17	.	.	PUNCT
fuelectenerg-2188	83	1	after	after	SCONJ
fuelectenerg-2188	83	2	marker	marker	NOUN
fuelectenerg-2188	83	3	positions	position	NOUN
fuelectenerg-2188	83	4	in	in	ADP
fuelectenerg-2188	83	5	pixels	pixel	NOUN
fuelectenerg-2188	83	6	are	be	AUX
fuelectenerg-2188	83	7	extracted	extract	VERB
fuelectenerg-2188	83	8	,	,	PUNCT
fuelectenerg-2188	83	9	in	in	ADP
fuelectenerg-2188	83	10	our	our	PRON
fuelectenerg-2188	83	11	case	case	NOUN
fuelectenerg-2188	83	12	after	after	SCONJ
fuelectenerg-2188	83	13	the	the	DET
fuelectenerg-2188	83	14	centre	centre	NOUN
fuelectenerg-2188	83	15	of	of	ADP
fuelectenerg-2188	83	16	the	the	DET
fuelectenerg-2188	83	17	only	only	ADJ
fuelectenerg-2188	83	18	remaining	remain	VERB
fuelectenerg-2188	83	19	circle	circle	NOUN
fuelectenerg-2188	83	20	is	be	AUX
fuelectenerg-2188	83	21	calculated	calculate	VERB
fuelectenerg-2188	83	22	,	,	PUNCT
fuelectenerg-2188	83	23	its	its	PRON
fuelectenerg-2188	83	24	conversion	conversion	NOUN
fuelectenerg-2188	83	25	to	to	ADP
fuelectenerg-2188	83	26	absolute	absolute	ADJ
fuelectenerg-2188	83	27	position	position	NOUN
fuelectenerg-2188	83	28	in	in	ADP
fuelectenerg-2188	83	29	centimetres	centimetre	NOUN
fuelectenerg-2188	83	30	comes	come	VERB
fuelectenerg-2188	83	31	in	in	ADP
fuelectenerg-2188	83	32	place	place	NOUN
fuelectenerg-2188	83	33	,	,	PUNCT
fuelectenerg-2188	83	34	by	by	ADP
fuelectenerg-2188	83	35	using	use	VERB
fuelectenerg-2188	83	36	formula	formula	NOUN
fuelectenerg-2188	83	37	(	(	PUNCT
fuelectenerg-2188	83	38	1	1	NUM
fuelectenerg-2188	83	39	)	)	PUNCT
fuelectenerg-2188	83	40	and	and	CCONJ
fuelectenerg-2188	83	41	calibration	calibration	NOUN
fuelectenerg-2188	83	42	constants	constant	NOUN
fuelectenerg-2188	83	43	.	.	PUNCT
fuelectenerg-2188	84	1	1	1	NUM
fuelectenerg-2188	84	2	2	2	NUM
fuelectenerg-2188	84	3	calib	calib	NOUN
fuelectenerg-2188	84	4	mp	mp	PROPN
fuelectenerg-2188	84	5	os	os	PROPN
fuelectenerg-2188	84	6	mpc	mpc	PROPN
fuelectenerg-2188	84	7	os	os	PROPN
fuelectenerg-2188	84	8	c	c	PROPN
fuelectenerg-2188	84	9			NOUN
fuelectenerg-2188	84	10			NOUN
fuelectenerg-2188	84	11			PROPN
fuelectenerg-2188	84	12			PROPN
fuelectenerg-2188	84	13			CCONJ
fuelectenerg-2188	84	14			PROPN
fuelectenerg-2188	84	15			NOUN
fuelectenerg-2188	84	16	(	(	PUNCT
fuelectenerg-2188	84	17	1	1	NUM
fuelectenerg-2188	84	18	)	)	PUNCT
fuelectenerg-2188	84	19	mp	mp	NOUN
fuelectenerg-2188	84	20	is	be	AUX
fuelectenerg-2188	84	21	the	the	DET
fuelectenerg-2188	84	22	marker	marker	NOUN
fuelectenerg-2188	84	23	position	position	NOUN
fuelectenerg-2188	84	24	in	in	ADP
fuelectenerg-2188	84	25	pixels	pixel	NOUN
fuelectenerg-2188	84	26	while	while	SCONJ
fuelectenerg-2188	84	27	os1	os1	NOUN
fuelectenerg-2188	84	28	is	be	AUX
fuelectenerg-2188	84	29	the	the	DET
fuelectenerg-2188	84	30	marker	marker	NOUN
fuelectenerg-2188	84	31	offset	offset	NOUN
fuelectenerg-2188	84	32	in	in	ADP
fuelectenerg-2188	84	33	pixels	pixel	NOUN
fuelectenerg-2188	84	34	for	for	ADP
fuelectenerg-2188	84	35	the	the	DET
fuelectenerg-2188	84	36	region	region	NOUN
fuelectenerg-2188	84	37	it	it	PRON
fuelectenerg-2188	84	38	belongs	belong	VERB
fuelectenerg-2188	84	39	to	to	ADP
fuelectenerg-2188	84	40	.	.	PUNCT
fuelectenerg-2188	85	1	ccalib	ccalib	PROPN
fuelectenerg-2188	85	2	and	and	CCONJ
fuelectenerg-2188	85	3	os2	os2	PROPN
fuelectenerg-2188	85	4	are	be	AUX
fuelectenerg-2188	85	5	linearity	linearity	NOUN
fuelectenerg-2188	85	6	gain	gain	NOUN
fuelectenerg-2188	85	7	and	and	CCONJ
fuelectenerg-2188	85	8	offset	offset	VERB
fuelectenerg-2188	85	9	in	in	ADP
fuelectenerg-2188	85	10	centimetres	centimetre	NOUN
fuelectenerg-2188	85	11	for	for	ADP
fuelectenerg-2188	85	12	the	the	DET
fuelectenerg-2188	85	13	region	region	NOUN
fuelectenerg-2188	85	14	.	.	PUNCT
fuelectenerg-2188	86	1	their	their	PRON
fuelectenerg-2188	86	2	values	value	NOUN
fuelectenerg-2188	86	3	,	,	PUNCT
fuelectenerg-2188	86	4	for	for	ADP
fuelectenerg-2188	86	5	all	all	DET
fuelectenerg-2188	86	6	nine	nine	NUM
fuelectenerg-2188	86	7	calibration	calibration	NOUN
fuelectenerg-2188	86	8	regions	region	NOUN
fuelectenerg-2188	86	9	,	,	PUNCT
fuelectenerg-2188	86	10	are	be	AUX
fuelectenerg-2188	86	11	given	give	VERB
fuelectenerg-2188	86	12	in	in	ADP
fuelectenerg-2188	86	13	table	table	NOUN
fuelectenerg-2188	86	14	1	1	NUM
fuelectenerg-2188	86	15	.	.	PUNCT
fuelectenerg-2188	87	1	finally	finally	ADV
fuelectenerg-2188	87	2	,	,	PUNCT
fuelectenerg-2188	87	3	mpc	mpc	PROPN
fuelectenerg-2188	87	4	is	be	AUX
fuelectenerg-2188	87	5	marker	marker	NOUN
fuelectenerg-2188	87	6	position	position	NOUN
fuelectenerg-2188	87	7	in	in	ADP
fuelectenerg-2188	87	8	centimetres	centimetre	NOUN
fuelectenerg-2188	87	9	,	,	PUNCT
fuelectenerg-2188	87	10	in	in	ADP
fuelectenerg-2188	87	11	coordinate	coordinate	NOUN
fuelectenerg-2188	87	12	system	system	NOUN
fuelectenerg-2188	87	13	which	which	DET
fuelectenerg-2188	87	14	centre	centre	NOUN
fuelectenerg-2188	87	15	is	be	AUX
fuelectenerg-2188	87	16	placed	place	VERB
fuelectenerg-2188	87	17	at	at	ADP
fuelectenerg-2188	87	18	the	the	DET
fuelectenerg-2188	87	19	bottom	bottom	NOUN
fuelectenerg-2188	87	20	left	left	ADJ
fuelectenerg-2188	87	21	calibration	calibration	NOUN
fuelectenerg-2188	87	22	point	point	NOUN
fuelectenerg-2188	87	23	of	of	ADP
fuelectenerg-2188	87	24	fig	fig	NOUN
fuelectenerg-2188	87	25	.	.	PUNCT
fuelectenerg-2188	88	1	1	1	X
fuelectenerg-2188	88	2	.	.	PUNCT
fuelectenerg-2188	88	3	table	table	NOUN
fuelectenerg-2188	88	4	1	1	NUM
fuelectenerg-2188	88	5	calibration	calibration	NOUN
fuelectenerg-2188	88	6	constants	constant	NOUN
fuelectenerg-2188	88	7	and	and	CCONJ
fuelectenerg-2188	88	8	offsets	offset	NOUN
fuelectenerg-2188	88	9	for	for	ADP
fuelectenerg-2188	88	10	conversion	conversion	NOUN
fuelectenerg-2188	88	11	into	into	ADP
fuelectenerg-2188	88	12	cm	cm	NOUN
fuelectenerg-2188	88	13	marker	marker	NOUN
fuelectenerg-2188	88	14	osition	osition	NOUN
fuelectenerg-2188	88	15	os1	os1	NOUN
fuelectenerg-2188	89	1	ccalib	ccalib	PROPN
fuelectenerg-2188	89	2	os2	os2	PROPN
fuelectenerg-2188	89	3	x	x	PUNCT
fuelectenerg-2188	89	4	y	y	NOUN
fuelectenerg-2188	89	5	x	x	SYM
fuelectenerg-2188	89	6	y	y	NOUN
fuelectenerg-2188	89	7	x	x	PUNCT
fuelectenerg-2188	89	8	y	y	PROPN
fuelectenerg-2188	89	9	upper	upper	ADV
fuelectenerg-2188	89	10	left	leave	VERB
fuelectenerg-2188	89	11	285	285	NUM
fuelectenerg-2188	89	12	28	28	NUM
fuelectenerg-2188	89	13	3.44	3.44	NUM
fuelectenerg-2188	89	14	3.64	3.64	NUM
fuelectenerg-2188	89	15	0	0	NUM
fuelectenerg-2188	89	16	0	0	NUM
fuelectenerg-2188	89	17	centre	centre	NOUN
fuelectenerg-2188	89	18	left	leave	VERB
fuelectenerg-2188	89	19	285	285	NUM
fuelectenerg-2188	89	20	28	28	NUM
fuelectenerg-2188	89	21	3.44	3.44	NUM
fuelectenerg-2188	89	22	3.43	3.43	NUM
fuelectenerg-2188	89	23	0	0	NUM
fuelectenerg-2188	89	24	0	0	NUM
fuelectenerg-2188	89	25	lower	low	ADJ
fuelectenerg-2188	89	26	left	leave	VERB
fuelectenerg-2188	89	27	285	285	NUM
fuelectenerg-2188	89	28	900	900	NUM
fuelectenerg-2188	89	29	3.36	3.36	NUM
fuelectenerg-2188	89	30	3.23	3.23	NUM
fuelectenerg-2188	89	31	0	0	NUM
fuelectenerg-2188	89	32	250	250	NUM
fuelectenerg-2188	89	33	upper	upper	ADJ
fuelectenerg-2188	89	34	middle	middle	ADJ
fuelectenerg-2188	89	35	620	620	NUM
fuelectenerg-2188	89	36	20	20	NUM
fuelectenerg-2188	89	37	2.29	2.29	NUM
fuelectenerg-2188	89	38	2.26	2.26	NUM
fuelectenerg-2188	89	39	100	100	NUM
fuelectenerg-2188	89	40	0	0	NUM
fuelectenerg-2188	89	41	centre	centre	NOUN
fuelectenerg-2188	89	42	620	620	NUM
fuelectenerg-2188	89	43	200	200	NUM
fuelectenerg-2188	89	44	3.5	3.5	NUM
fuelectenerg-2188	89	45	3.5	3.5	NUM
fuelectenerg-2188	89	46	100	100	NUM
fuelectenerg-2188	89	47	50	50	NUM
fuelectenerg-2188	89	48	lower	lower	ADV
fuelectenerg-2188	89	49	middle	middle	ADJ
fuelectenerg-2188	89	50	620	620	NUM
fuelectenerg-2188	89	51	1319	1319	NUM
fuelectenerg-2188	89	52	3.6	3.6	NUM
fuelectenerg-2188	89	53	3.6	3.6	NUM
fuelectenerg-2188	89	54	50	50	NUM
fuelectenerg-2188	89	55	0	0	NUM
fuelectenerg-2188	89	56	upper	upper	ADJ
fuelectenerg-2188	89	57	right	right	ADJ
fuelectenerg-2188	89	58	1319	1319	NUM
fuelectenerg-2188	89	59	28	28	NUM
fuelectenerg-2188	89	60	3.44	3.44	NUM
fuelectenerg-2188	89	61	3.43	3.43	NUM
fuelectenerg-2188	89	62	300	300	NUM
fuelectenerg-2188	89	63	0	0	NUM
fuelectenerg-2188	89	64	centre	centre	NOUN
fuelectenerg-2188	89	65	right	right	ADJ
fuelectenerg-2188	89	66	1319	1319	NUM
fuelectenerg-2188	89	67	28	28	NUM
fuelectenerg-2188	89	68	3.44	3.44	NUM
fuelectenerg-2188	89	69	3.43	3.43	NUM
fuelectenerg-2188	89	70	300	300	NUM
fuelectenerg-2188	89	71	0	0	NUM
fuelectenerg-2188	89	72	lower	low	ADJ
fuelectenerg-2188	89	73	right	right	ADJ
fuelectenerg-2188	89	74	285	285	NUM
fuelectenerg-2188	89	75	900	900	NUM
fuelectenerg-2188	89	76	3.36	3.36	NUM
fuelectenerg-2188	89	77	3.23	3.23	NUM
fuelectenerg-2188	89	78	0	0	NUM
fuelectenerg-2188	89	79	250	250	NUM
fuelectenerg-2188	89	80	2.2	2.2	NUM
fuelectenerg-2188	89	81	.	.	PUNCT
fuelectenerg-2188	90	1	implementation	implementation	NOUN
fuelectenerg-2188	90	2	and	and	CCONJ
fuelectenerg-2188	90	3	results	result	VERB
fuelectenerg-2188	90	4	the	the	DET
fuelectenerg-2188	90	5	program	program	NOUN
fuelectenerg-2188	90	6	was	be	AUX
fuelectenerg-2188	90	7	done	do	VERB
fuelectenerg-2188	90	8	under	under	ADP
fuelectenerg-2188	90	9	window	window	NOUN
fuelectenerg-2188	90	10	10	10	NUM
fuelectenerg-2188	90	11	with	with	ADP
fuelectenerg-2188	90	12	microsoft	microsoft	PROPN
fuelectenerg-2188	90	13	visual	visual	PROPN
fuelectenerg-2188	90	14	studio	studio	PROPN
fuelectenerg-2188	90	15	community	community	NOUN
fuelectenerg-2188	90	16	2015	2015	NUM
fuelectenerg-2188	90	17	with	with	ADP
fuelectenerg-2188	90	18	inclusion	inclusion	NOUN
fuelectenerg-2188	90	19	of	of	ADP
fuelectenerg-2188	90	20	opencv	opencv	PROPN
fuelectenerg-2188	90	21	library	library	PROPN
fuelectenerg-2188	90	22	version	version	PROPN
fuelectenerg-2188	90	23	3.0	3.0	NUM
fuelectenerg-2188	90	24	.	.	PUNCT
fuelectenerg-2188	91	1	at	at	ADP
fuelectenerg-2188	91	2	the	the	DET
fuelectenerg-2188	91	3	start	start	NOUN
fuelectenerg-2188	91	4	up	up	ADP
fuelectenerg-2188	91	5	of	of	ADP
fuelectenerg-2188	91	6	the	the	DET
fuelectenerg-2188	91	7	program	program	NOUN
fuelectenerg-2188	91	8	,	,	PUNCT
fuelectenerg-2188	91	9	camera	camera	NOUN
fuelectenerg-2188	91	10	parameters	parameter	NOUN
fuelectenerg-2188	91	11	,	,	PUNCT
fuelectenerg-2188	91	12	such	such	ADJ
fuelectenerg-2188	91	13	as	as	ADP
fuelectenerg-2188	91	14	brightness	brightness	NOUN
fuelectenerg-2188	91	15	,	,	PUNCT
fuelectenerg-2188	91	16	contrast	contrast	NOUN
fuelectenerg-2188	91	17	,	,	PUNCT
fuelectenerg-2188	91	18	saturation	saturation	NOUN
fuelectenerg-2188	91	19	,	,	PUNCT
fuelectenerg-2188	91	20	hue	hue	NOUN
fuelectenerg-2188	91	21	,	,	PUNCT
fuelectenerg-2188	91	22	gamma	gamma	NOUN
fuelectenerg-2188	91	23	,	,	PUNCT
fuelectenerg-2188	91	24	sharpness	sharpness	NOUN
fuelectenerg-2188	91	25	and	and	CCONJ
fuelectenerg-2188	91	26	exposure	exposure	NOUN
fuelectenerg-2188	91	27	,	,	PUNCT
fuelectenerg-2188	91	28	are	be	AUX
fuelectenerg-2188	91	29	pre	pre	ADJ
fuelectenerg-2188	91	30	-	-	ADJ
fuelectenerg-2188	91	31	set	set	ADJ
fuelectenerg-2188	91	32	to	to	ADP
fuelectenerg-2188	91	33	suitable	suitable	ADJ
fuelectenerg-2188	91	34	values	value	NOUN
fuelectenerg-2188	91	35	.	.	PUNCT
fuelectenerg-2188	92	1	this	this	DET
fuelectenerg-2188	92	2	parameters	parameter	NOUN
fuelectenerg-2188	92	3	tweaking	tweaking	NOUN
fuelectenerg-2188	92	4	enhances	enhance	VERB
fuelectenerg-2188	92	5	proper	proper	ADJ
fuelectenerg-2188	92	6	pixel	pixel	NOUN
fuelectenerg-2188	92	7	colour	colour	NOUN
fuelectenerg-2188	92	8	classification	classification	NOUN
fuelectenerg-2188	92	9	at	at	ADP
fuelectenerg-2188	92	10	given	give	VERB
fuelectenerg-2188	92	11	lighting	lighting	NOUN
fuelectenerg-2188	92	12	conditions	condition	NOUN
fuelectenerg-2188	92	13	.	.	PUNCT
fuelectenerg-2188	93	1	we	we	PRON
fuelectenerg-2188	93	2	experimentally	experimentally	ADV
fuelectenerg-2188	93	3	determined	determine	VERB
fuelectenerg-2188	93	4	them	they	PRON
fuelectenerg-2188	93	5	for	for	ADP
fuelectenerg-2188	93	6	our	our	PRON
fuelectenerg-2188	93	7	neon	neon	NOUN
fuelectenerg-2188	93	8	light	light	ADJ
fuelectenerg-2188	93	9	test	test	NOUN
fuelectenerg-2188	93	10	room	room	NOUN
fuelectenerg-2188	93	11	,	,	PUNCT
fuelectenerg-2188	93	12	with	with	ADP
fuelectenerg-2188	93	13	west	west	NOUN
fuelectenerg-2188	93	14	facing	face	VERB
fuelectenerg-2188	93	15	windows	window	NOUN
fuelectenerg-2188	93	16	.	.	PUNCT
fuelectenerg-2188	94	1	prior	prior	ADV
fuelectenerg-2188	94	2	to	to	ADP
fuelectenerg-2188	94	3	the	the	DET
fuelectenerg-2188	94	4	pixel	pixel	PROPN
fuelectenerg-2188	94	5	classification	classification	NOUN
fuelectenerg-2188	94	6	,	,	PUNCT
fuelectenerg-2188	94	7	the	the	DET
fuelectenerg-2188	94	8	image	image	NOUN
fuelectenerg-2188	94	9	is	be	AUX
fuelectenerg-2188	94	10	converted	convert	VERB
fuelectenerg-2188	94	11	from	from	ADP
fuelectenerg-2188	94	12	rgb	rgb	PROPN
fuelectenerg-2188	94	13	intohsv	intohsv	NOUN
fuelectenerg-2188	94	14	.	.	PUNCT
fuelectenerg-2188	95	1	after	after	ADP
fuelectenerg-2188	95	2	this	this	PRON
fuelectenerg-2188	95	3	,	,	PUNCT
fuelectenerg-2188	95	4	the	the	DET
fuelectenerg-2188	95	5	inrange	inrange	ADJ
fuelectenerg-2188	95	6	function	function	NOUN
fuelectenerg-2188	95	7	is	be	AUX
fuelectenerg-2188	95	8	used	use	VERB
fuelectenerg-2188	95	9	,	,	PUNCT
fuelectenerg-2188	95	10	as	as	ADP
fuelectenerg-2188	95	11	classifier	classifier	NOUN
fuelectenerg-2188	95	12	,	,	PUNCT
fuelectenerg-2188	95	13	to	to	PART
fuelectenerg-2188	95	14	generate	generate	VERB
fuelectenerg-2188	95	15	black	black	ADJ
fuelectenerg-2188	95	16	and	and	CCONJ
fuelectenerg-2188	95	17	white	white	ADJ
fuelectenerg-2188	95	18	image	image	NOUN
fuelectenerg-2188	95	19	.	.	PUNCT
fuelectenerg-2188	96	1	as	as	SCONJ
fuelectenerg-2188	96	2	already	already	ADV
fuelectenerg-2188	96	3	stated	state	VERB
fuelectenerg-2188	96	4	,	,	PUNCT
fuelectenerg-2188	96	5	we	we	PRON
fuelectenerg-2188	96	6	used	use	VERB
fuelectenerg-2188	96	7	gaussianblur	gaussianblur	NOUN
fuelectenerg-2188	96	8	for	for	ADP
fuelectenerg-2188	96	9	bw	bw	NOUN
fuelectenerg-2188	96	10	image	image	NOUN
fuelectenerg-2188	96	11	smoothing	smoothing	NOUN
fuelectenerg-2188	96	12	and	and	CCONJ
fuelectenerg-2188	96	13	smaller	small	ADJ
fuelectenerg-2188	96	14	artefacts	artefact	NOUN
fuelectenerg-2188	96	15	removal	removal	NOUN
fuelectenerg-2188	96	16	.	.	PUNCT
fuelectenerg-2188	97	1	in	in	ADP
fuelectenerg-2188	97	2	the	the	DET
fuelectenerg-2188	97	3	next	next	ADJ
fuelectenerg-2188	97	4	step	step	NOUN
fuelectenerg-2188	97	5	we	we	PRON
fuelectenerg-2188	97	6	calculate	calculate	VERB
fuelectenerg-2188	97	7	the	the	DET
fuelectenerg-2188	97	8	marker	marker	NOUN
fuelectenerg-2188	97	9	position	position	NOUN
fuelectenerg-2188	97	10	by	by	ADP
fuelectenerg-2188	97	11	data	datum	NOUN
fuelectenerg-2188	97	12	extraction	extraction	NOUN
fuelectenerg-2188	97	13	.	.	PUNCT
fuelectenerg-2188	98	1	we	we	PRON
fuelectenerg-2188	98	2	used	use	VERB
fuelectenerg-2188	98	3	simpleblobdetector	simpleblobdetector	NOUN
fuelectenerg-2188	98	4	in	in	ADP
fuelectenerg-2188	98	5	this	this	DET
fuelectenerg-2188	98	6	process	process	NOUN
fuelectenerg-2188	98	7	.	.	PUNCT
fuelectenerg-2188	99	1	parameters	parameter	NOUN
fuelectenerg-2188	99	2	of	of	ADP
fuelectenerg-2188	99	3	this	this	DET
fuelectenerg-2188	99	4	function	function	NOUN
fuelectenerg-2188	99	5	are	be	AUX
fuelectenerg-2188	99	6	set	set	VERB
fuelectenerg-2188	99	7	to	to	PART
fuelectenerg-2188	99	8	ignore	ignore	VERB
fuelectenerg-2188	99	9	everything	everything	PRON
fuelectenerg-2188	99	10	but	but	SCONJ
fuelectenerg-2188	99	11	circles	circle	NOUN
fuelectenerg-2188	99	12	of	of	ADP
fuelectenerg-2188	99	13	particular	particular	ADJ
fuelectenerg-2188	99	14	size	size	NOUN
fuelectenerg-2188	99	15	,	,	PUNCT
fuelectenerg-2188	99	16	thus	thus	ADV
fuelectenerg-2188	99	17	filtering	filter	VERB
fuelectenerg-2188	99	18	any	any	DET
fuelectenerg-2188	99	19	larger	large	ADJ
fuelectenerg-2188	99	20	artefacts	artefact	NOUN
fuelectenerg-2188	99	21	.	.	PUNCT
fuelectenerg-2188	100	1	it	it	PRON
fuelectenerg-2188	100	2	is	be	AUX
fuelectenerg-2188	100	3	the	the	DET
fuelectenerg-2188	100	4	middle	middle	ADJ
fuelectenerg-2188	100	5	point	point	NOUN
fuelectenerg-2188	100	6	of	of	ADP
fuelectenerg-2188	100	7	a	a	DET
fuelectenerg-2188	100	8	found	find	VERB
fuelectenerg-2188	100	9	blob	blob	NOUN
fuelectenerg-2188	100	10	,	,	PUNCT
fuelectenerg-2188	100	11	that	that	PRON
fuelectenerg-2188	100	12	is	be	AUX
fuelectenerg-2188	100	13	considered	consider	VERB
fuelectenerg-2188	100	14	as	as	ADP
fuelectenerg-2188	100	15	the	the	DET
fuelectenerg-2188	100	16	marker	marker	NOUN
fuelectenerg-2188	100	17	position	position	NOUN
fuelectenerg-2188	100	18	,	,	PUNCT
fuelectenerg-2188	100	19	pixel	pixel	NOUN
fuelectenerg-2188	100	20	-	-	ADJ
fuelectenerg-2188	100	21	wise	wise	ADJ
fuelectenerg-2188	100	22	.	.	PUNCT
fuelectenerg-2188	101	1	analasys	analasy	NOUN
fuelectenerg-2188	101	2	of	of	ADP
fuelectenerg-2188	101	3	two	two	NUM
fuelectenerg-2188	101	4	low	low	ADJ
fuelectenerg-2188	101	5	-	-	PUNCT
fuelectenerg-2188	101	6	cost	cost	NOUN
fuelectenerg-2188	101	7	and	and	CCONJ
fuelectenerg-2188	101	8	robust	robust	ADJ
fuelectenerg-2188	101	9	methods	method	NOUN
fuelectenerg-2188	101	10	for	for	ADP
fuelectenerg-2188	101	11	indoor	indoor	ADJ
fuelectenerg-2188	101	12	localisation	localisation	NOUN
fuelectenerg-2188	101	13	of	of	ADP
fuelectenerg-2188	101	14	mobile	mobile	ADJ
fuelectenerg-2188	101	15	robots	robot	NOUN
fuelectenerg-2188	101	16	407	407	NUM
fuelectenerg-2188	101	17	to	to	PART
fuelectenerg-2188	101	18	speed	speed	VERB
fuelectenerg-2188	101	19	up	up	ADP
fuelectenerg-2188	101	20	the	the	DET
fuelectenerg-2188	101	21	program	program	NOUN
fuelectenerg-2188	101	22	we	we	PRON
fuelectenerg-2188	101	23	decided	decide	VERB
fuelectenerg-2188	101	24	to	to	PART
fuelectenerg-2188	101	25	trim	trim	VERB
fuelectenerg-2188	101	26	sampled	sample	VERB
fuelectenerg-2188	101	27	frames	frame	NOUN
fuelectenerg-2188	101	28	only	only	ADV
fuelectenerg-2188	101	29	to	to	ADP
fuelectenerg-2188	101	30	region	region	NOUN
fuelectenerg-2188	101	31	-	-	PUNCT
fuelectenerg-2188	101	32	of	of	ADP
fuelectenerg-2188	101	33	-	-	PUNCT
fuelectenerg-2188	101	34	interests	interest	NOUN
fuelectenerg-2188	101	35	(	(	PUNCT
fuelectenerg-2188	101	36	roi	roi	NOUN
fuelectenerg-2188	101	37	)	)	PUNCT
fuelectenerg-2188	101	38	.	.	PUNCT
fuelectenerg-2188	102	1	this	this	DET
fuelectenerg-2188	102	2	way	way	NOUN
fuelectenerg-2188	102	3	,	,	PUNCT
fuelectenerg-2188	102	4	computationally	computationally	ADV
fuelectenerg-2188	102	5	intensive	intensive	ADJ
fuelectenerg-2188	102	6	functions	function	NOUN
fuelectenerg-2188	102	7	like	like	ADP
fuelectenerg-2188	102	8	simpleblobdetection	simpleblobdetection	NOUN
fuelectenerg-2188	102	9	shall	shall	AUX
fuelectenerg-2188	102	10	execute	execute	VERB
fuelectenerg-2188	102	11	faster	fast	ADV
fuelectenerg-2188	102	12	.	.	PUNCT
fuelectenerg-2188	103	1	during	during	ADP
fuelectenerg-2188	103	2	the	the	DET
fuelectenerg-2188	103	3	initialisation	initialisation	NOUN
fuelectenerg-2188	103	4	phase	phase	NOUN
fuelectenerg-2188	103	5	,	,	PUNCT
fuelectenerg-2188	103	6	the	the	DET
fuelectenerg-2188	103	7	program	program	NOUN
fuelectenerg-2188	103	8	searches	search	VERB
fuelectenerg-2188	103	9	the	the	DET
fuelectenerg-2188	103	10	whole	whole	ADJ
fuelectenerg-2188	103	11	frame	frame	NOUN
fuelectenerg-2188	103	12	for	for	ADP
fuelectenerg-2188	103	13	marker	marker	NOUN
fuelectenerg-2188	103	14	,	,	PUNCT
fuelectenerg-2188	103	15	until	until	SCONJ
fuelectenerg-2188	103	16	it	it	PRON
fuelectenerg-2188	103	17	is	be	AUX
fuelectenerg-2188	103	18	found	find	VERB
fuelectenerg-2188	103	19	.	.	PUNCT
fuelectenerg-2188	104	1	afterwards	afterwards	ADV
fuelectenerg-2188	104	2	,	,	PUNCT
fuelectenerg-2188	104	3	the	the	DET
fuelectenerg-2188	104	4	roi	roi	NOUN
fuelectenerg-2188	104	5	is	be	AUX
fuelectenerg-2188	104	6	extracted	extract	VERB
fuelectenerg-2188	104	7	from	from	ADP
fuelectenerg-2188	104	8	frames	frame	NOUN
fuelectenerg-2188	104	9	based	base	VERB
fuelectenerg-2188	104	10	on	on	ADP
fuelectenerg-2188	104	11	previous	previous	ADJ
fuelectenerg-2188	104	12	marker	marker	NOUN
fuelectenerg-2188	104	13	position	position	NOUN
fuelectenerg-2188	104	14	and	and	CCONJ
fuelectenerg-2188	104	15	the	the	DET
fuelectenerg-2188	104	16	maximum	maximum	ADJ
fuelectenerg-2188	104	17	expected	expect	VERB
fuelectenerg-2188	104	18	movement	movement	NOUN
fuelectenerg-2188	104	19	.	.	PUNCT
fuelectenerg-2188	105	1	this	this	DET
fuelectenerg-2188	105	2	roi	roi	NOUN
fuelectenerg-2188	105	3	trimming	trim	VERB
fuelectenerg-2188	105	4	not	not	PART
fuelectenerg-2188	105	5	only	only	ADV
fuelectenerg-2188	105	6	shortens	shorten	VERB
fuelectenerg-2188	105	7	calculation	calculation	NOUN
fuelectenerg-2188	105	8	time	time	NOUN
fuelectenerg-2188	105	9	but	but	CCONJ
fuelectenerg-2188	105	10	also	also	ADV
fuelectenerg-2188	105	11	filters	filter	VERB
fuelectenerg-2188	105	12	out	out	ADP
fuelectenerg-2188	105	13	other	other	ADJ
fuelectenerg-2188	105	14	objects	object	NOUN
fuelectenerg-2188	105	15	of	of	ADP
fuelectenerg-2188	105	16	similar	similar	ADJ
fuelectenerg-2188	105	17	visual	visual	ADJ
fuelectenerg-2188	105	18	properties	property	NOUN
fuelectenerg-2188	105	19	as	as	ADP
fuelectenerg-2188	105	20	the	the	DET
fuelectenerg-2188	105	21	marker	marker	NOUN
fuelectenerg-2188	105	22	’s	’s	NOUN
fuelectenerg-2188	105	23	.	.	PUNCT
fuelectenerg-2188	106	1	precaution	precaution	NOUN
fuelectenerg-2188	106	2	that	that	PRON
fuelectenerg-2188	106	3	needs	need	VERB
fuelectenerg-2188	106	4	to	to	PART
fuelectenerg-2188	106	5	be	be	AUX
fuelectenerg-2188	106	6	taken	take	VERB
fuelectenerg-2188	106	7	into	into	ADP
fuelectenerg-2188	106	8	account	account	NOUN
fuelectenerg-2188	106	9	is	be	AUX
fuelectenerg-2188	106	10	that	that	SCONJ
fuelectenerg-2188	106	11	these	these	DET
fuelectenerg-2188	106	12	kinds	kind	NOUN
fuelectenerg-2188	106	13	of	of	ADP
fuelectenerg-2188	106	14	objects	object	NOUN
fuelectenerg-2188	106	15	are	be	AUX
fuelectenerg-2188	106	16	not	not	PART
fuelectenerg-2188	106	17	present	present	ADJ
fuelectenerg-2188	106	18	during	during	ADP
fuelectenerg-2188	106	19	the	the	DET
fuelectenerg-2188	106	20	start	start	NOUN
fuelectenerg-2188	106	21	of	of	ADP
fuelectenerg-2188	106	22	the	the	DET
fuelectenerg-2188	106	23	program	program	NOUN
fuelectenerg-2188	106	24	.	.	PUNCT
fuelectenerg-2188	107	1	in	in	ADP
fuelectenerg-2188	107	2	such	such	ADJ
fuelectenerg-2188	107	3	cases	case	NOUN
fuelectenerg-2188	107	4	it	it	PRON
fuelectenerg-2188	107	5	could	could	AUX
fuelectenerg-2188	107	6	happen	happen	VERB
fuelectenerg-2188	107	7	that	that	SCONJ
fuelectenerg-2188	107	8	some	some	DET
fuelectenerg-2188	107	9	other	other	ADJ
fuelectenerg-2188	107	10	object	object	NOUN
fuelectenerg-2188	107	11	is	be	AUX
fuelectenerg-2188	107	12	recognised	recognise	VERB
fuelectenerg-2188	107	13	for	for	ADP
fuelectenerg-2188	107	14	tracking	tracking	NOUN
fuelectenerg-2188	107	15	,	,	PUNCT
fuelectenerg-2188	107	16	instead	instead	ADV
fuelectenerg-2188	107	17	of	of	ADP
fuelectenerg-2188	107	18	the	the	DET
fuelectenerg-2188	107	19	marker	marker	NOUN
fuelectenerg-2188	107	20	,	,	PUNCT
fuelectenerg-2188	107	21	and	and	CCONJ
fuelectenerg-2188	107	22	then	then	ADV
fuelectenerg-2188	107	23	the	the	DET
fuelectenerg-2188	107	24	wrong	wrong	ADJ
fuelectenerg-2188	107	25	roi	roi	NOUN
fuelectenerg-2188	107	26	would	would	AUX
fuelectenerg-2188	107	27	be	be	AUX
fuelectenerg-2188	107	28	extracted	extract	VERB
fuelectenerg-2188	107	29	.	.	PUNCT
fuelectenerg-2188	108	1	in	in	ADP
fuelectenerg-2188	108	2	the	the	DET
fuelectenerg-2188	108	3	last	last	ADJ
fuelectenerg-2188	108	4	step	step	NOUN
fuelectenerg-2188	108	5	,	,	PUNCT
fuelectenerg-2188	108	6	marker	marker	NOUN
fuelectenerg-2188	108	7	position	position	NOUN
fuelectenerg-2188	108	8	in	in	ADP
fuelectenerg-2188	108	9	pixels	pixel	NOUN
fuelectenerg-2188	108	10	is	be	AUX
fuelectenerg-2188	108	11	converted	convert	VERB
fuelectenerg-2188	108	12	into	into	ADP
fuelectenerg-2188	108	13	actual	actual	ADJ
fuelectenerg-2188	108	14	position	position	NOUN
fuelectenerg-2188	108	15	in	in	ADP
fuelectenerg-2188	108	16	centimetres	centimetre	NOUN
fuelectenerg-2188	108	17	,	,	PUNCT
fuelectenerg-2188	108	18	in	in	ADP
fuelectenerg-2188	108	19	absolute	absolute	ADJ
fuelectenerg-2188	108	20	coordinate	coordinate	NOUN
fuelectenerg-2188	108	21	frame	frame	NOUN
fuelectenerg-2188	108	22	attached	attach	VERB
fuelectenerg-2188	108	23	to	to	ADP
fuelectenerg-2188	108	24	the	the	DET
fuelectenerg-2188	108	25	floor	floor	NOUN
fuelectenerg-2188	108	26	.	.	PUNCT
fuelectenerg-2188	109	1	approximately	approximately	ADV
fuelectenerg-2188	109	2	,	,	PUNCT
fuelectenerg-2188	109	3	one	one	NUM
fuelectenerg-2188	109	4	centimetre	centimetre	NOUN
fuelectenerg-2188	109	5	corresponds	correspond	VERB
fuelectenerg-2188	109	6	to	to	ADP
fuelectenerg-2188	109	7	2.5	2.5	NUM
fuelectenerg-2188	109	8	pixels	pixel	NOUN
fuelectenerg-2188	109	9	.	.	PUNCT
fuelectenerg-2188	110	1	initial	initial	ADJ
fuelectenerg-2188	110	2	verification	verification	NOUN
fuelectenerg-2188	110	3	of	of	ADP
fuelectenerg-2188	110	4	the	the	DET
fuelectenerg-2188	110	5	system	system	NOUN
fuelectenerg-2188	110	6	includes	include	VERB
fuelectenerg-2188	110	7	repetitive	repetitive	ADJ
fuelectenerg-2188	110	8	measurements	measurement	NOUN
fuelectenerg-2188	110	9	with	with	ADP
fuelectenerg-2188	110	10	the	the	DET
fuelectenerg-2188	110	11	marker	marker	NOUN
fuelectenerg-2188	110	12	,	,	PUNCT
fuelectenerg-2188	110	13	placed	place	VERB
fuelectenerg-2188	110	14	on	on	ADP
fuelectenerg-2188	110	15	a	a	DET
fuelectenerg-2188	110	16	tripod	tripod	NOUN
fuelectenerg-2188	110	17	,	,	PUNCT
fuelectenerg-2188	110	18	at	at	ADP
fuelectenerg-2188	110	19	an	an	DET
fuelectenerg-2188	110	20	arbitrary	arbitrary	ADJ
fuelectenerg-2188	110	21	point	point	NOUN
fuelectenerg-2188	110	22	in	in	ADP
fuelectenerg-2188	110	23	workspace	workspace	NOUN
fuelectenerg-2188	110	24	.	.	PUNCT
fuelectenerg-2188	111	1	this	this	PRON
fuelectenerg-2188	111	2	tests	test	VERB
fuelectenerg-2188	111	3	calibration	calibration	NOUN
fuelectenerg-2188	111	4	accuracy	accuracy	NOUN
fuelectenerg-2188	111	5	and	and	CCONJ
fuelectenerg-2188	111	6	system	system	NOUN
fuelectenerg-2188	111	7	repeatability	repeatability	NOUN
fuelectenerg-2188	111	8	.	.	PUNCT
fuelectenerg-2188	112	1	upon	upon	SCONJ
fuelectenerg-2188	112	2	consecutive	consecutive	ADJ
fuelectenerg-2188	112	3	large	large	ADJ
fuelectenerg-2188	112	4	number	number	NOUN
fuelectenerg-2188	112	5	of	of	ADP
fuelectenerg-2188	112	6	measurements	measurement	NOUN
fuelectenerg-2188	112	7	,	,	PUNCT
fuelectenerg-2188	112	8	we	we	PRON
fuelectenerg-2188	112	9	can	can	AUX
fuelectenerg-2188	112	10	confirm	confirm	VERB
fuelectenerg-2188	112	11	that	that	SCONJ
fuelectenerg-2188	112	12	the	the	DET
fuelectenerg-2188	112	13	system	system	NOUN
fuelectenerg-2188	112	14	is	be	AUX
fuelectenerg-2188	112	15	reliable	reliable	ADJ
fuelectenerg-2188	112	16	and	and	CCONJ
fuelectenerg-2188	112	17	repeatable	repeatable	ADJ
fuelectenerg-2188	112	18	at	at	ADP
fuelectenerg-2188	112	19	the	the	DET
fuelectenerg-2188	112	20	acceptable	acceptable	ADJ
fuelectenerg-2188	112	21	level	level	NOUN
fuelectenerg-2188	112	22	.	.	PUNCT
fuelectenerg-2188	113	1	the	the	DET
fuelectenerg-2188	113	2	number	number	NOUN
fuelectenerg-2188	113	3	of	of	ADP
fuelectenerg-2188	113	4	1572	1572	NUM
fuelectenerg-2188	113	5	location	location	NOUN
fuelectenerg-2188	113	6	samples	sample	NOUN
fuelectenerg-2188	113	7	of	of	ADP
fuelectenerg-2188	113	8	a	a	DET
fuelectenerg-2188	113	9	still	still	ADV
fuelectenerg-2188	113	10	marker	marker	NOUN
fuelectenerg-2188	113	11	was	be	AUX
fuelectenerg-2188	113	12	acquired	acquire	VERB
fuelectenerg-2188	113	13	.	.	PUNCT
fuelectenerg-2188	114	1	on	on	ADP
fuelectenerg-2188	114	2	average	average	ADJ
fuelectenerg-2188	114	3	,	,	PUNCT
fuelectenerg-2188	114	4	it	it	PRON
fuelectenerg-2188	114	5	required	require	VERB
fuelectenerg-2188	114	6	235	235	NUM
fuelectenerg-2188	114	7	ms	ms	NOUN
fuelectenerg-2188	114	8	to	to	PART
fuelectenerg-2188	114	9	complete	complete	VERB
fuelectenerg-2188	114	10	one	one	NUM
fuelectenerg-2188	114	11	localisation	localisation	NOUN
fuelectenerg-2188	114	12	cycle	cycle	NOUN
fuelectenerg-2188	114	13	.	.	PUNCT
fuelectenerg-2188	115	1	with	with	ADP
fuelectenerg-2188	115	2	4.26	4.26	NUM
fuelectenerg-2188	115	3	hz	hz	NOUN
fuelectenerg-2188	115	4	localisation	localisation	NOUN
fuelectenerg-2188	115	5	rate	rate	NOUN
fuelectenerg-2188	115	6	,	,	PUNCT
fuelectenerg-2188	115	7	such	such	ADJ
fuelectenerg-2188	115	8	system	system	NOUN
fuelectenerg-2188	115	9	is	be	AUX
fuelectenerg-2188	115	10	not	not	PART
fuelectenerg-2188	115	11	suitable	suitable	ADJ
fuelectenerg-2188	115	12	for	for	ADP
fuelectenerg-2188	115	13	localising	localise	VERB
fuelectenerg-2188	115	14	high	high	ADJ
fuelectenerg-2188	115	15	speed	speed	NOUN
fuelectenerg-2188	115	16	mobile	mobile	NOUN
fuelectenerg-2188	115	17	platforms	platform	NOUN
fuelectenerg-2188	115	18	.	.	PUNCT
fuelectenerg-2188	116	1	nevertheless	nevertheless	ADV
fuelectenerg-2188	116	2	,	,	PUNCT
fuelectenerg-2188	116	3	a	a	DET
fuelectenerg-2188	116	4	robot	robot	NOUN
fuelectenerg-2188	116	5	that	that	PRON
fuelectenerg-2188	116	6	travels	travel	VERB
fuelectenerg-2188	116	7	at	at	ADP
fuelectenerg-2188	116	8	comfortable	comfortable	ADJ
fuelectenerg-2188	116	9	speed	speed	NOUN
fuelectenerg-2188	116	10	of	of	ADP
fuelectenerg-2188	116	11	0.3	0.3	NUM
fuelectenerg-2188	116	12	m	m	NOUN
fuelectenerg-2188	116	13	/	/	SYM
fuelectenerg-2188	116	14	s	s	VERB
fuelectenerg-2188	116	15	would	would	AUX
fuelectenerg-2188	116	16	be	be	AUX
fuelectenerg-2188	116	17	localised	localise	VERB
fuelectenerg-2188	116	18	at	at	ADP
fuelectenerg-2188	116	19	points	point	NOUN
fuelectenerg-2188	116	20	7	7	NUM
fuelectenerg-2188	116	21	cm	cm	NOUN
fuelectenerg-2188	116	22	apart	apart	ADV
fuelectenerg-2188	116	23	.	.	PUNCT
fuelectenerg-2188	117	1	this	this	PRON
fuelectenerg-2188	117	2	can	can	AUX
fuelectenerg-2188	117	3	be	be	AUX
fuelectenerg-2188	117	4	considered	consider	VERB
fuelectenerg-2188	117	5	acceptable	acceptable	ADJ
fuelectenerg-2188	117	6	in	in	ADP
fuelectenerg-2188	117	7	applications	application	NOUN
fuelectenerg-2188	117	8	such	such	ADJ
fuelectenerg-2188	117	9	as	as	ADP
fuelectenerg-2188	117	10	fetching	fetch	VERB
fuelectenerg-2188	117	11	objects	object	NOUN
fuelectenerg-2188	117	12	to	to	ADP
fuelectenerg-2188	117	13	the	the	DET
fuelectenerg-2188	117	14	customer	customer	NOUN
fuelectenerg-2188	117	15	or	or	CCONJ
fuelectenerg-2188	117	16	telepresence	telepresence	NOUN
fuelectenerg-2188	117	17	,	,	PUNCT
fuelectenerg-2188	117	18	but	but	CCONJ
fuelectenerg-2188	117	19	not	not	PART
fuelectenerg-2188	117	20	in	in	ADP
fuelectenerg-2188	117	21	precise	precise	ADJ
fuelectenerg-2188	117	22	object	object	NOUN
fuelectenerg-2188	117	23	handling	handling	NOUN
fuelectenerg-2188	117	24	.	.	PUNCT
fuelectenerg-2188	118	1	repeatability	repeatability	NOUN
fuelectenerg-2188	118	2	for	for	ADP
fuelectenerg-2188	118	3	all	all	DET
fuelectenerg-2188	118	4	1572	1572	NUM
fuelectenerg-2188	118	5	measurements	measurement	NOUN
fuelectenerg-2188	118	6	was	be	AUX
fuelectenerg-2188	118	7	within	within	ADP
fuelectenerg-2188	118	8	one	one	NUM
fuelectenerg-2188	118	9	-	-	PUNCT
fuelectenerg-2188	118	10	centimetre	centimetre	NOUN
fuelectenerg-2188	118	11	range	range	NOUN
fuelectenerg-2188	118	12	which	which	PRON
fuelectenerg-2188	118	13	corresponds	correspond	VERB
fuelectenerg-2188	118	14	to	to	ADP
fuelectenerg-2188	118	15	2	2	NUM
fuelectenerg-2188	118	16	to	to	PART
fuelectenerg-2188	118	17	3	3	NUM
fuelectenerg-2188	118	18	pixels	pixel	NOUN
fuelectenerg-2188	118	19	of	of	ADP
fuelectenerg-2188	118	20	the	the	DET
fuelectenerg-2188	118	21	camera	camera	NOUN
fuelectenerg-2188	118	22	.	.	PUNCT
fuelectenerg-2188	119	1	due	due	ADP
fuelectenerg-2188	119	2	to	to	ADP
fuelectenerg-2188	119	3	small	small	ADJ
fuelectenerg-2188	119	4	variations	variation	NOUN
fuelectenerg-2188	119	5	in	in	ADP
fuelectenerg-2188	119	6	lighting	lighting	NOUN
fuelectenerg-2188	119	7	and	and	CCONJ
fuelectenerg-2188	119	8	inherent	inherent	ADJ
fuelectenerg-2188	119	9	camera	camera	NOUN
fuelectenerg-2188	119	10	noise	noise	NOUN
fuelectenerg-2188	119	11	,	,	PUNCT
fuelectenerg-2188	119	12	there	there	PRON
fuelectenerg-2188	119	13	exists	exist	VERB
fuelectenerg-2188	119	14	a	a	DET
fuelectenerg-2188	119	15	jitter	jitter	NOUN
fuelectenerg-2188	119	16	in	in	ADP
fuelectenerg-2188	119	17	marker	marker	NOUN
fuelectenerg-2188	119	18	position	position	NOUN
fuelectenerg-2188	119	19	,	,	PUNCT
fuelectenerg-2188	119	20	found	find	VERB
fuelectenerg-2188	119	21	by	by	ADP
fuelectenerg-2188	119	22	a	a	DET
fuelectenerg-2188	119	23	simple	simple	ADJ
fuelectenerg-2188	119	24	blob	blob	ADJ
fuelectenerg-2188	119	25	detector	detector	NOUN
fuelectenerg-2188	119	26	.	.	PUNCT
fuelectenerg-2188	120	1	when	when	SCONJ
fuelectenerg-2188	120	2	position	position	NOUN
fuelectenerg-2188	120	3	in	in	ADP
fuelectenerg-2188	120	4	pixels	pixel	NOUN
fuelectenerg-2188	120	5	is	be	AUX
fuelectenerg-2188	120	6	converted	convert	VERB
fuelectenerg-2188	120	7	into	into	ADP
fuelectenerg-2188	120	8	position	position	NOUN
fuelectenerg-2188	120	9	in	in	ADP
fuelectenerg-2188	120	10	centimetres	centimetre	NOUN
fuelectenerg-2188	120	11	,	,	PUNCT
fuelectenerg-2188	120	12	and	and	CCONJ
fuelectenerg-2188	120	13	rounded	round	VERB
fuelectenerg-2188	120	14	,	,	PUNCT
fuelectenerg-2188	120	15	the	the	DET
fuelectenerg-2188	120	16	jitter	jitter	NOUN
fuelectenerg-2188	120	17	passes	pass	VERB
fuelectenerg-2188	120	18	to	to	ADP
fuelectenerg-2188	120	19	marker	marker	NOUN
fuelectenerg-2188	120	20	position	position	NOUN
fuelectenerg-2188	120	21	in	in	ADP
fuelectenerg-2188	120	22	centimetres	centimetre	NOUN
fuelectenerg-2188	120	23	.	.	PUNCT
fuelectenerg-2188	121	1	an	an	DET
fuelectenerg-2188	121	2	improvement	improvement	NOUN
fuelectenerg-2188	121	3	is	be	AUX
fuelectenerg-2188	121	4	possible	possible	ADJ
fuelectenerg-2188	121	5	with	with	ADP
fuelectenerg-2188	121	6	the	the	DET
fuelectenerg-2188	121	7	increase	increase	NOUN
fuelectenerg-2188	121	8	of	of	ADP
fuelectenerg-2188	121	9	camera	camera	NOUN
fuelectenerg-2188	121	10	resolution	resolution	NOUN
fuelectenerg-2188	121	11	,	,	PUNCT
fuelectenerg-2188	121	12	or	or	CCONJ
fuelectenerg-2188	121	13	perhaps	perhaps	ADV
fuelectenerg-2188	121	14	with	with	ADP
fuelectenerg-2188	121	15	the	the	DET
fuelectenerg-2188	121	16	increase	increase	NOUN
fuelectenerg-2188	121	17	of	of	ADP
fuelectenerg-2188	121	18	the	the	DET
fuelectenerg-2188	121	19	number	number	NOUN
fuelectenerg-2188	121	20	of	of	ADP
fuelectenerg-2188	121	21	linearization	linearization	NOUN
fuelectenerg-2188	121	22	sections	section	NOUN
fuelectenerg-2188	121	23	.	.	PUNCT
fuelectenerg-2188	122	1	however	however	ADV
fuelectenerg-2188	122	2	,	,	PUNCT
fuelectenerg-2188	122	3	we	we	PRON
fuelectenerg-2188	122	4	find	find	VERB
fuelectenerg-2188	122	5	this	this	DET
fuelectenerg-2188	122	6	system	system	NOUN
fuelectenerg-2188	122	7	static	static	ADJ
fuelectenerg-2188	122	8	performance	performance	NOUN
fuelectenerg-2188	122	9	quite	quite	ADV
fuelectenerg-2188	122	10	satisfactory	satisfactory	ADJ
fuelectenerg-2188	122	11	for	for	ADP
fuelectenerg-2188	122	12	calibration	calibration	NOUN
fuelectenerg-2188	122	13	and	and	CCONJ
fuelectenerg-2188	122	14	support	support	NOUN
fuelectenerg-2188	122	15	of	of	ADP
fuelectenerg-2188	122	16	low	low	ADJ
fuelectenerg-2188	122	17	-	-	PUNCT
fuelectenerg-2188	122	18	cost	cost	NOUN
fuelectenerg-2188	122	19	,	,	PUNCT
fuelectenerg-2188	122	20	ultrasound	ultrasound	NOUN
fuelectenerg-2188	122	21	based	base	VERB
fuelectenerg-2188	122	22	,	,	PUNCT
fuelectenerg-2188	122	23	time	time	NOUN
fuelectenerg-2188	122	24	-	-	PUNCT
fuelectenerg-2188	122	25	of	of	ADP
fuelectenerg-2188	122	26	-	-	PUNCT
fuelectenerg-2188	122	27	flight	flight	NOUN
fuelectenerg-2188	122	28	localisation	localisation	NOUN
fuelectenerg-2188	122	29	system	system	NOUN
fuelectenerg-2188	122	30	.	.	PUNCT
fuelectenerg-2188	123	1	for	for	ADP
fuelectenerg-2188	123	2	the	the	DET
fuelectenerg-2188	123	3	dynamic	dynamic	ADJ
fuelectenerg-2188	123	4	testing	testing	NOUN
fuelectenerg-2188	123	5	of	of	ADP
fuelectenerg-2188	123	6	camera	camera	NOUN
fuelectenerg-2188	123	7	localisation	localisation	NOUN
fuelectenerg-2188	123	8	system	system	NOUN
fuelectenerg-2188	123	9	,	,	PUNCT
fuelectenerg-2188	123	10	we	we	PRON
fuelectenerg-2188	123	11	have	have	AUX
fuelectenerg-2188	123	12	decided	decide	VERB
fuelectenerg-2188	123	13	to	to	PART
fuelectenerg-2188	123	14	make	make	VERB
fuelectenerg-2188	123	15	several	several	ADJ
fuelectenerg-2188	123	16	circular	circular	ADJ
fuelectenerg-2188	123	17	motions	motion	NOUN
fuelectenerg-2188	123	18	in	in	ADP
fuelectenerg-2188	123	19	the	the	DET
fuelectenerg-2188	123	20	centre	centre	NOUN
fuelectenerg-2188	123	21	of	of	ADP
fuelectenerg-2188	123	22	the	the	DET
fuelectenerg-2188	123	23	test	test	NOUN
fuelectenerg-2188	123	24	room	room	NOUN
fuelectenerg-2188	123	25	.	.	PUNCT
fuelectenerg-2188	124	1	there	there	PRON
fuelectenerg-2188	124	2	are	be	VERB
fuelectenerg-2188	124	3	two	two	NUM
fuelectenerg-2188	124	4	reasons	reason	NOUN
fuelectenerg-2188	124	5	for	for	ADP
fuelectenerg-2188	124	6	this	this	PRON
fuelectenerg-2188	124	7	.	.	PUNCT
fuelectenerg-2188	125	1	the	the	DET
fuelectenerg-2188	125	2	first	first	ADJ
fuelectenerg-2188	125	3	is	be	AUX
fuelectenerg-2188	125	4	simplicity	simplicity	NOUN
fuelectenerg-2188	125	5	of	of	ADP
fuelectenerg-2188	125	6	trajectory	trajectory	NOUN
fuelectenerg-2188	125	7	equations	equation	NOUN
fuelectenerg-2188	125	8	,	,	PUNCT
fuelectenerg-2188	125	9	which	which	PRON
fuelectenerg-2188	125	10	allows	allow	VERB
fuelectenerg-2188	125	11	easier	easy	ADJ
fuelectenerg-2188	125	12	data	datum	NOUN
fuelectenerg-2188	125	13	analysis	analysis	NOUN
fuelectenerg-2188	125	14	later	later	ADV
fuelectenerg-2188	125	15	on	on	ADV
fuelectenerg-2188	125	16	.	.	PUNCT
fuelectenerg-2188	126	1	the	the	DET
fuelectenerg-2188	126	2	second	second	ADJ
fuelectenerg-2188	126	3	is	be	AUX
fuelectenerg-2188	126	4	trajectory	trajectory	NOUN
fuelectenerg-2188	126	5	length	length	NOUN
fuelectenerg-2188	126	6	that	that	PRON
fuelectenerg-2188	126	7	should	should	AUX
fuelectenerg-2188	126	8	provide	provide	VERB
fuelectenerg-2188	126	9	sufficient	sufficient	ADJ
fuelectenerg-2188	126	10	time	time	NOUN
fuelectenerg-2188	126	11	for	for	ADP
fuelectenerg-2188	126	12	acquisition	acquisition	NOUN
fuelectenerg-2188	126	13	of	of	ADP
fuelectenerg-2188	126	14	a	a	DET
fuelectenerg-2188	126	15	sufficient	sufficient	ADJ
fuelectenerg-2188	126	16	amount	amount	NOUN
fuelectenerg-2188	126	17	of	of	ADP
fuelectenerg-2188	126	18	data	datum	NOUN
fuelectenerg-2188	126	19	.	.	PUNCT
fuelectenerg-2188	127	1	since	since	SCONJ
fuelectenerg-2188	127	2	the	the	DET
fuelectenerg-2188	127	3	test	test	NOUN
fuelectenerg-2188	127	4	room	room	NOUN
fuelectenerg-2188	127	5	was	be	AUX
fuelectenerg-2188	127	6	not	not	PART
fuelectenerg-2188	127	7	large	large	ADJ
fuelectenerg-2188	127	8	enough	enough	ADV
fuelectenerg-2188	127	9	for	for	ADP
fuelectenerg-2188	127	10	straight	straight	ADJ
fuelectenerg-2188	127	11	line	line	NOUN
fuelectenerg-2188	127	12	movements	movement	NOUN
fuelectenerg-2188	127	13	,	,	PUNCT
fuelectenerg-2188	127	14	the	the	DET
fuelectenerg-2188	127	15	most	most	ADV
fuelectenerg-2188	127	16	logical	logical	ADJ
fuelectenerg-2188	127	17	trajectory	trajectory	NOUN
fuelectenerg-2188	127	18	then	then	ADV
fuelectenerg-2188	127	19	was	be	AUX
fuelectenerg-2188	127	20	circular	circular	ADJ
fuelectenerg-2188	127	21	.	.	PUNCT
fuelectenerg-2188	128	1	also	also	ADV
fuelectenerg-2188	128	2	,	,	PUNCT
fuelectenerg-2188	128	3	it	it	PRON
fuelectenerg-2188	128	4	can	can	AUX
fuelectenerg-2188	128	5	be	be	AUX
fuelectenerg-2188	128	6	easily	easily	ADV
fuelectenerg-2188	128	7	performed	perform	VERB
fuelectenerg-2188	128	8	without	without	ADP
fuelectenerg-2188	128	9	the	the	DET
fuelectenerg-2188	128	10	need	need	NOUN
fuelectenerg-2188	128	11	for	for	ADP
fuelectenerg-2188	128	12	an	an	DET
fuelectenerg-2188	128	13	expensive	expensive	ADJ
fuelectenerg-2188	128	14	setup	setup	NOUN
fuelectenerg-2188	128	15	.	.	PUNCT
fuelectenerg-2188	129	1	for	for	ADP
fuelectenerg-2188	129	2	example	example	NOUN
fuelectenerg-2188	129	3	,	,	PUNCT
fuelectenerg-2188	129	4	a	a	DET
fuelectenerg-2188	129	5	simple	simple	ADJ
fuelectenerg-2188	129	6	remotely	remotely	ADV
fuelectenerg-2188	129	7	driven	drive	VERB
fuelectenerg-2188	129	8	mobile	mobile	ADJ
fuelectenerg-2188	129	9	platform	platform	NOUN
fuelectenerg-2188	129	10	,	,	PUNCT
fuelectenerg-2188	129	11	like	like	ADP
fuelectenerg-2188	129	12	more	more	ADV
fuelectenerg-2188	129	13	powerful	powerful	ADJ
fuelectenerg-2188	129	14	homemade	homemade	ADJ
fuelectenerg-2188	129	15	rc	rc	PROPN
fuelectenerg-2188	129	16	car	car	NOUN
fuelectenerg-2188	129	17	,	,	PUNCT
fuelectenerg-2188	129	18	suffices	suffice	VERB
fuelectenerg-2188	129	19	.	.	PUNCT
fuelectenerg-2188	130	1	another	another	DET
fuelectenerg-2188	130	2	proposal	proposal	NOUN
fuelectenerg-2188	130	3	is	be	AUX
fuelectenerg-2188	130	4	a	a	DET
fuelectenerg-2188	130	5	motor	motor	NOUN
fuelectenerg-2188	130	6	driven	drive	VERB
fuelectenerg-2188	130	7	rotating	rotating	NOUN
fuelectenerg-2188	130	8	stand	stand	NOUN
fuelectenerg-2188	130	9	.	.	PUNCT
fuelectenerg-2188	131	1	at	at	ADP
fuelectenerg-2188	131	2	our	our	PRON
fuelectenerg-2188	131	3	disposal	disposal	NOUN
fuelectenerg-2188	131	4	was	be	AUX
fuelectenerg-2188	131	5	a	a	DET
fuelectenerg-2188	131	6	small	small	ADJ
fuelectenerg-2188	131	7	,	,	PUNCT
fuelectenerg-2188	131	8	student	student	NOUN
fuelectenerg-2188	131	9	grade	grade	NOUN
fuelectenerg-2188	131	10	,	,	PUNCT
fuelectenerg-2188	131	11	robotic	robotic	ADJ
fuelectenerg-2188	131	12	platform	platform	NOUN
fuelectenerg-2188	131	13	.	.	PUNCT
fuelectenerg-2188	132	1	after	after	ADP
fuelectenerg-2188	132	2	attaching	attach	VERB
fuelectenerg-2188	132	3	the	the	DET
fuelectenerg-2188	132	4	marker	marker	NOUN
fuelectenerg-2188	132	5	to	to	ADP
fuelectenerg-2188	132	6	it	it	PRON
fuelectenerg-2188	132	7	,	,	PUNCT
fuelectenerg-2188	132	8	we	we	PRON
fuelectenerg-2188	132	9	have	have	AUX
fuelectenerg-2188	132	10	initiated	initiate	VERB
fuelectenerg-2188	132	11	the	the	DET
fuelectenerg-2188	132	12	localisation	localisation	NOUN
fuelectenerg-2188	132	13	and	and	CCONJ
fuelectenerg-2188	132	14	made	make	VERB
fuelectenerg-2188	132	15	30	30	NUM
fuelectenerg-2188	132	16	laps	lap	NOUN
fuelectenerg-2188	132	17	,	,	PUNCT
fuelectenerg-2188	132	18	with	with	ADP
fuelectenerg-2188	132	19	approximately	approximately	ADV
fuelectenerg-2188	132	20	constant	constant	ADJ
fuelectenerg-2188	132	21	speed	speed	NOUN
fuelectenerg-2188	132	22	of	of	ADP
fuelectenerg-2188	132	23	20	20	NUM
fuelectenerg-2188	132	24	cm	cm	NOUN
fuelectenerg-2188	132	25	/	/	SYM
fuelectenerg-2188	132	26	s.	s.	PROPN
fuelectenerg-2188	133	1	the	the	DET
fuelectenerg-2188	133	2	programme	programme	NOUN
fuelectenerg-2188	133	3	was	be	AUX
fuelectenerg-2188	133	4	set	set	VERB
fuelectenerg-2188	133	5	to	to	PART
fuelectenerg-2188	133	6	log	log	VERB
fuelectenerg-2188	133	7	the	the	DET
fuelectenerg-2188	133	8	marker	marker	NOUN
fuelectenerg-2188	133	9	positions	position	NOUN
fuelectenerg-2188	133	10	with	with	ADP
fuelectenerg-2188	133	11	the	the	DET
fuelectenerg-2188	133	12	time	time	NOUN
fuelectenerg-2188	133	13	stamps	stamp	NOUN
fuelectenerg-2188	133	14	of	of	ADP
fuelectenerg-2188	133	15	frame	frame	NOUN
fuelectenerg-2188	133	16	acquisitions	acquisition	NOUN
fuelectenerg-2188	133	17	.	.	PUNCT
fuelectenerg-2188	134	1	the	the	DET
fuelectenerg-2188	134	2	time	time	NOUN
fuelectenerg-2188	134	3	stamps	stamp	NOUN
fuelectenerg-2188	134	4	are	be	AUX
fuelectenerg-2188	134	5	expressed	express	VERB
fuelectenerg-2188	134	6	in	in	ADP
fuelectenerg-2188	134	7	milliseconds	millisecond	NOUN
fuelectenerg-2188	134	8	and	and	CCONJ
fuelectenerg-2188	134	9	the	the	DET
fuelectenerg-2188	134	10	local	local	ADJ
fuelectenerg-2188	134	11	time	time	NOUN
fuelectenerg-2188	134	12	is	be	AUX
fuelectenerg-2188	134	13	measured	measure	VERB
fuelectenerg-2188	134	14	from	from	ADP
fuelectenerg-2188	134	15	the	the	DET
fuelectenerg-2188	134	16	beginning	beginning	NOUN
fuelectenerg-2188	134	17	of	of	ADP
fuelectenerg-2188	134	18	the	the	DET
fuelectenerg-2188	134	19	test	test	NOUN
fuelectenerg-2188	134	20	.	.	PUNCT
fuelectenerg-2188	135	1	fig	fig	NOUN
fuelectenerg-2188	135	2	.	.	PUNCT
fuelectenerg-2188	136	1	2	2	X
fuelectenerg-2188	136	2	.	.	X
fuelectenerg-2188	136	3	shows	show	NOUN
fuelectenerg-2188	136	4	plotted	plot	VERB
fuelectenerg-2188	136	5	positions	position	NOUN
fuelectenerg-2188	136	6	of	of	ADP
fuelectenerg-2188	136	7	the	the	DET
fuelectenerg-2188	136	8	marker	marker	NOUN
fuelectenerg-2188	136	9	.	.	PUNCT
fuelectenerg-2188	137	1	as	as	SCONJ
fuelectenerg-2188	137	2	it	it	PRON
fuelectenerg-2188	137	3	can	can	AUX
fuelectenerg-2188	137	4	be	be	AUX
fuelectenerg-2188	137	5	noted	note	VERB
fuelectenerg-2188	137	6	,	,	PUNCT
fuelectenerg-2188	137	7	the	the	DET
fuelectenerg-2188	137	8	trajectory	trajectory	NOUN
fuelectenerg-2188	137	9	is	be	AUX
fuelectenerg-2188	137	10	circular	circular	ADJ
fuelectenerg-2188	137	11	but	but	CCONJ
fuelectenerg-2188	137	12	there	there	PRON
fuelectenerg-2188	137	13	exists	exist	VERB
fuelectenerg-2188	137	14	some	some	DET
fuelectenerg-2188	137	15	slight	slight	ADJ
fuelectenerg-2188	137	16	movement	movement	NOUN
fuelectenerg-2188	137	17	of	of	ADP
fuelectenerg-2188	137	18	the	the	DET
fuelectenerg-2188	137	19	centre	centre	NOUN
fuelectenerg-2188	137	20	.	.	PUNCT
fuelectenerg-2188	138	1	408	408	NUM
fuelectenerg-2188	138	2	m.	m.	NOUN
fuelectenerg-2188	138	3	petković	petković	NOUN
fuelectenerg-2188	138	4	,	,	PUNCT
fuelectenerg-2188	138	5	v.	v.	ADP
fuelectenerg-2188	138	6	sibinović	sibinović	PROPN
fuelectenerg-2188	138	7	,	,	PUNCT
fuelectenerg-2188	138	8	d.	d.	PROPN
fuelectenerg-2188	138	9	popović	popović	PROPN
fuelectenerg-2188	138	10	,	,	PUNCT
fuelectenerg-2188	138	11	v.	v.	CCONJ
fuelectenerg-2188	138	12	mitić	mitić	NOUN
fuelectenerg-2188	138	13	,	,	PUNCT
fuelectenerg-2188	138	14	d.	d.	PROPN
fuelectenerg-2188	138	15	todorović	todorović	PROPN
fuelectenerg-2188	138	16	,	,	PUNCT
fuelectenerg-2188	138	17	g.	g.	PROPN
fuelectenerg-2188	138	18	s.	s.	PROPN
fuelectenerg-2188	138	19	đorđević	đorđević	PROPN
fuelectenerg-2188	138	20	fig	fig	PROPN
fuelectenerg-2188	138	21	.	.	PUNCT
fuelectenerg-2188	138	22	2	2	NUM
fuelectenerg-2188	138	23	logged	log	VERB
fuelectenerg-2188	138	24	trajectory	trajectory	NOUN
fuelectenerg-2188	138	25	of	of	ADP
fuelectenerg-2188	138	26	circular	circular	ADJ
fuelectenerg-2188	138	27	motion	motion	NOUN
fuelectenerg-2188	138	28	of	of	ADP
fuelectenerg-2188	138	29	marker	marker	NOUN
fuelectenerg-2188	138	30	.	.	PUNCT
fuelectenerg-2188	139	1	number	number	NOUN
fuelectenerg-2188	139	2	of	of	ADP
fuelectenerg-2188	139	3	repetitive	repetitive	ADJ
fuelectenerg-2188	139	4	cycles	cycle	NOUN
fuelectenerg-2188	139	5	is	be	AUX
fuelectenerg-2188	139	6	30	30	NUM
fuelectenerg-2188	139	7	.	.	PUNCT
fuelectenerg-2188	140	1	in	in	ADP
fuelectenerg-2188	140	2	the	the	DET
fuelectenerg-2188	140	3	next	next	ADJ
fuelectenerg-2188	140	4	step	step	NOUN
fuelectenerg-2188	140	5	,	,	PUNCT
fuelectenerg-2188	140	6	we	we	PRON
fuelectenerg-2188	140	7	have	have	AUX
fuelectenerg-2188	140	8	done	do	VERB
fuelectenerg-2188	140	9	a	a	DET
fuelectenerg-2188	140	10	time	time	NOUN
fuelectenerg-2188	140	11	stamp	stamp	NOUN
fuelectenerg-2188	140	12	analysis	analysis	NOUN
fuelectenerg-2188	140	13	of	of	ADP
fuelectenerg-2188	140	14	about	about	ADP
fuelectenerg-2188	140	15	426	426	NUM
fuelectenerg-2188	140	16	s	s	PART
fuelectenerg-2188	140	17	long	long	ADJ
fuelectenerg-2188	140	18	measurement	measurement	NOUN
fuelectenerg-2188	140	19	streak	streak	NOUN
fuelectenerg-2188	140	20	.	.	PUNCT
fuelectenerg-2188	141	1	this	this	PRON
fuelectenerg-2188	141	2	was	be	AUX
fuelectenerg-2188	141	3	necessary	necessary	ADJ
fuelectenerg-2188	141	4	for	for	ADP
fuelectenerg-2188	141	5	the	the	DET
fuelectenerg-2188	141	6	later	later	ADJ
fuelectenerg-2188	141	7	analysis	analysis	NOUN
fuelectenerg-2188	141	8	of	of	ADP
fuelectenerg-2188	141	9	trajectory	trajectory	NOUN
fuelectenerg-2188	141	10	.	.	PUNCT
fuelectenerg-2188	142	1	the	the	DET
fuelectenerg-2188	142	2	logged	logged	ADJ
fuelectenerg-2188	142	3	time	time	NOUN
fuelectenerg-2188	142	4	seemed	seem	VERB
fuelectenerg-2188	142	5	rather	rather	ADV
fuelectenerg-2188	142	6	linear	linear	ADJ
fuelectenerg-2188	142	7	when	when	SCONJ
fuelectenerg-2188	142	8	plotted	plot	VERB
fuelectenerg-2188	142	9	.	.	PUNCT
fuelectenerg-2188	143	1	an	an	DET
fuelectenerg-2188	143	2	average	average	ADJ
fuelectenerg-2188	143	3	time	time	NOUN
fuelectenerg-2188	143	4	between	between	ADP
fuelectenerg-2188	143	5	processed	process	VERB
fuelectenerg-2188	143	6	frames	frame	NOUN
fuelectenerg-2188	143	7	is	be	AUX
fuelectenerg-2188	143	8	236	236	NUM
fuelectenerg-2188	143	9	ms	ms	NOUN
fuelectenerg-2188	143	10	,	,	PUNCT
fuelectenerg-2188	143	11	with	with	ADP
fuelectenerg-2188	143	12	standard	standard	ADJ
fuelectenerg-2188	143	13	deviation	deviation	NOUN
fuelectenerg-2188	143	14	of	of	ADP
fuelectenerg-2188	143	15	22.9	22.9	NUM
fuelectenerg-2188	143	16	ms	ms	PROPN
fuelectenerg-2188	143	17	.	.	PROPN
fuelectenerg-2188	143	18	differences	difference	NOUN
fuelectenerg-2188	143	19	on	on	ADP
fuelectenerg-2188	143	20	the	the	DET
fuelectenerg-2188	143	21	histogram	histogram	NOUN
fuelectenerg-2188	143	22	of	of	ADP
fuelectenerg-2188	143	23	time	time	NOUN
fuelectenerg-2188	143	24	between	between	ADP
fuelectenerg-2188	143	25	two	two	NUM
fuelectenerg-2188	143	26	successively	successively	ADV
fuelectenerg-2188	143	27	grabbed	grab	VERB
fuelectenerg-2188	143	28	frames	frame	NOUN
fuelectenerg-2188	143	29	are	be	AUX
fuelectenerg-2188	143	30	an	an	DET
fuelectenerg-2188	143	31	interesting	interesting	ADJ
fuelectenerg-2188	143	32	observation	observation	NOUN
fuelectenerg-2188	143	33	,	,	PUNCT
fuelectenerg-2188	143	34	which	which	PRON
fuelectenerg-2188	143	35	is	be	AUX
fuelectenerg-2188	143	36	shown	show	VERB
fuelectenerg-2188	143	37	in	in	ADP
fuelectenerg-2188	143	38	fig	fig	NOUN
fuelectenerg-2188	143	39	.	.	PUNCT
fuelectenerg-2188	144	1	3	3	X
fuelectenerg-2188	144	2	.	.	X
fuelectenerg-2188	144	3	fig	fig	NOUN
fuelectenerg-2188	144	4	.	.	PUNCT
fuelectenerg-2188	145	1	3	3	NUM
fuelectenerg-2188	145	2	histogram	histogram	NOUN
fuelectenerg-2188	145	3	of	of	ADP
fuelectenerg-2188	145	4	time	time	NOUN
fuelectenerg-2188	145	5	differences	difference	NOUN
fuelectenerg-2188	145	6	,	,	PUNCT
fuelectenerg-2188	145	7	dt	dt	X
fuelectenerg-2188	145	8	,	,	PUNCT
fuelectenerg-2188	145	9	between	between	ADP
fuelectenerg-2188	145	10	two	two	NUM
fuelectenerg-2188	145	11	successively	successively	ADV
fuelectenerg-2188	145	12	grabbed	grab	VERB
fuelectenerg-2188	145	13	frames	frame	NOUN
fuelectenerg-2188	145	14	.	.	PUNCT
fuelectenerg-2188	146	1	histogram	histogram	NOUN
fuelectenerg-2188	146	2	peaks	peak	NOUN
fuelectenerg-2188	146	3	are	be	AUX
fuelectenerg-2188	146	4	at	at	ADP
fuelectenerg-2188	146	5	an	an	DET
fuelectenerg-2188	146	6	equal	equal	ADJ
fuelectenerg-2188	146	7	distance	distance	NOUN
fuelectenerg-2188	146	8	of	of	ADP
fuelectenerg-2188	146	9	approx	approx	PROPN
fuelectenerg-2188	146	10	.	.	PUNCT
fuelectenerg-2188	147	1	15	15	NUM
fuelectenerg-2188	147	2	ms	ms	PROPN
fuelectenerg-2188	147	3	.	.	PROPN
fuelectenerg-2188	147	4	since	since	SCONJ
fuelectenerg-2188	147	5	the	the	DET
fuelectenerg-2188	147	6	camera	camera	NOUN
fuelectenerg-2188	147	7	streams	stream	VERB
fuelectenerg-2188	147	8	at	at	ADP
fuelectenerg-2188	147	9	about	about	ADV
fuelectenerg-2188	147	10	30	30	NUM
fuelectenerg-2188	147	11	fps	fps	NOUN
fuelectenerg-2188	147	12	,	,	PUNCT
fuelectenerg-2188	147	13	this	this	DET
fuelectenerg-2188	147	14	15	15	NUM
fuelectenerg-2188	147	15	ms	ms	NOUN
fuelectenerg-2188	147	16	seems	seem	VERB
fuelectenerg-2188	147	17	like	like	ADP
fuelectenerg-2188	147	18	a	a	DET
fuelectenerg-2188	147	19	half	half	NOUN
fuelectenerg-2188	147	20	of	of	ADP
fuelectenerg-2188	147	21	a	a	DET
fuelectenerg-2188	147	22	frame	frame	NOUN
fuelectenerg-2188	147	23	time	time	NOUN
fuelectenerg-2188	147	24	.	.	PUNCT
fuelectenerg-2188	148	1	an	an	DET
fuelectenerg-2188	148	2	average	average	ADJ
fuelectenerg-2188	148	3	period	period	NOUN
fuelectenerg-2188	148	4	of	of	ADP
fuelectenerg-2188	148	5	236	236	NUM
fuelectenerg-2188	148	6	ms	ms	NOUN
fuelectenerg-2188	148	7	is	be	AUX
fuelectenerg-2188	148	8	then	then	ADV
fuelectenerg-2188	148	9	correlated	correlate	VERB
fuelectenerg-2188	148	10	to	to	ADP
fuelectenerg-2188	148	11	7	7	NUM
fuelectenerg-2188	148	12	frames	frame	NOUN
fuelectenerg-2188	148	13	.	.	PUNCT
fuelectenerg-2188	149	1	considering	consider	VERB
fuelectenerg-2188	149	2	a	a	DET
fuelectenerg-2188	149	3	slight	slight	ADJ
fuelectenerg-2188	149	4	variance	variance	NOUN
fuelectenerg-2188	149	5	in	in	ADP
fuelectenerg-2188	149	6	stream	stream	NOUN
fuelectenerg-2188	149	7	frame	frame	NOUN
fuelectenerg-2188	149	8	rate	rate	NOUN
fuelectenerg-2188	149	9	and	and	CCONJ
fuelectenerg-2188	149	10	code	code	NOUN
fuelectenerg-2188	149	11	execution	execution	NOUN
fuelectenerg-2188	149	12	,	,	PUNCT
fuelectenerg-2188	149	13	it	it	PRON
fuelectenerg-2188	149	14	could	could	AUX
fuelectenerg-2188	149	15	lead	lead	VERB
fuelectenerg-2188	149	16	to	to	ADP
fuelectenerg-2188	149	17	a	a	DET
fuelectenerg-2188	149	18	frame	frame	NOUN
fuelectenerg-2188	149	19	grabbing	grab	VERB
fuelectenerg-2188	149	20	jitter	jitter	NOUN
fuelectenerg-2188	149	21	.	.	PUNCT
fuelectenerg-2188	150	1	the	the	DET
fuelectenerg-2188	150	2	jitter	jitter	NOUN
fuelectenerg-2188	150	3	would	would	AUX
fuelectenerg-2188	150	4	be	be	AUX
fuelectenerg-2188	150	5	only	only	ADV
fuelectenerg-2188	150	6	one	one	NUM
fuelectenerg-2188	150	7	frame	frame	NOUN
fuelectenerg-2188	150	8	.	.	PUNCT
fuelectenerg-2188	151	1	its	its	PRON
fuelectenerg-2188	151	2	effect	effect	NOUN
fuelectenerg-2188	151	3	would	would	AUX
fuelectenerg-2188	151	4	be	be	AUX
fuelectenerg-2188	151	5	increase	increase	VERB
fuelectenerg-2188	151	6	in	in	ADP
fuelectenerg-2188	151	7	localisation	localisation	NOUN
fuelectenerg-2188	151	8	uncertainty	uncertainty	NOUN
fuelectenerg-2188	151	9	of	of	ADP
fuelectenerg-2188	151	10	one	one	NUM
fuelectenerg-2188	151	11	frame	frame	NOUN
fuelectenerg-2188	151	12	time	time	NOUN
fuelectenerg-2188	151	13	multiplied	multiply	VERB
fuelectenerg-2188	151	14	by	by	ADP
fuelectenerg-2188	151	15	the	the	DET
fuelectenerg-2188	151	16	speed	speed	NOUN
fuelectenerg-2188	151	17	of	of	ADP
fuelectenerg-2188	151	18	marker	marker	NOUN
fuelectenerg-2188	151	19	.	.	PUNCT
fuelectenerg-2188	152	1	if	if	SCONJ
fuelectenerg-2188	152	2	speed	speed	NOUN
fuelectenerg-2188	152	3	is	be	AUX
fuelectenerg-2188	152	4	low	low	ADJ
fuelectenerg-2188	152	5	,	,	PUNCT
fuelectenerg-2188	152	6	uncertainty	uncertainty	NOUN
fuelectenerg-2188	152	7	increase	increase	NOUN
fuelectenerg-2188	152	8	is	be	AUX
fuelectenerg-2188	152	9	only	only	ADV
fuelectenerg-2188	152	10	a	a	DET
fuelectenerg-2188	152	11	few	few	ADJ
fuelectenerg-2188	152	12	centimetres	centimetre	NOUN
fuelectenerg-2188	152	13	.	.	PUNCT
fuelectenerg-2188	153	1	in	in	ADP
fuelectenerg-2188	153	2	our	our	PRON
fuelectenerg-2188	153	3	case	case	NOUN
fuelectenerg-2188	153	4	,	,	PUNCT
fuelectenerg-2188	153	5	for	for	ADP
fuelectenerg-2188	153	6	speed	speed	NOUN
fuelectenerg-2188	153	7	of	of	ADP
fuelectenerg-2188	153	8	just	just	ADV
fuelectenerg-2188	153	9	under	under	ADP
fuelectenerg-2188	153	10	20cm	20cm	NUM
fuelectenerg-2188	153	11	/	/	SYM
fuelectenerg-2188	153	12	s	s	PROPN
fuelectenerg-2188	153	13	,	,	PUNCT
fuelectenerg-2188	153	14	it	it	PRON
fuelectenerg-2188	153	15	is	be	AUX
fuelectenerg-2188	153	16	evaluated	evaluate	VERB
fuelectenerg-2188	153	17	to	to	ADP
fuelectenerg-2188	153	18	0.6	0.6	NUM
fuelectenerg-2188	153	19	cm	cm	NOUN
fuelectenerg-2188	153	20	.	.	PUNCT
fuelectenerg-2188	154	1	when	when	SCONJ
fuelectenerg-2188	154	2	time	time	NOUN
fuelectenerg-2188	154	3	stamps	stamp	NOUN
fuelectenerg-2188	154	4	are	be	AUX
fuelectenerg-2188	154	5	analasys	analasy	NOUN
fuelectenerg-2188	154	6	of	of	ADP
fuelectenerg-2188	154	7	two	two	NUM
fuelectenerg-2188	154	8	low	low	ADJ
fuelectenerg-2188	154	9	-	-	PUNCT
fuelectenerg-2188	154	10	cost	cost	NOUN
fuelectenerg-2188	154	11	and	and	CCONJ
fuelectenerg-2188	154	12	robust	robust	ADJ
fuelectenerg-2188	154	13	methods	method	NOUN
fuelectenerg-2188	154	14	for	for	ADP
fuelectenerg-2188	154	15	indoor	indoor	ADJ
fuelectenerg-2188	154	16	localisation	localisation	NOUN
fuelectenerg-2188	154	17	of	of	ADP
fuelectenerg-2188	154	18	mobile	mobile	ADJ
fuelectenerg-2188	154	19	robots	robot	NOUN
fuelectenerg-2188	154	20	409	409	NUM
fuelectenerg-2188	154	21	converted	convert	VERB
fuelectenerg-2188	154	22	to	to	ADP
fuelectenerg-2188	154	23	integer	integer	NOUN
fuelectenerg-2188	154	24	number	number	NOUN
fuelectenerg-2188	154	25	of	of	ADP
fuelectenerg-2188	154	26	frames	frame	NOUN
fuelectenerg-2188	154	27	from	from	ADP
fuelectenerg-2188	154	28	the	the	DET
fuelectenerg-2188	154	29	beginning	beginning	NOUN
fuelectenerg-2188	154	30	of	of	ADP
fuelectenerg-2188	154	31	test	test	NOUN
fuelectenerg-2188	154	32	,	,	PUNCT
fuelectenerg-2188	154	33	and	and	CCONJ
fuelectenerg-2188	154	34	time	time	NOUN
fuelectenerg-2188	154	35	difference	difference	NOUN
fuelectenerg-2188	154	36	is	be	AUX
fuelectenerg-2188	154	37	recalculated	recalculate	VERB
fuelectenerg-2188	154	38	,	,	PUNCT
fuelectenerg-2188	154	39	the	the	DET
fuelectenerg-2188	154	40	histogram	histogram	NOUN
fuelectenerg-2188	154	41	looks	look	VERB
fuelectenerg-2188	154	42	like	like	ADP
fuelectenerg-2188	154	43	in	in	ADP
fuelectenerg-2188	154	44	fig	fig	NOUN
fuelectenerg-2188	154	45	.	.	PUNCT
fuelectenerg-2188	155	1	4	4	X
fuelectenerg-2188	155	2	.	.	PUNCT
fuelectenerg-2188	155	3	now	now	ADV
fuelectenerg-2188	155	4	it	it	PRON
fuelectenerg-2188	155	5	is	be	AUX
fuelectenerg-2188	155	6	much	much	ADV
fuelectenerg-2188	155	7	clearer	clear	ADJ
fuelectenerg-2188	155	8	that	that	SCONJ
fuelectenerg-2188	155	9	almost	almost	ADV
fuelectenerg-2188	155	10	half	half	NOUN
fuelectenerg-2188	155	11	of	of	ADP
fuelectenerg-2188	155	12	the	the	DET
fuelectenerg-2188	155	13	samples	sample	NOUN
fuelectenerg-2188	155	14	are	be	AUX
fuelectenerg-2188	155	15	taken	take	VERB
fuelectenerg-2188	155	16	with	with	ADP
fuelectenerg-2188	155	17	7	7	NUM
fuelectenerg-2188	155	18	frame	frame	NOUN
fuelectenerg-2188	155	19	difference	difference	NOUN
fuelectenerg-2188	155	20	.	.	PUNCT
fuelectenerg-2188	156	1	from	from	ADP
fuelectenerg-2188	156	2	the	the	DET
fuelectenerg-2188	156	3	remaining	remain	VERB
fuelectenerg-2188	156	4	samples	sample	NOUN
fuelectenerg-2188	156	5	,	,	PUNCT
fuelectenerg-2188	156	6	about	about	ADV
fuelectenerg-2188	156	7	one	one	NUM
fuelectenerg-2188	156	8	third	third	NOUN
fuelectenerg-2188	156	9	is	be	AUX
fuelectenerg-2188	156	10	with	with	ADP
fuelectenerg-2188	156	11	6	6	NUM
fuelectenerg-2188	156	12	frame	frame	NOUN
fuelectenerg-2188	156	13	difference	difference	NOUN
fuelectenerg-2188	156	14	and	and	CCONJ
fuelectenerg-2188	156	15	one	one	NUM
fuelectenerg-2188	156	16	third	third	NOUN
fuelectenerg-2188	156	17	with	with	ADP
fuelectenerg-2188	156	18	8	8	NUM
fuelectenerg-2188	156	19	frame	frame	NOUN
fuelectenerg-2188	156	20	difference	difference	NOUN
fuelectenerg-2188	156	21	.	.	PUNCT
fuelectenerg-2188	157	1	in	in	ADP
fuelectenerg-2188	157	2	other	other	ADJ
fuelectenerg-2188	157	3	words	word	NOUN
fuelectenerg-2188	157	4	,	,	PUNCT
fuelectenerg-2188	157	5	standard	standard	ADJ
fuelectenerg-2188	157	6	deviation	deviation	NOUN
fuelectenerg-2188	157	7	is	be	AUX
fuelectenerg-2188	157	8	0.77	0.77	NUM
fuelectenerg-2188	157	9	frames	frame	NOUN
fuelectenerg-2188	157	10	.	.	PUNCT
fuelectenerg-2188	158	1	to	to	PART
fuelectenerg-2188	158	2	conclude	conclude	VERB
fuelectenerg-2188	158	3	,	,	PUNCT
fuelectenerg-2188	158	4	as	as	ADV
fuelectenerg-2188	158	5	far	far	ADV
fuelectenerg-2188	158	6	as	as	SCONJ
fuelectenerg-2188	158	7	the	the	DET
fuelectenerg-2188	158	8	timing	timing	NOUN
fuelectenerg-2188	158	9	analysis	analysis	NOUN
fuelectenerg-2188	158	10	is	be	AUX
fuelectenerg-2188	158	11	concerned	concern	VERB
fuelectenerg-2188	158	12	,	,	PUNCT
fuelectenerg-2188	158	13	since	since	SCONJ
fuelectenerg-2188	158	14	no	no	DET
fuelectenerg-2188	158	15	real	real	ADJ
fuelectenerg-2188	158	16	time	time	NOUN
fuelectenerg-2188	158	17	os	os	NOUN
fuelectenerg-2188	158	18	were	be	AUX
fuelectenerg-2188	158	19	used	use	VERB
fuelectenerg-2188	158	20	,	,	PUNCT
fuelectenerg-2188	158	21	a	a	DET
fuelectenerg-2188	158	22	variance	variance	NOUN
fuelectenerg-2188	158	23	in	in	ADP
fuelectenerg-2188	158	24	processing	processing	NOUN
fuelectenerg-2188	158	25	frames	frame	NOUN
fuelectenerg-2188	158	26	and	and	CCONJ
fuelectenerg-2188	158	27	sampling	sampling	NOUN
fuelectenerg-2188	158	28	does	do	AUX
fuelectenerg-2188	158	29	exist	exist	VERB
fuelectenerg-2188	158	30	.	.	PUNCT
fuelectenerg-2188	159	1	however	however	ADV
fuelectenerg-2188	159	2	,	,	PUNCT
fuelectenerg-2188	159	3	it	it	PRON
fuelectenerg-2188	159	4	is	be	AUX
fuelectenerg-2188	159	5	not	not	PART
fuelectenerg-2188	159	6	more	more	ADJ
fuelectenerg-2188	159	7	than	than	ADP
fuelectenerg-2188	159	8	10	10	NUM
fuelectenerg-2188	159	9	frames	frame	NOUN
fuelectenerg-2188	159	10	or	or	CCONJ
fuelectenerg-2188	159	11	one	one	NUM
fuelectenerg-2188	159	12	third	third	NOUN
fuelectenerg-2188	159	13	of	of	ADP
fuelectenerg-2188	159	14	a	a	DET
fuelectenerg-2188	159	15	second	second	NOUN
fuelectenerg-2188	159	16	.	.	PUNCT
fuelectenerg-2188	160	1	fig	fig	NOUN
fuelectenerg-2188	160	2	4	4	NUM
fuelectenerg-2188	160	3	histogram	histogram	NOUN
fuelectenerg-2188	160	4	of	of	ADP
fuelectenerg-2188	160	5	time	time	NOUN
fuelectenerg-2188	160	6	stamp	stamp	NOUN
fuelectenerg-2188	160	7	differences	difference	NOUN
fuelectenerg-2188	160	8	,	,	PUNCT
fuelectenerg-2188	160	9	when	when	SCONJ
fuelectenerg-2188	160	10	time	time	NOUN
fuelectenerg-2188	160	11	is	be	AUX
fuelectenerg-2188	160	12	converted	convert	VERB
fuelectenerg-2188	160	13	to	to	ADP
fuelectenerg-2188	160	14	frames	frame	NOUN
fuelectenerg-2188	160	15	with	with	ADP
fuelectenerg-2188	160	16	30fps	30fps	NUM
fuelectenerg-2188	160	17	rate	rate	NOUN
fuelectenerg-2188	160	18	.	.	PUNCT
fuelectenerg-2188	161	1	in	in	ADP
fuelectenerg-2188	161	2	parallel	parallel	NOUN
fuelectenerg-2188	161	3	with	with	ADP
fuelectenerg-2188	161	4	the	the	DET
fuelectenerg-2188	161	5	dynamic	dynamic	ADJ
fuelectenerg-2188	161	6	performance	performance	NOUN
fuelectenerg-2188	161	7	test	test	NOUN
fuelectenerg-2188	161	8	we	we	PRON
fuelectenerg-2188	161	9	have	have	AUX
fuelectenerg-2188	161	10	done	do	VERB
fuelectenerg-2188	161	11	an	an	DET
fuelectenerg-2188	161	12	additional	additional	ADJ
fuelectenerg-2188	161	13	timing	timing	NOUN
fuelectenerg-2188	161	14	analysis	analysis	NOUN
fuelectenerg-2188	161	15	.	.	PUNCT
fuelectenerg-2188	162	1	we	we	PRON
fuelectenerg-2188	162	2	wondered	wonder	VERB
fuelectenerg-2188	162	3	whether	whether	SCONJ
fuelectenerg-2188	162	4	this	this	DET
fuelectenerg-2188	162	5	kind	kind	NOUN
fuelectenerg-2188	162	6	of	of	ADP
fuelectenerg-2188	162	7	localisation	localisation	NOUN
fuelectenerg-2188	162	8	system	system	NOUN
fuelectenerg-2188	162	9	could	could	AUX
fuelectenerg-2188	162	10	be	be	AUX
fuelectenerg-2188	162	11	integrated	integrate	VERB
fuelectenerg-2188	162	12	as	as	ADP
fuelectenerg-2188	162	13	small	small	ADJ
fuelectenerg-2188	162	14	localisation	localisation	NOUN
fuelectenerg-2188	162	15	device	device	NOUN
fuelectenerg-2188	162	16	capable	capable	ADJ
fuelectenerg-2188	162	17	of	of	ADP
fuelectenerg-2188	162	18	broadcasting	broadcast	VERB
fuelectenerg-2188	162	19	tracked	track	VERB
fuelectenerg-2188	162	20	object	object	NOUN
fuelectenerg-2188	162	21	location	location	NOUN
fuelectenerg-2188	162	22	via	via	ADP
fuelectenerg-2188	162	23	wi	wi	PROPN
fuelectenerg-2188	162	24	-	-	PUNCT
fuelectenerg-2188	162	25	fi	fi	NOUN
fuelectenerg-2188	162	26	.	.	PUNCT
fuelectenerg-2188	163	1	thus	thus	ADV
fuelectenerg-2188	163	2	,	,	PUNCT
fuelectenerg-2188	163	3	the	the	DET
fuelectenerg-2188	163	4	image	image	NOUN
fuelectenerg-2188	163	5	processing	processing	NOUN
fuelectenerg-2188	163	6	pc	pc	NOUN
fuelectenerg-2188	163	7	was	be	AUX
fuelectenerg-2188	163	8	set	set	VERB
fuelectenerg-2188	163	9	to	to	PART
fuelectenerg-2188	163	10	send	send	VERB
fuelectenerg-2188	163	11	position	position	NOUN
fuelectenerg-2188	163	12	via	via	ADP
fuelectenerg-2188	163	13	udp	udp	NOUN
fuelectenerg-2188	163	14	packets	packet	NOUN
fuelectenerg-2188	163	15	to	to	PART
fuelectenerg-2188	163	16	pc	pc	VERB
fuelectenerg-2188	163	17	within	within	ADP
fuelectenerg-2188	163	18	the	the	DET
fuelectenerg-2188	163	19	same	same	ADJ
fuelectenerg-2188	163	20	wireless	wireless	ADJ
fuelectenerg-2188	163	21	network	network	NOUN
fuelectenerg-2188	163	22	.	.	PUNCT
fuelectenerg-2188	164	1	comparing	compare	VERB
fuelectenerg-2188	164	2	the	the	DET
fuelectenerg-2188	164	3	time	time	NOUN
fuelectenerg-2188	164	4	difference	difference	NOUN
fuelectenerg-2188	164	5	of	of	ADP
fuelectenerg-2188	164	6	localisation	localisation	NOUN
fuelectenerg-2188	164	7	frame	frame	NOUN
fuelectenerg-2188	164	8	sampling	sample	VERB
fuelectenerg-2188	164	9	time	time	NOUN
fuelectenerg-2188	164	10	and	and	CCONJ
fuelectenerg-2188	164	11	time	time	NOUN
fuelectenerg-2188	164	12	of	of	ADP
fuelectenerg-2188	164	13	the	the	DET
fuelectenerg-2188	164	14	udp	udp	PROPN
fuelectenerg-2188	164	15	arrival	arrival	NOUN
fuelectenerg-2188	164	16	,	,	PUNCT
fuelectenerg-2188	164	17	we	we	PRON
fuelectenerg-2188	164	18	got	get	VERB
fuelectenerg-2188	164	19	236	236	NUM
fuelectenerg-2188	164	20	ms	ms	NOUN
fuelectenerg-2188	164	21	of	of	ADP
fuelectenerg-2188	164	22	time	time	NOUN
fuelectenerg-2188	164	23	difference	difference	NOUN
fuelectenerg-2188	164	24	between	between	ADP
fuelectenerg-2188	164	25	location	location	NOUN
fuelectenerg-2188	164	26	information	information	NOUN
fuelectenerg-2188	164	27	.	.	PUNCT
fuelectenerg-2188	165	1	on	on	ADP
fuelectenerg-2188	165	2	the	the	DET
fuelectenerg-2188	165	3	other	other	ADJ
fuelectenerg-2188	165	4	hand	hand	NOUN
fuelectenerg-2188	165	5	,	,	PUNCT
fuelectenerg-2188	165	6	a	a	DET
fuelectenerg-2188	165	7	standard	standard	ADJ
fuelectenerg-2188	165	8	deviation	deviation	NOUN
fuelectenerg-2188	165	9	is	be	AUX
fuelectenerg-2188	165	10	now	now	ADV
fuelectenerg-2188	165	11	133	133	NUM
fuelectenerg-2188	165	12	ms	ms	NOUN
fuelectenerg-2188	165	13	,	,	PUNCT
fuelectenerg-2188	165	14	which	which	PRON
fuelectenerg-2188	165	15	is	be	AUX
fuelectenerg-2188	165	16	almost	almost	ADV
fuelectenerg-2188	165	17	6	6	NUM
fuelectenerg-2188	165	18	times	time	NOUN
fuelectenerg-2188	165	19	more	more	ADJ
fuelectenerg-2188	165	20	than	than	ADP
fuelectenerg-2188	165	21	for	for	ADP
fuelectenerg-2188	165	22	the	the	DET
fuelectenerg-2188	165	23	localisation	localisation	NOUN
fuelectenerg-2188	165	24	alone	alone	ADV
fuelectenerg-2188	165	25	.	.	PUNCT
fuelectenerg-2188	166	1	the	the	DET
fuelectenerg-2188	166	2	main	main	ADJ
fuelectenerg-2188	166	3	culprit	culprit	NOUN
fuelectenerg-2188	166	4	is	be	AUX
fuelectenerg-2188	166	5	packet	packet	NOUN
fuelectenerg-2188	166	6	buffering	buffering	NOUN
fuelectenerg-2188	166	7	,	,	PUNCT
fuelectenerg-2188	166	8	and	and	CCONJ
fuelectenerg-2188	166	9	wireless	wireless	ADJ
fuelectenerg-2188	166	10	signal	signal	NOUN
fuelectenerg-2188	166	11	quality	quality	NOUN
fuelectenerg-2188	166	12	.	.	PUNCT
fuelectenerg-2188	167	1	due	due	ADP
fuelectenerg-2188	167	2	to	to	ADP
fuelectenerg-2188	167	3	them	they	PRON
fuelectenerg-2188	167	4	,	,	PUNCT
fuelectenerg-2188	167	5	considerate	considerate	ADJ
fuelectenerg-2188	167	6	number	number	NOUN
fuelectenerg-2188	167	7	of	of	ADP
fuelectenerg-2188	167	8	packets	packet	NOUN
fuelectenerg-2188	167	9	was	be	AUX
fuelectenerg-2188	167	10	late	late	ADJ
fuelectenerg-2188	167	11	.	.	PUNCT
fuelectenerg-2188	168	1	note	note	VERB
fuelectenerg-2188	168	2	also	also	ADV
fuelectenerg-2188	168	3	that	that	SCONJ
fuelectenerg-2188	168	4	this	this	DET
fuelectenerg-2188	168	5	differential	differential	ADJ
fuelectenerg-2188	168	6	analysis	analysis	NOUN
fuelectenerg-2188	168	7	excludes	exclude	VERB
fuelectenerg-2188	168	8	fixed	fix	VERB
fuelectenerg-2188	168	9	amount	amount	NOUN
fuelectenerg-2188	168	10	of	of	ADP
fuelectenerg-2188	168	11	latency	latency	NOUN
fuelectenerg-2188	168	12	from	from	ADP
fuelectenerg-2188	168	13	wi	wi	PROPN
fuelectenerg-2188	168	14	-	-	PUNCT
fuelectenerg-2188	168	15	fi	fi	NOUN
fuelectenerg-2188	168	16	,	,	PUNCT
fuelectenerg-2188	168	17	as	as	SCONJ
fuelectenerg-2188	168	18	it	it	PRON
fuelectenerg-2188	168	19	did	do	VERB
fuelectenerg-2188	168	20	with	with	ADP
fuelectenerg-2188	168	21	camera	camera	NOUN
fuelectenerg-2188	168	22	frame	frame	NOUN
fuelectenerg-2188	168	23	grabbing	grab	VERB
fuelectenerg-2188	168	24	.	.	PUNCT
fuelectenerg-2188	169	1	since	since	SCONJ
fuelectenerg-2188	169	2	we	we	PRON
fuelectenerg-2188	169	3	are	be	AUX
fuelectenerg-2188	169	4	using	use	VERB
fuelectenerg-2188	169	5	low	low	ADJ
fuelectenerg-2188	169	6	-	-	PUNCT
fuelectenerg-2188	169	7	cost	cost	NOUN
fuelectenerg-2188	169	8	off	off	ADP
fuelectenerg-2188	169	9	the	the	DET
fuelectenerg-2188	169	10	shelf	shelf	NOUN
fuelectenerg-2188	169	11	components	component	NOUN
fuelectenerg-2188	169	12	,	,	PUNCT
fuelectenerg-2188	169	13	it	it	PRON
fuelectenerg-2188	169	14	is	be	AUX
fuelectenerg-2188	169	15	not	not	PART
fuelectenerg-2188	169	16	possible	possible	ADJ
fuelectenerg-2188	169	17	to	to	PART
fuelectenerg-2188	169	18	determine	determine	VERB
fuelectenerg-2188	169	19	accurately	accurately	ADV
fuelectenerg-2188	169	20	this	this	DET
fuelectenerg-2188	169	21	kind	kind	NOUN
fuelectenerg-2188	169	22	of	of	ADP
fuelectenerg-2188	169	23	delays	delay	NOUN
fuelectenerg-2188	169	24	.	.	PUNCT
fuelectenerg-2188	170	1	at	at	ADP
fuelectenerg-2188	170	2	least	least	ADJ
fuelectenerg-2188	170	3	not	not	PART
fuelectenerg-2188	170	4	without	without	ADP
fuelectenerg-2188	170	5	the	the	DET
fuelectenerg-2188	170	6	use	use	NOUN
fuelectenerg-2188	170	7	of	of	ADP
fuelectenerg-2188	170	8	special	special	ADJ
fuelectenerg-2188	170	9	setups	setup	NOUN
fuelectenerg-2188	170	10	.	.	PUNCT
fuelectenerg-2188	171	1	conversely	conversely	ADV
fuelectenerg-2188	171	2	,	,	PUNCT
fuelectenerg-2188	171	3	we	we	PRON
fuelectenerg-2188	171	4	find	find	VERB
fuelectenerg-2188	171	5	sending	send	VERB
fuelectenerg-2188	171	6	location	location	NOUN
fuelectenerg-2188	171	7	via	via	ADP
fuelectenerg-2188	171	8	udp	udp	NOUN
fuelectenerg-2188	171	9	packets	packet	NOUN
fuelectenerg-2188	171	10	and	and	CCONJ
fuelectenerg-2188	171	11	wi	wi	PROPN
fuelectenerg-2188	171	12	-	-	PUNCT
fuelectenerg-2188	171	13	fi	fi	NOUN
fuelectenerg-2188	171	14	for	for	ADP
fuelectenerg-2188	171	15	control	control	NOUN
fuelectenerg-2188	171	16	purposes	purpose	NOUN
fuelectenerg-2188	171	17	plausible	plausible	ADJ
fuelectenerg-2188	171	18	,	,	PUNCT
fuelectenerg-2188	171	19	however	however	ADV
fuelectenerg-2188	171	20	,	,	PUNCT
fuelectenerg-2188	171	21	control	control	NOUN
fuelectenerg-2188	171	22	algorithms	algorithm	NOUN
fuelectenerg-2188	171	23	must	must	AUX
fuelectenerg-2188	171	24	either	either	CCONJ
fuelectenerg-2188	171	25	be	be	AUX
fuelectenerg-2188	171	26	rugged	rugge	VERB
fuelectenerg-2188	171	27	enough	enough	ADV
fuelectenerg-2188	171	28	for	for	ADP
fuelectenerg-2188	171	29	variable	variable	ADJ
fuelectenerg-2188	171	30	time	time	NOUN
fuelectenerg-2188	171	31	delays	delay	NOUN
fuelectenerg-2188	171	32	or	or	CCONJ
fuelectenerg-2188	171	33	take	take	VERB
fuelectenerg-2188	171	34	advantage	advantage	NOUN
fuelectenerg-2188	171	35	of	of	ADP
fuelectenerg-2188	171	36	frame	frame	NOUN
fuelectenerg-2188	171	37	time	time	NOUN
fuelectenerg-2188	171	38	stamp	stamp	NOUN
fuelectenerg-2188	171	39	and	and	CCONJ
fuelectenerg-2188	171	40	perform	perform	VERB
fuelectenerg-2188	171	41	small	small	ADJ
fuelectenerg-2188	171	42	corrections	correction	NOUN
fuelectenerg-2188	171	43	of	of	ADP
fuelectenerg-2188	171	44	received	receive	VERB
fuelectenerg-2188	171	45	location	location	NOUN
fuelectenerg-2188	171	46	.	.	PUNCT
fuelectenerg-2188	172	1	in	in	ADP
fuelectenerg-2188	172	2	the	the	DET
fuelectenerg-2188	172	3	following	following	ADJ
fuelectenerg-2188	172	4	step	step	NOUN
fuelectenerg-2188	172	5	,	,	PUNCT
fuelectenerg-2188	172	6	we	we	PRON
fuelectenerg-2188	172	7	have	have	AUX
fuelectenerg-2188	172	8	done	do	VERB
fuelectenerg-2188	172	9	trajectory	trajectory	NOUN
fuelectenerg-2188	172	10	analysis	analysis	NOUN
fuelectenerg-2188	172	11	in	in	ADP
fuelectenerg-2188	172	12	two	two	NUM
fuelectenerg-2188	172	13	stages	stage	NOUN
fuelectenerg-2188	172	14	.	.	PUNCT
fuelectenerg-2188	173	1	firstly	firstly	ADV
fuelectenerg-2188	173	2	,	,	PUNCT
fuelectenerg-2188	173	3	we	we	PRON
fuelectenerg-2188	173	4	have	have	AUX
fuelectenerg-2188	173	5	found	find	VERB
fuelectenerg-2188	173	6	trajectory	trajectory	NOUN
fuelectenerg-2188	173	7	radius	radius	NOUN
fuelectenerg-2188	173	8	r	r	NOUN
fuelectenerg-2188	173	9	and	and	CCONJ
fuelectenerg-2188	173	10	centre	centre	NOUN
fuelectenerg-2188	173	11	(	(	PUNCT
fuelectenerg-2188	173	12	x0	x0	PROPN
fuelectenerg-2188	173	13	,	,	PUNCT
fuelectenerg-2188	173	14	y0	y0	PROPN
fuelectenerg-2188	173	15	)	)	PUNCT
fuelectenerg-2188	173	16	,	,	PUNCT
fuelectenerg-2188	173	17	as	as	ADV
fuelectenerg-2188	173	18	well	well	ADV
fuelectenerg-2188	173	19	as	as	ADP
fuelectenerg-2188	173	20	speed	speed	NOUN
fuelectenerg-2188	173	21	of	of	ADP
fuelectenerg-2188	173	22	centre	centre	NOUN
fuelectenerg-2188	173	23	movement	movement	NOUN
fuelectenerg-2188	173	24	(	(	PUNCT
fuelectenerg-2188	173	25	vx	vx	PROPN
fuelectenerg-2188	173	26	,	,	PUNCT
fuelectenerg-2188	173	27	vy	vy	NOUN
fuelectenerg-2188	173	28	)	)	PUNCT
fuelectenerg-2188	173	29	.	.	PUNCT
fuelectenerg-2188	174	1	this	this	PRON
fuelectenerg-2188	174	2	was	be	AUX
fuelectenerg-2188	174	3	achieved	achieve	VERB
fuelectenerg-2188	174	4	by	by	ADP
fuelectenerg-2188	174	5	finding	find	VERB
fuelectenerg-2188	174	6	the	the	DET
fuelectenerg-2188	174	7	best	good	ADJ
fuelectenerg-2188	174	8	fit	fit	NOUN
fuelectenerg-2188	174	9	for	for	ADP
fuelectenerg-2188	174	10	function	function	NOUN
fuelectenerg-2188	174	11	(	(	PUNCT
fuelectenerg-2188	174	12	2	2	NUM
fuelectenerg-2188	174	13	)	)	PUNCT
fuelectenerg-2188	174	14	.	.	PUNCT
fuelectenerg-2188	175	1	410	410	NUM
fuelectenerg-2188	175	2	m.	m.	NOUN
fuelectenerg-2188	175	3	petković	petković	NOUN
fuelectenerg-2188	175	4	,	,	PUNCT
fuelectenerg-2188	175	5	v.	v.	ADP
fuelectenerg-2188	175	6	sibinović	sibinović	PROPN
fuelectenerg-2188	175	7	,	,	PUNCT
fuelectenerg-2188	175	8	d.	d.	PROPN
fuelectenerg-2188	175	9	popović	popović	PROPN
fuelectenerg-2188	175	10	,	,	PUNCT
fuelectenerg-2188	175	11	v.	v.	CCONJ
fuelectenerg-2188	175	12	mitić	mitić	NOUN
fuelectenerg-2188	175	13	,	,	PUNCT
fuelectenerg-2188	175	14	d.	d.	PROPN
fuelectenerg-2188	175	15	todorović	todorović	PROPN
fuelectenerg-2188	175	16	,	,	PUNCT
fuelectenerg-2188	175	17	g.	g.	PROPN
fuelectenerg-2188	175	18	s.	s.	PROPN
fuelectenerg-2188	175	19	đorđević	đorđević	AUX
fuelectenerg-2188	175	20	2	2	NUM
fuelectenerg-2188	175	21	2	2	NUM
fuelectenerg-2188	175	22	0	0	NUM
fuelectenerg-2188	175	23	0	0	NUM
fuelectenerg-2188	175	24	(	(	PUNCT
fuelectenerg-2188	175	25	,	,	PUNCT
fuelectenerg-2188	175	26	,	,	PUNCT
fuelectenerg-2188	175	27	)	)	PUNCT
fuelectenerg-2188	175	28	(	(	PUNCT
fuelectenerg-2188	175	29	)	)	PUNCT
fuelectenerg-2188	175	30	(	(	PUNCT
fuelectenerg-2188	175	31	)	)	PUNCT
fuelectenerg-2188	175	32	x	x	SYM
fuelectenerg-2188	175	33	yf	yf	INTJ
fuelectenerg-2188	175	34	x	x	PUNCT
fuelectenerg-2188	175	35	y	y	NOUN
fuelectenerg-2188	175	36	t	t	NOUN
fuelectenerg-2188	175	37	r	r	NOUN
fuelectenerg-2188	175	38	x	x	SYM
fuelectenerg-2188	175	39	v	v	ADP
fuelectenerg-2188	175	40	t	t	NOUN
fuelectenerg-2188	175	41	x	x	SYM
fuelectenerg-2188	175	42	y	y	PROPN
fuelectenerg-2188	175	43	v	v	X
fuelectenerg-2188	175	44	t	t	PROPN
fuelectenerg-2188	175	45	y	y	PROPN
fuelectenerg-2188	175	46			PROPN
fuelectenerg-2188	175	47			ADV
fuelectenerg-2188	175	48			PROPN
fuelectenerg-2188	175	49			ADV
fuelectenerg-2188	175	50			PUNCT
fuelectenerg-2188	175	51			X
fuelectenerg-2188	175	52	(	(	PUNCT
fuelectenerg-2188	175	53	2	2	NUM
fuelectenerg-2188	175	54	)	)	PUNCT
fuelectenerg-2188	175	55	basically	basically	ADV
fuelectenerg-2188	175	56	,	,	PUNCT
fuelectenerg-2188	175	57	function	function	NOUN
fuelectenerg-2188	175	58	(	(	PUNCT
fuelectenerg-2188	175	59	2	2	NUM
fuelectenerg-2188	175	60	)	)	PUNCT
fuelectenerg-2188	175	61	represents	represent	VERB
fuelectenerg-2188	175	62	difference	difference	NOUN
fuelectenerg-2188	175	63	in	in	ADP
fuelectenerg-2188	175	64	radius	radius	NOUN
fuelectenerg-2188	175	65	of	of	ADP
fuelectenerg-2188	175	66	acquired	acquire	VERB
fuelectenerg-2188	175	67	location	location	NOUN
fuelectenerg-2188	175	68	and	and	CCONJ
fuelectenerg-2188	175	69	the	the	DET
fuelectenerg-2188	175	70	estimated	estimate	VERB
fuelectenerg-2188	175	71	one	one	NUM
fuelectenerg-2188	175	72	.	.	PUNCT
fuelectenerg-2188	176	1	for	for	ADP
fuelectenerg-2188	176	2	any	any	DET
fuelectenerg-2188	176	3	measured	measured	ADJ
fuelectenerg-2188	176	4	point	point	NOUN
fuelectenerg-2188	176	5	it	it	PRON
fuelectenerg-2188	176	6	should	should	AUX
fuelectenerg-2188	176	7	be	be	AUX
fuelectenerg-2188	176	8	equal	equal	ADJ
fuelectenerg-2188	176	9	to	to	ADP
fuelectenerg-2188	176	10	zero	zero	NUM
fuelectenerg-2188	176	11	.	.	PUNCT
fuelectenerg-2188	177	1	the	the	DET
fuelectenerg-2188	177	2	best	well	ADV
fuelectenerg-2188	177	3	fit	fit	ADJ
fuelectenerg-2188	177	4	result	result	NOUN
fuelectenerg-2188	177	5	gave	give	VERB
fuelectenerg-2188	177	6	r	r	NOUN
fuelectenerg-2188	177	7	of	of	ADP
fuelectenerg-2188	177	8	41.9	41.9	NUM
fuelectenerg-2188	177	9	cm	cm	NOUN
fuelectenerg-2188	177	10	,	,	PUNCT
fuelectenerg-2188	177	11	(	(	PUNCT
fuelectenerg-2188	177	12	x0	x0	PROPN
fuelectenerg-2188	177	13	,	,	PUNCT
fuelectenerg-2188	177	14	y0	y0	PROPN
fuelectenerg-2188	177	15	)	)	PUNCT
fuelectenerg-2188	177	16	of	of	ADP
fuelectenerg-2188	177	17	(	(	PUNCT
fuelectenerg-2188	177	18	191.1	191.1	NUM
fuelectenerg-2188	177	19	,	,	PUNCT
fuelectenerg-2188	177	20	149.6	149.6	NUM
fuelectenerg-2188	177	21	)	)	PUNCT
fuelectenerg-2188	177	22	cm	cm	NOUN
fuelectenerg-2188	177	23	,	,	PUNCT
fuelectenerg-2188	177	24	as	as	ADV
fuelectenerg-2188	177	25	well	well	ADV
fuelectenerg-2188	177	26	as	as	ADP
fuelectenerg-2188	177	27	(	(	PUNCT
fuelectenerg-2188	177	28	vx	vx	PROPN
fuelectenerg-2188	177	29	,	,	PUNCT
fuelectenerg-2188	177	30	vy	vy	NOUN
fuelectenerg-2188	177	31	)	)	PUNCT
fuelectenerg-2188	177	32	of	of	ADP
fuelectenerg-2188	177	33	(	(	PUNCT
fuelectenerg-2188	177	34	0.264	0.264	NOUN
fuelectenerg-2188	177	35	,	,	PUNCT
fuelectenerg-2188	177	36	-0.096	-0.096	PUNCT
fuelectenerg-2188	177	37	)	)	PUNCT
fuelectenerg-2188	177	38	mm	mm	PROPN
fuelectenerg-2188	177	39	/	/	SYM
fuelectenerg-2188	177	40	s.	s.	PROPN
fuelectenerg-2188	177	41	the	the	DET
fuelectenerg-2188	177	42	best	well	ADV
fuelectenerg-2188	177	43	fit	fit	ADJ
fuelectenerg-2188	177	44	average	average	ADJ
fuelectenerg-2188	177	45	error	error	NOUN
fuelectenerg-2188	177	46	is	be	AUX
fuelectenerg-2188	177	47	6e-16	6e-16	NUM
fuelectenerg-2188	177	48	,	,	PUNCT
fuelectenerg-2188	177	49	while	while	SCONJ
fuelectenerg-2188	177	50	the	the	DET
fuelectenerg-2188	177	51	standard	standard	ADJ
fuelectenerg-2188	177	52	deviation	deviation	NOUN
fuelectenerg-2188	177	53	is	be	AUX
fuelectenerg-2188	177	54	0.633	0.633	NUM
fuelectenerg-2188	177	55	cm	cm	NOUN
fuelectenerg-2188	177	56	.	.	PUNCT
fuelectenerg-2188	178	1	it	it	PRON
fuelectenerg-2188	178	2	is	be	AUX
fuelectenerg-2188	178	3	interesting	interesting	ADJ
fuelectenerg-2188	178	4	to	to	PART
fuelectenerg-2188	178	5	note	note	VERB
fuelectenerg-2188	178	6	that	that	SCONJ
fuelectenerg-2188	178	7	the	the	DET
fuelectenerg-2188	178	8	standard	standard	ADJ
fuelectenerg-2188	178	9	deviation	deviation	NOUN
fuelectenerg-2188	178	10	is	be	AUX
fuelectenerg-2188	178	11	on	on	ADP
fuelectenerg-2188	178	12	the	the	DET
fuelectenerg-2188	178	13	level	level	NOUN
fuelectenerg-2188	178	14	of	of	ADP
fuelectenerg-2188	178	15	mentioned	mention	VERB
fuelectenerg-2188	178	16	frame	frame	NOUN
fuelectenerg-2188	178	17	jitter	jitter	NOUN
fuelectenerg-2188	178	18	,	,	PUNCT
fuelectenerg-2188	178	19	for	for	ADP
fuelectenerg-2188	178	20	an	an	DET
fuelectenerg-2188	178	21	object	object	NOUN
fuelectenerg-2188	178	22	with	with	ADP
fuelectenerg-2188	178	23	speed	speed	NOUN
fuelectenerg-2188	178	24	of	of	ADP
fuelectenerg-2188	178	25	20	20	NUM
fuelectenerg-2188	178	26	cm	cm	NOUN
fuelectenerg-2188	178	27	/	/	SYM
fuelectenerg-2188	178	28	s.	s.	PROPN
fuelectenerg-2188	178	29	nevertheless	nevertheless	ADV
fuelectenerg-2188	178	30	,	,	PUNCT
fuelectenerg-2188	178	31	we	we	PRON
fuelectenerg-2188	178	32	state	state	VERB
fuelectenerg-2188	178	33	that	that	DET
fuelectenerg-2188	178	34	accuracy	accuracy	NOUN
fuelectenerg-2188	178	35	of	of	ADP
fuelectenerg-2188	178	36	this	this	DET
fuelectenerg-2188	178	37	system	system	NOUN
fuelectenerg-2188	178	38	for	for	ADP
fuelectenerg-2188	178	39	moderate	moderate	ADJ
fuelectenerg-2188	178	40	speed	speed	NOUN
fuelectenerg-2188	178	41	of	of	ADP
fuelectenerg-2188	178	42	tracked	track	VERB
fuelectenerg-2188	178	43	marker	marker	NOUN
fuelectenerg-2188	178	44	is	be	AUX
fuelectenerg-2188	178	45	±1.5	±1.5	NOUN
fuelectenerg-2188	178	46	cm	cm	NOUN
fuelectenerg-2188	178	47	,	,	PUNCT
fuelectenerg-2188	178	48	or	or	CCONJ
fuelectenerg-2188	178	49	±2.25	±2.25	NOUN
fuelectenerg-2188	178	50	cm	cm	NOUN
fuelectenerg-2188	178	51	if	if	SCONJ
fuelectenerg-2188	178	52	absolute	absolute	ADJ
fuelectenerg-2188	178	53	limits	limit	NOUN
fuelectenerg-2188	178	54	are	be	AUX
fuelectenerg-2188	178	55	applied	apply	VERB
fuelectenerg-2188	178	56	.	.	PUNCT
fuelectenerg-2188	179	1	so	so	ADV
fuelectenerg-2188	179	2	performance	performance	NOUN
fuelectenerg-2188	179	3	of	of	ADP
fuelectenerg-2188	179	4	system	system	NOUN
fuelectenerg-2188	179	5	for	for	ADP
fuelectenerg-2188	179	6	tracking	track	VERB
fuelectenerg-2188	179	7	a	a	DET
fuelectenerg-2188	179	8	moving	move	VERB
fuelectenerg-2188	179	9	object	object	NOUN
fuelectenerg-2188	179	10	does	do	AUX
fuelectenerg-2188	179	11	not	not	PART
fuelectenerg-2188	179	12	go	go	VERB
fuelectenerg-2188	179	13	far	far	ADV
fuelectenerg-2188	179	14	off	off	ADV
fuelectenerg-2188	179	15	from	from	ADP
fuelectenerg-2188	179	16	the	the	DET
fuelectenerg-2188	179	17	static	static	ADJ
fuelectenerg-2188	179	18	measurements	measurement	NOUN
fuelectenerg-2188	179	19	.	.	PUNCT
fuelectenerg-2188	180	1	now	now	ADV
fuelectenerg-2188	180	2	,	,	PUNCT
fuelectenerg-2188	180	3	if	if	SCONJ
fuelectenerg-2188	180	4	we	we	PRON
fuelectenerg-2188	180	5	take	take	VERB
fuelectenerg-2188	180	6	into	into	ADP
fuelectenerg-2188	180	7	consideration	consideration	NOUN
fuelectenerg-2188	180	8	that	that	SCONJ
fuelectenerg-2188	180	9	speed	speed	NOUN
fuelectenerg-2188	180	10	of	of	ADP
fuelectenerg-2188	180	11	the	the	DET
fuelectenerg-2188	180	12	marker	marker	NOUN
fuelectenerg-2188	180	13	was	be	AUX
fuelectenerg-2188	180	14	constant	constant	ADJ
fuelectenerg-2188	180	15	,	,	PUNCT
fuelectenerg-2188	180	16	we	we	PRON
fuelectenerg-2188	180	17	can	can	AUX
fuelectenerg-2188	180	18	assume	assume	VERB
fuelectenerg-2188	180	19	that	that	SCONJ
fuelectenerg-2188	180	20	coordinates	coordinate	NOUN
fuelectenerg-2188	180	21	(	(	PUNCT
fuelectenerg-2188	180	22	x	x	X
fuelectenerg-2188	180	23	,	,	PUNCT
fuelectenerg-2188	180	24	y	y	NOUN
fuelectenerg-2188	180	25	)	)	PUNCT
fuelectenerg-2188	180	26	change	change	NOUN
fuelectenerg-2188	180	27	as	as	ADP
fuelectenerg-2188	180	28	in	in	ADP
fuelectenerg-2188	180	29	(	(	PUNCT
fuelectenerg-2188	180	30	3	3	NUM
fuelectenerg-2188	180	31	)	)	PUNCT
fuelectenerg-2188	180	32	,	,	PUNCT
fuelectenerg-2188	180	33	where	where	SCONJ
fuelectenerg-2188	180	34	ω	ω	NOUN
fuelectenerg-2188	180	35	is	be	AUX
fuelectenerg-2188	180	36	constant	constant	ADJ
fuelectenerg-2188	180	37	angular	angular	ADJ
fuelectenerg-2188	180	38	velocity	velocity	NOUN
fuelectenerg-2188	180	39	and	and	CCONJ
fuelectenerg-2188	180	40	ϕ	ϕ	NOUN
fuelectenerg-2188	180	41	is	be	AUX
fuelectenerg-2188	180	42	initial	initial	ADJ
fuelectenerg-2188	180	43	angular	angular	ADJ
fuelectenerg-2188	180	44	offset	offset	NOUN
fuelectenerg-2188	180	45	.	.	PUNCT
fuelectenerg-2188	181	1	the	the	DET
fuelectenerg-2188	181	2	formula	formula	NOUN
fuelectenerg-2188	181	3	(	(	PUNCT
fuelectenerg-2188	181	4	3	3	X
fuelectenerg-2188	181	5	)	)	PUNCT
fuelectenerg-2188	181	6	is	be	AUX
fuelectenerg-2188	181	7	our	our	PRON
fuelectenerg-2188	181	8	ideal	ideal	ADJ
fuelectenerg-2188	181	9	mathematical	mathematical	ADJ
fuelectenerg-2188	181	10	model	model	NOUN
fuelectenerg-2188	181	11	of	of	ADP
fuelectenerg-2188	181	12	real	real	ADJ
fuelectenerg-2188	181	13	trajectory	trajectory	NOUN
fuelectenerg-2188	181	14	.	.	PUNCT
fuelectenerg-2188	181	15	0	0	NUM
fuelectenerg-2188	182	1	0	0	NUM
fuelectenerg-2188	182	2	(	(	PUNCT
fuelectenerg-2188	182	3	(	(	PUNCT
fuelectenerg-2188	182	4	)	)	PUNCT
fuelectenerg-2188	182	5	,	,	PUNCT
fuelectenerg-2188	182	6	(	(	PUNCT
fuelectenerg-2188	182	7	)	)	PUNCT
fuelectenerg-2188	182	8	)	)	PUNCT
fuelectenerg-2188	182	9	(	(	PUNCT
fuelectenerg-2188	182	10	cos	cos	PROPN
fuelectenerg-2188	182	11	(	(	PUNCT
fuelectenerg-2188	182	12	)	)	PUNCT
fuelectenerg-2188	182	13	,	,	PUNCT
fuelectenerg-2188	182	14	sin	sin	NOUN
fuelectenerg-2188	182	15	(	(	PUNCT
fuelectenerg-2188	182	16	)	)	PUNCT
fuelectenerg-2188	182	17	)	)	PUNCT
fuelectenerg-2188	183	1	x	x	X
fuelectenerg-2188	183	2	yx	yx	NOUN
fuelectenerg-2188	183	3	t	t	PROPN
fuelectenerg-2188	183	4	y	y	PROPN
fuelectenerg-2188	183	5	t	t	PROPN
fuelectenerg-2188	183	6	x	x	PROPN
fuelectenerg-2188	183	7	v	v	ADP
fuelectenerg-2188	183	8	t	t	NOUN
fuelectenerg-2188	183	9	r	r	NOUN
fuelectenerg-2188	183	10	t	t	X
fuelectenerg-2188	183	11	y	y	PROPN
fuelectenerg-2188	183	12	v	v	ADP
fuelectenerg-2188	183	13	t	t	NOUN
fuelectenerg-2188	183	14	r	r	NOUN
fuelectenerg-2188	183	15	t	t	NOUN
fuelectenerg-2188	183	16			PROPN
fuelectenerg-2188	183	17			PROPN
fuelectenerg-2188	183	18			PROPN
fuelectenerg-2188	183	19			ADV
fuelectenerg-2188	183	20			PROPN
fuelectenerg-2188	183	21			PROPN
fuelectenerg-2188	183	22			PROPN
fuelectenerg-2188	183	23			PUNCT
fuelectenerg-2188	183	24			X
fuelectenerg-2188	183	25	(	(	PUNCT
fuelectenerg-2188	183	26	3	3	X
fuelectenerg-2188	183	27	)	)	PUNCT
fuelectenerg-2188	183	28	difference	difference	NOUN
fuelectenerg-2188	183	29	of	of	ADP
fuelectenerg-2188	183	30	trajectory	trajectory	NOUN
fuelectenerg-2188	183	31	given	give	VERB
fuelectenerg-2188	183	32	with	with	ADP
fuelectenerg-2188	183	33	the	the	DET
fuelectenerg-2188	183	34	formula	formula	NOUN
fuelectenerg-2188	183	35	(	(	PUNCT
fuelectenerg-2188	183	36	3	3	NUM
fuelectenerg-2188	183	37	)	)	PUNCT
fuelectenerg-2188	183	38	and	and	CCONJ
fuelectenerg-2188	183	39	measured	measure	VERB
fuelectenerg-2188	183	40	data	datum	NOUN
fuelectenerg-2188	183	41	is	be	AUX
fuelectenerg-2188	183	42	given	give	VERB
fuelectenerg-2188	183	43	with	with	ADP
fuelectenerg-2188	183	44	function	function	NOUN
fuelectenerg-2188	183	45	(	(	PUNCT
fuelectenerg-2188	183	46	4	4	NUM
fuelectenerg-2188	183	47	)	)	PUNCT
fuelectenerg-2188	183	48	.	.	PUNCT
fuelectenerg-2188	184	1	ideally	ideally	ADV
fuelectenerg-2188	184	2	,	,	PUNCT
fuelectenerg-2188	184	3	it	it	PRON
fuelectenerg-2188	184	4	equals	equal	VERB
fuelectenerg-2188	184	5	zero	zero	NUM
fuelectenerg-2188	184	6	.	.	PUNCT
fuelectenerg-2188	184	7	2	2	NUM
fuelectenerg-2188	184	8	2	2	NUM
fuelectenerg-2188	184	9	0	0	NUM
fuelectenerg-2188	184	10	0	0	NUM
fuelectenerg-2188	184	11	(	(	PUNCT
fuelectenerg-2188	184	12	,	,	PUNCT
fuelectenerg-2188	184	13	,	,	PUNCT
fuelectenerg-2188	184	14	)	)	PUNCT
fuelectenerg-2188	184	15	(	(	PUNCT
fuelectenerg-2188	184	16	cos	cos	PROPN
fuelectenerg-2188	184	17	(	(	PUNCT
fuelectenerg-2188	184	18	)	)	PUNCT
fuelectenerg-2188	184	19	)	)	PUNCT
fuelectenerg-2188	184	20	(	(	PUNCT
fuelectenerg-2188	184	21	sin	sin	NOUN
fuelectenerg-2188	184	22	(	(	PUNCT
fuelectenerg-2188	184	23	)	)	PUNCT
fuelectenerg-2188	184	24	)	)	PUNCT
fuelectenerg-2188	184	25	x	x	X
fuelectenerg-2188	185	1	yg	yg	NOUN
fuelectenerg-2188	185	2	x	x	PROPN
fuelectenerg-2188	185	3	y	y	PROPN
fuelectenerg-2188	185	4	t	t	PROPN
fuelectenerg-2188	185	5	x	x	PUNCT
fuelectenerg-2188	185	6	v	v	ADP
fuelectenerg-2188	185	7	t	t	NOUN
fuelectenerg-2188	185	8	r	r	NOUN
fuelectenerg-2188	185	9	t	t	NOUN
fuelectenerg-2188	185	10	x	x	X
fuelectenerg-2188	185	11	y	y	PROPN
fuelectenerg-2188	185	12	v	v	INTJ
fuelectenerg-2188	185	13	t	t	PROPN
fuelectenerg-2188	185	14	r	r	NOUN
fuelectenerg-2188	185	15	t	t	NOUN
fuelectenerg-2188	185	16	y	y	NOUN
fuelectenerg-2188	185	17			PROPN
fuelectenerg-2188	185	18			PROPN
fuelectenerg-2188	185	19			PROPN
fuelectenerg-2188	185	20			ADV
fuelectenerg-2188	185	21			PROPN
fuelectenerg-2188	185	22			PUNCT
fuelectenerg-2188	185	23			PROPN
fuelectenerg-2188	185	24			PROPN
fuelectenerg-2188	185	25			PROPN
fuelectenerg-2188	185	26			PUNCT
fuelectenerg-2188	185	27			PUNCT
fuelectenerg-2188	185	28			X
fuelectenerg-2188	185	29	(	(	PUNCT
fuelectenerg-2188	185	30	4	4	NUM
fuelectenerg-2188	185	31	)	)	PUNCT
fuelectenerg-2188	185	32	the	the	DET
fuelectenerg-2188	185	33	best	well	ADV
fuelectenerg-2188	185	34	fit	fit	ADJ
fuelectenerg-2188	185	35	result	result	NOUN
fuelectenerg-2188	185	36	gives	give	VERB
fuelectenerg-2188	185	37	angular	angular	ADJ
fuelectenerg-2188	185	38	velocity	velocity	NOUN
fuelectenerg-2188	185	39	of	of	ADP
fuelectenerg-2188	185	40	-0.439	-0.439	PROPN
fuelectenerg-2188	185	41	rad	rad	PROPN
fuelectenerg-2188	185	42	/	/	SYM
fuelectenerg-2188	185	43	s	s	PROPN
fuelectenerg-2188	185	44	,	,	PUNCT
fuelectenerg-2188	185	45	which	which	PRON
fuelectenerg-2188	185	46	translates	translate	VERB
fuelectenerg-2188	185	47	to	to	ADP
fuelectenerg-2188	185	48	18.4	18.4	NUM
fuelectenerg-2188	185	49	cm	cm	NOUN
fuelectenerg-2188	185	50	/	/	SYM
fuelectenerg-2188	185	51	s	s	PART
fuelectenerg-2188	185	52	peripheral	peripheral	ADJ
fuelectenerg-2188	185	53	speed	speed	NOUN
fuelectenerg-2188	185	54	,	,	PUNCT
fuelectenerg-2188	185	55	and	and	CCONJ
fuelectenerg-2188	185	56	angular	angular	ADJ
fuelectenerg-2188	185	57	offset	offset	NOUN
fuelectenerg-2188	185	58	of	of	ADP
fuelectenerg-2188	185	59	3.163	3.163	NUM
fuelectenerg-2188	185	60	rad	rad	NOUN
fuelectenerg-2188	185	61	.	.	PUNCT
fuelectenerg-2188	185	62	negative	negative	ADJ
fuelectenerg-2188	185	63	velocity	velocity	NOUN
fuelectenerg-2188	185	64	comes	come	VERB
fuelectenerg-2188	185	65	from	from	ADP
fuelectenerg-2188	185	66	the	the	DET
fuelectenerg-2188	185	67	clockwise	clockwise	NOUN
fuelectenerg-2188	185	68	direction	direction	NOUN
fuelectenerg-2188	185	69	of	of	ADP
fuelectenerg-2188	185	70	trajectory	trajectory	NOUN
fuelectenerg-2188	185	71	.	.	PUNCT
fuelectenerg-2188	186	1	average	average	ADJ
fuelectenerg-2188	186	2	fitting	fitting	ADJ
fuelectenerg-2188	186	3	error	error	NOUN
fuelectenerg-2188	186	4	is	be	AUX
fuelectenerg-2188	186	5	2.8	2.8	NUM
fuelectenerg-2188	186	6	cm	cm	NOUN
fuelectenerg-2188	186	7	and	and	CCONJ
fuelectenerg-2188	186	8	standard	standard	ADJ
fuelectenerg-2188	186	9	deviation	deviation	NOUN
fuelectenerg-2188	186	10	is	be	AUX
fuelectenerg-2188	186	11	1.8	1.8	NUM
fuelectenerg-2188	186	12	cm	cm	NOUN
fuelectenerg-2188	186	13	.	.	PUNCT
fuelectenerg-2188	187	1	since	since	SCONJ
fuelectenerg-2188	187	2	this	this	DET
fuelectenerg-2188	187	3	result	result	NOUN
fuelectenerg-2188	187	4	seems	seem	VERB
fuelectenerg-2188	187	5	much	much	ADV
fuelectenerg-2188	187	6	worse	bad	ADJ
fuelectenerg-2188	187	7	than	than	ADP
fuelectenerg-2188	187	8	the	the	DET
fuelectenerg-2188	187	9	one	one	NUM
fuelectenerg-2188	187	10	from	from	ADP
fuelectenerg-2188	187	11	trajectory	trajectory	NOUN
fuelectenerg-2188	187	12	path	path	NOUN
fuelectenerg-2188	187	13	analysis	analysis	NOUN
fuelectenerg-2188	187	14	,	,	PUNCT
fuelectenerg-2188	187	15	we	we	PRON
fuelectenerg-2188	187	16	conclude	conclude	VERB
fuelectenerg-2188	187	17	that	that	SCONJ
fuelectenerg-2188	187	18	this	this	DET
fuelectenerg-2188	187	19	method	method	NOUN
fuelectenerg-2188	187	20	is	be	AUX
fuelectenerg-2188	187	21	accurate	accurate	ADJ
fuelectenerg-2188	187	22	for	for	ADP
fuelectenerg-2188	187	23	localisation	localisation	NOUN
fuelectenerg-2188	187	24	within	within	ADP
fuelectenerg-2188	187	25	a	a	DET
fuelectenerg-2188	187	26	frame	frame	NOUN
fuelectenerg-2188	187	27	.	.	PUNCT
fuelectenerg-2188	188	1	however	however	ADV
fuelectenerg-2188	188	2	,	,	PUNCT
fuelectenerg-2188	188	3	when	when	SCONJ
fuelectenerg-2188	188	4	a	a	DET
fuelectenerg-2188	188	5	tracked	track	VERB
fuelectenerg-2188	188	6	object	object	NOUN
fuelectenerg-2188	188	7	is	be	AUX
fuelectenerg-2188	188	8	moving	move	VERB
fuelectenerg-2188	188	9	,	,	PUNCT
fuelectenerg-2188	188	10	due	due	ADP
fuelectenerg-2188	188	11	to	to	ADP
fuelectenerg-2188	188	12	unsynchronised	unsynchronise	VERB
fuelectenerg-2188	188	13	frame	frame	NOUN
fuelectenerg-2188	188	14	grabbing	grabbing	NOUN
fuelectenerg-2188	188	15	,	,	PUNCT
fuelectenerg-2188	188	16	larger	large	ADJ
fuelectenerg-2188	188	17	margin	margin	NOUN
fuelectenerg-2188	188	18	of	of	ADP
fuelectenerg-2188	188	19	error	error	NOUN
fuelectenerg-2188	188	20	occurs	occur	VERB
fuelectenerg-2188	188	21	.	.	PUNCT
fuelectenerg-2188	189	1	indeed	indeed	ADV
fuelectenerg-2188	189	2	,	,	PUNCT
fuelectenerg-2188	189	3	when	when	SCONJ
fuelectenerg-2188	189	4	we	we	PRON
fuelectenerg-2188	189	5	calculated	calculate	VERB
fuelectenerg-2188	189	6	travelled	travel	VERB
fuelectenerg-2188	189	7	distances	distance	NOUN
fuelectenerg-2188	189	8	between	between	ADP
fuelectenerg-2188	189	9	successive	successive	ADJ
fuelectenerg-2188	189	10	sampled	sample	VERB
fuelectenerg-2188	189	11	frames	frame	NOUN
fuelectenerg-2188	189	12	,	,	PUNCT
fuelectenerg-2188	189	13	we	we	PRON
fuelectenerg-2188	189	14	got	get	VERB
fuelectenerg-2188	189	15	4.4	4.4	NUM
fuelectenerg-2188	189	16	cm	cm	NOUN
fuelectenerg-2188	189	17	in	in	ADP
fuelectenerg-2188	189	18	average	average	ADJ
fuelectenerg-2188	189	19	and	and	CCONJ
fuelectenerg-2188	189	20	standard	standard	ADJ
fuelectenerg-2188	189	21	deviation	deviation	NOUN
fuelectenerg-2188	189	22	of	of	ADP
fuelectenerg-2188	189	23	0.5	0.5	NUM
fuelectenerg-2188	189	24	cm	cm	NOUN
fuelectenerg-2188	189	25	.	.	PUNCT
fuelectenerg-2188	190	1	this	this	PRON
fuelectenerg-2188	190	2	seems	seem	VERB
fuelectenerg-2188	190	3	like	like	ADP
fuelectenerg-2188	190	4	a	a	DET
fuelectenerg-2188	190	5	great	great	ADJ
fuelectenerg-2188	190	6	variance	variance	NOUN
fuelectenerg-2188	190	7	,	,	PUNCT
fuelectenerg-2188	190	8	considering	consider	VERB
fuelectenerg-2188	190	9	the	the	DET
fuelectenerg-2188	190	10	fact	fact	NOUN
fuelectenerg-2188	190	11	that	that	SCONJ
fuelectenerg-2188	190	12	marker	marker	NOUN
fuelectenerg-2188	190	13	speed	speed	NOUN
fuelectenerg-2188	190	14	was	be	AUX
fuelectenerg-2188	190	15	pretty	pretty	ADV
fuelectenerg-2188	190	16	constant	constant	ADJ
fuelectenerg-2188	190	17	.	.	PUNCT
fuelectenerg-2188	191	1	after	after	ADP
fuelectenerg-2188	191	2	calculating	calculate	VERB
fuelectenerg-2188	191	3	temporal	temporal	ADJ
fuelectenerg-2188	191	4	velocities	velocity	NOUN
fuelectenerg-2188	191	5	,	,	PUNCT
fuelectenerg-2188	191	6	we	we	PRON
fuelectenerg-2188	191	7	got	get	VERB
fuelectenerg-2188	191	8	the	the	DET
fuelectenerg-2188	191	9	result	result	NOUN
fuelectenerg-2188	191	10	that	that	SCONJ
fuelectenerg-2188	191	11	average	average	ADJ
fuelectenerg-2188	191	12	speed	speed	NOUN
fuelectenerg-2188	191	13	is	be	AUX
fuelectenerg-2188	191	14	18.6	18.6	NUM
fuelectenerg-2188	191	15	cm	cm	NOUN
fuelectenerg-2188	191	16	/	/	SYM
fuelectenerg-2188	191	17	s	s	PART
fuelectenerg-2188	191	18	and	and	CCONJ
fuelectenerg-2188	191	19	standard	standard	ADJ
fuelectenerg-2188	191	20	deviation	deviation	NOUN
fuelectenerg-2188	191	21	is	be	AUX
fuelectenerg-2188	191	22	0.6	0.6	NUM
fuelectenerg-2188	191	23	cm	cm	NOUN
fuelectenerg-2188	191	24	/	/	SYM
fuelectenerg-2188	191	25	s.	s.	PROPN
fuelectenerg-2188	192	1	so	so	ADV
fuelectenerg-2188	192	2	generally	generally	ADV
fuelectenerg-2188	192	3	,	,	PUNCT
fuelectenerg-2188	192	4	due	due	ADP
fuelectenerg-2188	192	5	to	to	PART
fuelectenerg-2188	192	6	variance	variance	NOUN
fuelectenerg-2188	192	7	in	in	ADP
fuelectenerg-2188	192	8	precise	precise	ADJ
fuelectenerg-2188	192	9	image	image	NOUN
fuelectenerg-2188	192	10	capturing	capturing	NOUN
fuelectenerg-2188	192	11	,	,	PUNCT
fuelectenerg-2188	192	12	we	we	PRON
fuelectenerg-2188	192	13	get	get	VERB
fuelectenerg-2188	192	14	very	very	ADV
fuelectenerg-2188	192	15	rough	rough	ADJ
fuelectenerg-2188	192	16	velocity	velocity	NOUN
fuelectenerg-2188	192	17	approximation	approximation	NOUN
fuelectenerg-2188	192	18	based	base	VERB
fuelectenerg-2188	192	19	only	only	ADV
fuelectenerg-2188	192	20	on	on	ADP
fuelectenerg-2188	192	21	two	two	NUM
fuelectenerg-2188	192	22	samples	sample	NOUN
fuelectenerg-2188	192	23	.	.	PUNCT
fuelectenerg-2188	193	1	however	however	ADV
fuelectenerg-2188	193	2	,	,	PUNCT
fuelectenerg-2188	193	3	after	after	ADP
fuelectenerg-2188	193	4	filtering	filter	VERB
fuelectenerg-2188	193	5	,	,	PUNCT
fuelectenerg-2188	193	6	this	this	DET
fuelectenerg-2188	193	7	information	information	NOUN
fuelectenerg-2188	193	8	seems	seem	VERB
fuelectenerg-2188	193	9	quite	quite	ADV
fuelectenerg-2188	193	10	right	right	ADJ
fuelectenerg-2188	193	11	.	.	PUNCT
fuelectenerg-2188	194	1	3	3	X
fuelectenerg-2188	194	2	.	.	NOUN
fuelectenerg-2188	194	3	time	time	NOUN
fuelectenerg-2188	194	4	-	-	PUNCT
fuelectenerg-2188	194	5	of	of	ADP
fuelectenerg-2188	194	6	-	-	PUNCT
fuelectenerg-2188	194	7	flight	flight	NOUN
fuelectenerg-2188	194	8	localisation	localisation	NOUN
fuelectenerg-2188	194	9	method	method	NOUN
fuelectenerg-2188	194	10	3.1	3.1	NUM
fuelectenerg-2188	194	11	.	.	PUNCT
fuelectenerg-2188	195	1	materials	material	NOUN
fuelectenerg-2188	195	2	and	and	CCONJ
fuelectenerg-2188	195	3	method	method	VERB
fuelectenerg-2188	195	4	a	a	DET
fuelectenerg-2188	195	5	simplified	simplified	ADJ
fuelectenerg-2188	195	6	block	block	NOUN
fuelectenerg-2188	195	7	diagram	diagram	NOUN
fuelectenerg-2188	195	8	of	of	ADP
fuelectenerg-2188	195	9	time	time	NOUN
fuelectenerg-2188	195	10	-	-	PUNCT
fuelectenerg-2188	195	11	of	of	ADP
fuelectenerg-2188	195	12	-	-	PUNCT
fuelectenerg-2188	195	13	flight	flight	NOUN
fuelectenerg-2188	195	14	distance	distance	NOUN
fuelectenerg-2188	195	15	measurement	measurement	NOUN
fuelectenerg-2188	195	16	system	system	NOUN
fuelectenerg-2188	195	17	is	be	AUX
fuelectenerg-2188	195	18	presented	present	VERB
fuelectenerg-2188	195	19	in	in	ADP
fuelectenerg-2188	195	20	fig	fig	NOUN
fuelectenerg-2188	195	21	.	.	PUNCT
fuelectenerg-2188	196	1	5	5	NUM
fuelectenerg-2188	196	2	.	.	X
fuelectenerg-2188	196	3	there	there	PRON
fuelectenerg-2188	196	4	is	be	VERB
fuelectenerg-2188	196	5	a	a	DET
fuelectenerg-2188	196	6	beacon	beacon	NOUN
fuelectenerg-2188	196	7	that	that	PRON
fuelectenerg-2188	196	8	emits	emit	VERB
fuelectenerg-2188	196	9	ultrasound	ultrasound	ADV
fuelectenerg-2188	196	10	on	on	ADP
fuelectenerg-2188	196	11	the	the	DET
fuelectenerg-2188	196	12	left	left	NOUN
fuelectenerg-2188	196	13	and	and	CCONJ
fuelectenerg-2188	196	14	a	a	DET
fuelectenerg-2188	196	15	wall	wall	NOUN
fuelectenerg-2188	196	16	mount	mount	PROPN
fuelectenerg-2188	196	17	device	device	NOUN
fuelectenerg-2188	196	18	on	on	ADP
fuelectenerg-2188	196	19	the	the	DET
fuelectenerg-2188	196	20	right	right	NOUN
fuelectenerg-2188	196	21	.	.	PUNCT
fuelectenerg-2188	197	1	the	the	DET
fuelectenerg-2188	197	2	minimum	minimum	ADJ
fuelectenerg-2188	197	3	number	number	NOUN
fuelectenerg-2188	197	4	of	of	ADP
fuelectenerg-2188	197	5	wall	wall	NOUN
fuelectenerg-2188	197	6	devices	device	NOUN
fuelectenerg-2188	197	7	necessary	necessary	ADJ
fuelectenerg-2188	197	8	for	for	ADP
fuelectenerg-2188	197	9	successful	successful	ADJ
fuelectenerg-2188	197	10	trilateration	trilateration	NOUN
fuelectenerg-2188	197	11	is	be	AUX
fuelectenerg-2188	197	12	three	three	NUM
fuelectenerg-2188	197	13	.	.	PUNCT
fuelectenerg-2188	198	1	before	before	SCONJ
fuelectenerg-2188	198	2	the	the	DET
fuelectenerg-2188	198	3	beacon	beacon	NOUN
fuelectenerg-2188	198	4	fires	fire	VERB
fuelectenerg-2188	198	5	a	a	DET
fuelectenerg-2188	198	6	streak	streak	NOUN
fuelectenerg-2188	198	7	of	of	ADP
fuelectenerg-2188	198	8	waves	wave	NOUN
fuelectenerg-2188	198	9	,	,	PUNCT
fuelectenerg-2188	198	10	it	it	PRON
fuelectenerg-2188	198	11	notifies	notify	VERB
fuelectenerg-2188	198	12	a	a	DET
fuelectenerg-2188	198	13	wall	wall	NOUN
fuelectenerg-2188	198	14	device	device	NOUN
fuelectenerg-2188	198	15	via	via	ADP
fuelectenerg-2188	198	16	radio	radio	NOUN
fuelectenerg-2188	198	17	module	module	NOUN
fuelectenerg-2188	198	18	,	,	PUNCT
fuelectenerg-2188	198	19	and	and	CCONJ
fuelectenerg-2188	198	20	it	it	PRON
fuelectenerg-2188	198	21	starts	start	VERB
fuelectenerg-2188	198	22	the	the	DET
fuelectenerg-2188	198	23	counter	counter	NOUN
fuelectenerg-2188	198	24	.	.	PUNCT
fuelectenerg-2188	199	1	when	when	SCONJ
fuelectenerg-2188	199	2	the	the	DET
fuelectenerg-2188	199	3	wall	wall	NOUN
fuelectenerg-2188	199	4	device	device	NOUN
fuelectenerg-2188	199	5	detects	detect	NOUN
fuelectenerg-2188	199	6	emitted	emit	VERB
fuelectenerg-2188	199	7	sound	sound	NOUN
fuelectenerg-2188	199	8	,	,	PUNCT
fuelectenerg-2188	199	9	it	it	PRON
fuelectenerg-2188	199	10	stops	stop	VERB
fuelectenerg-2188	199	11	the	the	DET
fuelectenerg-2188	199	12	counter	counter	NOUN
fuelectenerg-2188	199	13	.	.	PUNCT
fuelectenerg-2188	200	1	information	information	NOUN
fuelectenerg-2188	200	2	about	about	ADP
fuelectenerg-2188	200	3	time	time	NOUN
fuelectenerg-2188	200	4	of	of	ADP
fuelectenerg-2188	200	5	flight	flight	NOUN
fuelectenerg-2188	200	6	is	be	AUX
fuelectenerg-2188	200	7	then	then	ADV
fuelectenerg-2188	200	8	sent	send	VERB
fuelectenerg-2188	200	9	via	via	ADP
fuelectenerg-2188	200	10	radio	radio	NOUN
fuelectenerg-2188	200	11	.	.	PUNCT
fuelectenerg-2188	201	1	distance	distance	NOUN
fuelectenerg-2188	201	2	is	be	AUX
fuelectenerg-2188	201	3	calculated	calculate	VERB
fuelectenerg-2188	201	4	after	after	ADP
fuelectenerg-2188	201	5	the	the	DET
fuelectenerg-2188	201	6	time	time	NOUN
fuelectenerg-2188	201	7	analasys	analasys	NOUN
fuelectenerg-2188	201	8	of	of	ADP
fuelectenerg-2188	201	9	two	two	NUM
fuelectenerg-2188	201	10	low	low	ADJ
fuelectenerg-2188	201	11	-	-	PUNCT
fuelectenerg-2188	201	12	cost	cost	NOUN
fuelectenerg-2188	201	13	and	and	CCONJ
fuelectenerg-2188	201	14	robust	robust	ADJ
fuelectenerg-2188	201	15	methods	method	NOUN
fuelectenerg-2188	201	16	for	for	ADP
fuelectenerg-2188	201	17	indoor	indoor	ADJ
fuelectenerg-2188	201	18	localisation	localisation	NOUN
fuelectenerg-2188	201	19	of	of	ADP
fuelectenerg-2188	201	20	mobile	mobile	ADJ
fuelectenerg-2188	201	21	robots	robot	NOUN
fuelectenerg-2188	201	22	411	411	NUM
fuelectenerg-2188	201	23	of	of	ADP
fuelectenerg-2188	201	24	flight	flight	NOUN
fuelectenerg-2188	201	25	is	be	AUX
fuelectenerg-2188	201	26	multiplied	multiply	VERB
fuelectenerg-2188	201	27	by	by	ADP
fuelectenerg-2188	201	28	the	the	DET
fuelectenerg-2188	201	29	speed	speed	NOUN
fuelectenerg-2188	201	30	of	of	ADP
fuelectenerg-2188	201	31	sound	sound	NOUN
fuelectenerg-2188	201	32	.	.	PUNCT
fuelectenerg-2188	202	1	since	since	SCONJ
fuelectenerg-2188	202	2	the	the	DET
fuelectenerg-2188	202	3	device	device	NOUN
fuelectenerg-2188	202	4	is	be	AUX
fuelectenerg-2188	202	5	for	for	ADP
fuelectenerg-2188	202	6	indoor	indoor	ADJ
fuelectenerg-2188	202	7	use	use	NOUN
fuelectenerg-2188	202	8	only	only	ADV
fuelectenerg-2188	202	9	,	,	PUNCT
fuelectenerg-2188	202	10	speed	speed	NOUN
fuelectenerg-2188	202	11	changes	change	NOUN
fuelectenerg-2188	202	12	due	due	ADJ
fuelectenerg-2188	202	13	to	to	ADP
fuelectenerg-2188	202	14	temperature	temperature	NOUN
fuelectenerg-2188	202	15	variations	variation	NOUN
fuelectenerg-2188	202	16	are	be	AUX
fuelectenerg-2188	202	17	neglected	neglect	VERB
fuelectenerg-2188	202	18	.	.	PUNCT
fuelectenerg-2188	203	1	multiple	multiple	ADJ
fuelectenerg-2188	203	2	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	203	3	transducers	transducer	NOUN
fuelectenerg-2188	203	4	are	be	AUX
fuelectenerg-2188	203	5	used	use	VERB
fuelectenerg-2188	203	6	in	in	ADP
fuelectenerg-2188	203	7	both	both	DET
fuelectenerg-2188	203	8	devices	device	NOUN
fuelectenerg-2188	203	9	.	.	PUNCT
fuelectenerg-2188	204	1	beacon	beacon	NOUN
fuelectenerg-2188	204	2	covers	cover	VERB
fuelectenerg-2188	204	3	360	360	NUM
fuelectenerg-2188	204	4	degrees	degree	NOUN
fuelectenerg-2188	204	5	horizontally	horizontally	ADV
fuelectenerg-2188	204	6	and	and	CCONJ
fuelectenerg-2188	204	7	about	about	ADV
fuelectenerg-2188	204	8	45	45	NUM
fuelectenerg-2188	204	9	degrees	degree	NOUN
fuelectenerg-2188	204	10	vertically	vertically	ADV
fuelectenerg-2188	204	11	.	.	PUNCT
fuelectenerg-2188	205	1	the	the	DET
fuelectenerg-2188	205	2	wall	wall	NOUN
fuelectenerg-2188	205	3	device	device	NOUN
fuelectenerg-2188	205	4	covers	cover	VERB
fuelectenerg-2188	205	5	about	about	ADV
fuelectenerg-2188	205	6	140	140	NUM
fuelectenerg-2188	205	7	degrees	degree	NOUN
fuelectenerg-2188	205	8	horizontally	horizontally	ADV
fuelectenerg-2188	205	9	and	and	CCONJ
fuelectenerg-2188	205	10	45	45	NUM
fuelectenerg-2188	205	11	degrees	degree	NOUN
fuelectenerg-2188	205	12	vertically	vertically	ADV
fuelectenerg-2188	205	13	.	.	PUNCT
fuelectenerg-2188	206	1	therefore	therefore	ADV
fuelectenerg-2188	206	2	,	,	PUNCT
fuelectenerg-2188	206	3	a	a	DET
fuelectenerg-2188	206	4	proper	proper	ADJ
fuelectenerg-2188	206	5	redundancy	redundancy	NOUN
fuelectenerg-2188	206	6	is	be	AUX
fuelectenerg-2188	206	7	needed	need	VERB
fuelectenerg-2188	206	8	for	for	ADP
fuelectenerg-2188	206	9	specific	specific	ADJ
fuelectenerg-2188	206	10	coverage	coverage	NOUN
fuelectenerg-2188	206	11	.	.	PUNCT
fuelectenerg-2188	207	1	currently	currently	ADV
fuelectenerg-2188	207	2	we	we	PRON
fuelectenerg-2188	207	3	use	use	VERB
fuelectenerg-2188	207	4	4	4	NUM
fuelectenerg-2188	207	5	wall	wall	NOUN
fuelectenerg-2188	207	6	devices	device	NOUN
fuelectenerg-2188	207	7	placed	place	VERB
fuelectenerg-2188	207	8	in	in	ADP
fuelectenerg-2188	207	9	corners	corner	NOUN
fuelectenerg-2188	207	10	of	of	ADP
fuelectenerg-2188	207	11	a	a	DET
fuelectenerg-2188	207	12	rectangle	rectangle	NOUN
fuelectenerg-2188	207	13	,	,	PUNCT
fuelectenerg-2188	207	14	with	with	ADP
fuelectenerg-2188	207	15	an	an	DET
fuelectenerg-2188	207	16	orientation	orientation	NOUN
fuelectenerg-2188	207	17	toward	toward	ADP
fuelectenerg-2188	207	18	common	common	ADJ
fuelectenerg-2188	207	19	centre	centre	NOUN
fuelectenerg-2188	207	20	.	.	PUNCT
fuelectenerg-2188	208	1	we	we	PRON
fuelectenerg-2188	208	2	made	make	VERB
fuelectenerg-2188	208	3	sure	sure	ADJ
fuelectenerg-2188	208	4	to	to	PART
fuelectenerg-2188	208	5	do	do	VERB
fuelectenerg-2188	208	6	the	the	DET
fuelectenerg-2188	208	7	measurements	measurement	NOUN
fuelectenerg-2188	208	8	only	only	ADV
fuelectenerg-2188	208	9	in	in	ADP
fuelectenerg-2188	208	10	areas	area	NOUN
fuelectenerg-2188	208	11	covered	cover	VERB
fuelectenerg-2188	208	12	with	with	ADP
fuelectenerg-2188	208	13	more	more	ADJ
fuelectenerg-2188	208	14	than	than	ADP
fuelectenerg-2188	208	15	3	3	NUM
fuelectenerg-2188	208	16	wall	wall	NOUN
fuelectenerg-2188	208	17	units	unit	NOUN
fuelectenerg-2188	208	18	.	.	PUNCT
fuelectenerg-2188	209	1	although	although	SCONJ
fuelectenerg-2188	209	2	devices	device	NOUN
fuelectenerg-2188	209	3	are	be	AUX
fuelectenerg-2188	209	4	low	low	ADJ
fuelectenerg-2188	209	5	-	-	PUNCT
fuelectenerg-2188	209	6	cost	cost	NOUN
fuelectenerg-2188	209	7	to	to	PART
fuelectenerg-2188	209	8	make	make	VERB
fuelectenerg-2188	209	9	,	,	PUNCT
fuelectenerg-2188	209	10	this	this	PRON
fuelectenerg-2188	209	11	is	be	AUX
fuelectenerg-2188	209	12	only	only	ADV
fuelectenerg-2188	209	13	an	an	DET
fuelectenerg-2188	209	14	initial	initial	ADJ
fuelectenerg-2188	209	15	accuracy	accuracy	NOUN
fuelectenerg-2188	209	16	testing	testing	NOUN
fuelectenerg-2188	209	17	and	and	CCONJ
fuelectenerg-2188	209	18	we	we	PRON
fuelectenerg-2188	209	19	find	find	VERB
fuelectenerg-2188	209	20	it	it	PRON
fuelectenerg-2188	209	21	irrelevant	irrelevant	ADJ
fuelectenerg-2188	209	22	to	to	PART
fuelectenerg-2188	209	23	have	have	VERB
fuelectenerg-2188	209	24	coverage	coverage	NOUN
fuelectenerg-2188	209	25	of	of	ADP
fuelectenerg-2188	209	26	any	any	DET
fuelectenerg-2188	209	27	preferred	preferred	ADJ
fuelectenerg-2188	209	28	size	size	NOUN
fuelectenerg-2188	209	29	or	or	CCONJ
fuelectenerg-2188	209	30	shape	shape	NOUN
fuelectenerg-2188	209	31	.	.	PUNCT
fuelectenerg-2188	210	1	fig	fig	NOUN
fuelectenerg-2188	210	2	.	.	PUNCT
fuelectenerg-2188	211	1	5	5	NUM
fuelectenerg-2188	211	2	simplified	simplify	VERB
fuelectenerg-2188	211	3	block	block	NOUN
fuelectenerg-2188	211	4	diagram	diagram	NOUN
fuelectenerg-2188	211	5	of	of	ADP
fuelectenerg-2188	211	6	system	system	NOUN
fuelectenerg-2188	211	7	:	:	PUNCT
fuelectenerg-2188	211	8	ultrasound	ultrasound	ADJ
fuelectenerg-2188	211	9	emitting	emit	VERB
fuelectenerg-2188	211	10	beacon	beacon	NOUN
fuelectenerg-2188	211	11	on	on	ADP
fuelectenerg-2188	211	12	the	the	DET
fuelectenerg-2188	211	13	left	left	ADJ
fuelectenerg-2188	211	14	and	and	CCONJ
fuelectenerg-2188	211	15	time	time	NOUN
fuelectenerg-2188	211	16	-	-	PUNCT
fuelectenerg-2188	211	17	of	of	ADP
fuelectenerg-2188	211	18	-	-	PUNCT
fuelectenerg-2188	211	19	flight	flight	NOUN
fuelectenerg-2188	211	20	measuring	measure	VERB
fuelectenerg-2188	211	21	wall	wall	NOUN
fuelectenerg-2188	211	22	mount	mount	PROPN
fuelectenerg-2188	211	23	device	device	NOUN
fuelectenerg-2188	211	24	on	on	ADP
fuelectenerg-2188	211	25	the	the	DET
fuelectenerg-2188	211	26	right	right	NOUN
fuelectenerg-2188	211	27	.	.	PUNCT
fuelectenerg-2188	212	1	in	in	ADP
fuelectenerg-2188	212	2	order	order	NOUN
fuelectenerg-2188	212	3	to	to	PART
fuelectenerg-2188	212	4	overcome	overcome	VERB
fuelectenerg-2188	212	5	the	the	DET
fuelectenerg-2188	212	6	problem	problem	NOUN
fuelectenerg-2188	212	7	of	of	ADP
fuelectenerg-2188	212	8	trilateration	trilateration	NOUN
fuelectenerg-2188	212	9	when	when	SCONJ
fuelectenerg-2188	212	10	using	use	VERB
fuelectenerg-2188	212	11	low	low	ADJ
fuelectenerg-2188	212	12	-	-	PUNCT
fuelectenerg-2188	212	13	accuracy	accuracy	NOUN
fuelectenerg-2188	212	14	,	,	PUNCT
fuelectenerg-2188	212	15	but	but	CCONJ
fuelectenerg-2188	212	16	also	also	ADV
fuelectenerg-2188	212	17	low	low	ADJ
fuelectenerg-2188	212	18	-	-	PUNCT
fuelectenerg-2188	212	19	cost	cost	NOUN
fuelectenerg-2188	212	20	,	,	PUNCT
fuelectenerg-2188	212	21	distance	distance	NOUN
fuelectenerg-2188	212	22	measuring	measure	VERB
fuelectenerg-2188	212	23	system	system	NOUN
fuelectenerg-2188	212	24	,	,	PUNCT
fuelectenerg-2188	212	25	we	we	PRON
fuelectenerg-2188	212	26	have	have	AUX
fuelectenerg-2188	212	27	based	base	VERB
fuelectenerg-2188	212	28	solution	solution	NOUN
fuelectenerg-2188	212	29	calculation	calculation	NOUN
fuelectenerg-2188	212	30	through	through	ADP
fuelectenerg-2188	212	31	minimisation	minimisation	NOUN
fuelectenerg-2188	212	32	of	of	ADP
fuelectenerg-2188	212	33	the	the	DET
fuelectenerg-2188	212	34	sum	sum	NOUN
fuelectenerg-2188	212	35	of	of	ADP
fuelectenerg-2188	212	36	squares	square	NOUN
fuelectenerg-2188	212	37	of	of	ADP
fuelectenerg-2188	212	38	measurement	measurement	NOUN
fuelectenerg-2188	212	39	errors	error	NOUN
fuelectenerg-2188	212	40	.	.	PUNCT
fuelectenerg-2188	213	1	in	in	ADP
fuelectenerg-2188	213	2	the	the	DET
fuelectenerg-2188	213	3	minimisation	minimisation	NOUN
fuelectenerg-2188	213	4	function	function	NOUN
fuelectenerg-2188	213	5	,	,	PUNCT
fuelectenerg-2188	213	6	)	)	PUNCT
fuelectenerg-2188	213	7	(	(	PUNCT
fuelectenerg-2188	213	8	1	1	NUM
fuelectenerg-2188	213	9	2	2	NUM
fuelectenerg-2188	213	10			X
fuelectenerg-2188	213	11			NUM
fuelectenerg-2188	213	12			SYM
fuelectenerg-2188	213	13	n	n	CCONJ
fuelectenerg-2188	213	14	i	i	PRON
fuelectenerg-2188	213	15	iri	iri	PROPN
fuelectenerg-2188	213	16	dppf	dppf	NOUN
fuelectenerg-2188	213	17	(	(	PUNCT
fuelectenerg-2188	213	18	5	5	NUM
fuelectenerg-2188	213	19	)	)	PUNCT
fuelectenerg-2188	213	20	n	n	NOUN
fuelectenerg-2188	213	21	represents	represent	VERB
fuelectenerg-2188	213	22	number	number	NOUN
fuelectenerg-2188	213	23	of	of	ADP
fuelectenerg-2188	213	24	wall	wall	NOUN
fuelectenerg-2188	213	25	devices	device	NOUN
fuelectenerg-2188	213	26	that	that	PRON
fuelectenerg-2188	213	27	responded	respond	VERB
fuelectenerg-2188	213	28	to	to	ADP
fuelectenerg-2188	213	29	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	213	30	beacon	beacon	NOUN
fuelectenerg-2188	213	31	.	.	PUNCT
fuelectenerg-2188	214	1	position	position	NOUN
fuelectenerg-2188	214	2	vector	vector	NOUN
fuelectenerg-2188	214	3	of	of	ADP
fuelectenerg-2188	214	4	beacon	beacon	NOUN
fuelectenerg-2188	214	5	pr	pr	NOUN
fuelectenerg-2188	214	6	and	and	CCONJ
fuelectenerg-2188	214	7	position	position	NOUN
fuelectenerg-2188	214	8	vectors	vector	NOUN
fuelectenerg-2188	214	9	of	of	ADP
fuelectenerg-2188	214	10	wall	wall	PROPN
fuelectenerg-2188	214	11	devices	devices	PROPN
fuelectenerg-2188	214	12	pi	pi	NOUN
fuelectenerg-2188	214	13	are	be	AUX
fuelectenerg-2188	214	14	defined	define	VERB
fuelectenerg-2188	214	15	in	in	ADP
fuelectenerg-2188	214	16	3d	3d	NUM
fuelectenerg-2188	214	17	and	and	CCONJ
fuelectenerg-2188	214	18	in	in	ADP
fuelectenerg-2188	214	19	regard	regard	NOUN
fuelectenerg-2188	214	20	to	to	ADP
fuelectenerg-2188	214	21	some	some	DET
fuelectenerg-2188	214	22	ground	ground	NOUN
fuelectenerg-2188	214	23	reference	reference	NOUN
fuelectenerg-2188	214	24	point	point	NOUN
fuelectenerg-2188	214	25	.	.	PUNCT
fuelectenerg-2188	215	1	again	again	ADV
fuelectenerg-2188	215	2	,	,	PUNCT
fuelectenerg-2188	215	3	vectors	vector	NOUN
fuelectenerg-2188	215	4	pi	pi	NOUN
fuelectenerg-2188	215	5	,	,	PUNCT
fuelectenerg-2188	215	6	where	where	SCONJ
fuelectenerg-2188	215	7	i	i	PRON
fuelectenerg-2188	215	8	is	be	AUX
fuelectenerg-2188	215	9	from	from	ADP
fuelectenerg-2188	215	10	1	1	NUM
fuelectenerg-2188	215	11	to	to	ADP
fuelectenerg-2188	215	12	n	n	CCONJ
fuelectenerg-2188	215	13	,	,	PUNCT
fuelectenerg-2188	215	14	are	be	AUX
fuelectenerg-2188	215	15	known	know	VERB
fuelectenerg-2188	215	16	,	,	PUNCT
fuelectenerg-2188	215	17	as	as	SCONJ
fuelectenerg-2188	215	18	they	they	PRON
fuelectenerg-2188	215	19	are	be	AUX
fuelectenerg-2188	215	20	measured	measure	VERB
fuelectenerg-2188	215	21	during	during	ADP
fuelectenerg-2188	215	22	localisation	localisation	NOUN
fuelectenerg-2188	215	23	system	system	NOUN
fuelectenerg-2188	215	24	installation	installation	NOUN
fuelectenerg-2188	215	25	.	.	PUNCT
fuelectenerg-2188	216	1	the	the	DET
fuelectenerg-2188	216	2	x	x	PROPN
fuelectenerg-2188	216	3	and	and	CCONJ
fuelectenerg-2188	216	4	y	y	PROPN
fuelectenerg-2188	216	5	axes	axis	NOUN
fuelectenerg-2188	216	6	are	be	AUX
fuelectenerg-2188	216	7	in	in	ADP
fuelectenerg-2188	216	8	the	the	DET
fuelectenerg-2188	216	9	plane	plane	NOUN
fuelectenerg-2188	216	10	of	of	ADP
fuelectenerg-2188	216	11	the	the	DET
fuelectenerg-2188	216	12	floor	floor	NOUN
fuelectenerg-2188	216	13	while	while	SCONJ
fuelectenerg-2188	216	14	the	the	DET
fuelectenerg-2188	216	15	z	z	NOUN
fuelectenerg-2188	216	16	axis	axis	NOUN
fuelectenerg-2188	216	17	is	be	AUX
fuelectenerg-2188	216	18	oriented	orient	VERB
fuelectenerg-2188	216	19	toward	toward	ADP
fuelectenerg-2188	216	20	the	the	DET
fuelectenerg-2188	216	21	ceiling	ceiling	NOUN
fuelectenerg-2188	216	22	.	.	PUNCT
fuelectenerg-2188	217	1	measured	measure	VERB
fuelectenerg-2188	217	2	distances	distance	NOUN
fuelectenerg-2188	217	3	di	di	X
fuelectenerg-2188	217	4	are	be	AUX
fuelectenerg-2188	217	5	obtained	obtain	VERB
fuelectenerg-2188	217	6	short	short	ADV
fuelectenerg-2188	217	7	after	after	SCONJ
fuelectenerg-2188	217	8	the	the	DET
fuelectenerg-2188	217	9	beacon	beacon	NOUN
fuelectenerg-2188	217	10	signal	signal	NOUN
fuelectenerg-2188	217	11	is	be	AUX
fuelectenerg-2188	217	12	emitted	emit	VERB
fuelectenerg-2188	217	13	.	.	PUNCT
fuelectenerg-2188	218	1	the	the	DET
fuelectenerg-2188	218	2	function	function	NOUN
fuelectenerg-2188	218	3	minimum	minimum	NOUN
fuelectenerg-2188	218	4	is	be	AUX
fuelectenerg-2188	218	5	located	locate	VERB
fuelectenerg-2188	218	6	around	around	ADP
fuelectenerg-2188	218	7	the	the	DET
fuelectenerg-2188	218	8	beacon	beacon	NOUN
fuelectenerg-2188	218	9	’s	’s	PART
fuelectenerg-2188	218	10	position	position	NOUN
fuelectenerg-2188	218	11	.	.	PUNCT
fuelectenerg-2188	219	1	this	this	DET
fuelectenerg-2188	219	2	function	function	NOUN
fuelectenerg-2188	219	3	is	be	AUX
fuelectenerg-2188	219	4	equal	equal	ADJ
fuelectenerg-2188	219	5	to	to	ADP
fuelectenerg-2188	219	6	zero	zero	NUM
fuelectenerg-2188	219	7	when	when	SCONJ
fuelectenerg-2188	219	8	no	no	DET
fuelectenerg-2188	219	9	measuring	measuring	NOUN
fuelectenerg-2188	219	10	error	error	NOUN
fuelectenerg-2188	219	11	is	be	AUX
fuelectenerg-2188	219	12	present	present	ADJ
fuelectenerg-2188	219	13	.	.	PUNCT
fuelectenerg-2188	220	1	otherwise	otherwise	ADV
fuelectenerg-2188	220	2	,	,	PUNCT
fuelectenerg-2188	220	3	a	a	DET
fuelectenerg-2188	220	4	small	small	ADJ
fuelectenerg-2188	220	5	precision	precision	NOUN
fuelectenerg-2188	220	6	uncertainty	uncertainty	NOUN
fuelectenerg-2188	220	7	will	will	AUX
fuelectenerg-2188	220	8	occur	occur	VERB
fuelectenerg-2188	220	9	in	in	ADP
fuelectenerg-2188	220	10	the	the	DET
fuelectenerg-2188	220	11	case	case	NOUN
fuelectenerg-2188	220	12	of	of	ADP
fuelectenerg-2188	220	13	measurement	measurement	NOUN
fuelectenerg-2188	220	14	errors	error	NOUN
fuelectenerg-2188	220	15	.	.	PUNCT
fuelectenerg-2188	221	1	when	when	SCONJ
fuelectenerg-2188	221	2	measured	measure	VERB
fuelectenerg-2188	221	3	data	data	NOUN
fuelectenerg-2188	221	4	noise	noise	NOUN
fuelectenerg-2188	221	5	is	be	AUX
fuelectenerg-2188	221	6	of	of	ADP
fuelectenerg-2188	221	7	random	random	ADJ
fuelectenerg-2188	221	8	nature	nature	NOUN
fuelectenerg-2188	221	9	,	,	PUNCT
fuelectenerg-2188	221	10	there	there	PRON
fuelectenerg-2188	221	11	is	be	VERB
fuelectenerg-2188	221	12	no	no	DET
fuelectenerg-2188	221	13	possibility	possibility	NOUN
fuelectenerg-2188	221	14	to	to	PART
fuelectenerg-2188	221	15	narrow	narrow	VERB
fuelectenerg-2188	221	16	down	down	ADP
fuelectenerg-2188	221	17	solution	solution	NOUN
fuelectenerg-2188	221	18	search	search	NOUN
fuelectenerg-2188	221	19	area	area	NOUN
fuelectenerg-2188	221	20	,	,	PUNCT
fuelectenerg-2188	221	21	at	at	ADP
fuelectenerg-2188	221	22	least	least	ADJ
fuelectenerg-2188	221	23	not	not	PART
fuelectenerg-2188	221	24	statically	statically	ADV
fuelectenerg-2188	221	25	.	.	PUNCT
fuelectenerg-2188	222	1	412	412	NUM
fuelectenerg-2188	222	2	m.	m.	NOUN
fuelectenerg-2188	222	3	petković	petković	NOUN
fuelectenerg-2188	222	4	,	,	PUNCT
fuelectenerg-2188	222	5	v.	v.	ADP
fuelectenerg-2188	222	6	sibinović	sibinović	PROPN
fuelectenerg-2188	222	7	,	,	PUNCT
fuelectenerg-2188	222	8	d.	d.	PROPN
fuelectenerg-2188	222	9	popović	popović	PROPN
fuelectenerg-2188	222	10	,	,	PUNCT
fuelectenerg-2188	222	11	v.	v.	CCONJ
fuelectenerg-2188	222	12	mitić	mitić	NOUN
fuelectenerg-2188	222	13	,	,	PUNCT
fuelectenerg-2188	222	14	d.	d.	PROPN
fuelectenerg-2188	222	15	todorović	todorović	PROPN
fuelectenerg-2188	222	16	,	,	PUNCT
fuelectenerg-2188	222	17	g.	g.	PROPN
fuelectenerg-2188	222	18	s.	s.	PROPN
fuelectenerg-2188	222	19	đorđević	đorđević	PROPN
fuelectenerg-2188	222	20	in	in	ADP
fuelectenerg-2188	222	21	order	order	NOUN
fuelectenerg-2188	222	22	to	to	PART
fuelectenerg-2188	222	23	test	test	VERB
fuelectenerg-2188	222	24	this	this	DET
fuelectenerg-2188	222	25	method	method	NOUN
fuelectenerg-2188	222	26	,	,	PUNCT
fuelectenerg-2188	222	27	we	we	PRON
fuelectenerg-2188	222	28	have	have	AUX
fuelectenerg-2188	222	29	created	create	VERB
fuelectenerg-2188	222	30	a	a	DET
fuelectenerg-2188	222	31	wolfram	wolfram	PROPN
fuelectenerg-2188	222	32	mathematica	mathematica	PROPN
fuelectenerg-2188	222	33	script	script	PROPN
fuelectenerg-2188	222	34	.	.	PUNCT
fuelectenerg-2188	223	1	it	it	PRON
fuelectenerg-2188	223	2	simulates	simulate	VERB
fuelectenerg-2188	223	3	a	a	DET
fuelectenerg-2188	223	4	system	system	NOUN
fuelectenerg-2188	223	5	of	of	ADP
fuelectenerg-2188	223	6	3	3	NUM
fuelectenerg-2188	223	7	or	or	CCONJ
fuelectenerg-2188	223	8	4	4	NUM
fuelectenerg-2188	223	9	wall	wall	NOUN
fuelectenerg-2188	223	10	devices	device	NOUN
fuelectenerg-2188	223	11	and	and	CCONJ
fuelectenerg-2188	223	12	a	a	DET
fuelectenerg-2188	223	13	beacon	beacon	NOUN
fuelectenerg-2188	223	14	.	.	PUNCT
fuelectenerg-2188	224	1	distance	distance	NOUN
fuelectenerg-2188	224	2	measuring	measuring	NOUN
fuelectenerg-2188	224	3	error	error	NOUN
fuelectenerg-2188	224	4	is	be	AUX
fuelectenerg-2188	224	5	randomly	randomly	ADV
fuelectenerg-2188	224	6	generated	generate	VERB
fuelectenerg-2188	224	7	and	and	CCONJ
fuelectenerg-2188	224	8	added	add	VERB
fuelectenerg-2188	224	9	to	to	ADP
fuelectenerg-2188	224	10	the	the	DET
fuelectenerg-2188	224	11	precise	precise	ADJ
fuelectenerg-2188	224	12	value	value	NOUN
fuelectenerg-2188	224	13	.	.	PUNCT
fuelectenerg-2188	225	1	we	we	PRON
fuelectenerg-2188	225	2	set	set	VERB
fuelectenerg-2188	225	3	the	the	DET
fuelectenerg-2188	225	4	x	x	NOUN
fuelectenerg-2188	225	5	and	and	CCONJ
fuelectenerg-2188	225	6	y	y	PROPN
fuelectenerg-2188	225	7	plane	plane	NOUN
fuelectenerg-2188	225	8	to	to	PART
fuelectenerg-2188	225	9	correspond	correspond	VERB
fuelectenerg-2188	225	10	to	to	ADP
fuelectenerg-2188	225	11	the	the	DET
fuelectenerg-2188	225	12	floor	floor	NOUN
fuelectenerg-2188	225	13	and	and	CCONJ
fuelectenerg-2188	225	14	the	the	DET
fuelectenerg-2188	225	15	z	z	NOUN
fuelectenerg-2188	225	16	axis	axis	NOUN
fuelectenerg-2188	225	17	to	to	PART
fuelectenerg-2188	225	18	point	point	VERB
fuelectenerg-2188	225	19	to	to	ADP
fuelectenerg-2188	225	20	the	the	DET
fuelectenerg-2188	225	21	ceiling	ceiling	NOUN
fuelectenerg-2188	225	22	.	.	PUNCT
fuelectenerg-2188	226	1	although	although	SCONJ
fuelectenerg-2188	226	2	this	this	DET
fuelectenerg-2188	226	3	method	method	NOUN
fuelectenerg-2188	226	4	allows	allow	VERB
fuelectenerg-2188	226	5	finding	find	VERB
fuelectenerg-2188	226	6	position	position	NOUN
fuelectenerg-2188	226	7	of	of	ADP
fuelectenerg-2188	226	8	beacon	beacon	NOUN
fuelectenerg-2188	226	9	in	in	ADP
fuelectenerg-2188	226	10	3d	3d	NUM
fuelectenerg-2188	226	11	,	,	PUNCT
fuelectenerg-2188	226	12	we	we	PRON
fuelectenerg-2188	226	13	are	be	AUX
fuelectenerg-2188	226	14	more	more	ADV
fuelectenerg-2188	226	15	interested	interested	ADJ
fuelectenerg-2188	226	16	in	in	ADP
fuelectenerg-2188	226	17	keeping	keep	VERB
fuelectenerg-2188	226	18	its	its	PRON
fuelectenerg-2188	226	19	height	height	NOUN
fuelectenerg-2188	226	20	constant	constant	ADJ
fuelectenerg-2188	226	21	.	.	PUNCT
fuelectenerg-2188	227	1	this	this	PRON
fuelectenerg-2188	227	2	would	would	AUX
fuelectenerg-2188	227	3	be	be	AUX
fuelectenerg-2188	227	4	most	most	ADV
fuelectenerg-2188	227	5	probable	probable	ADJ
fuelectenerg-2188	227	6	use	use	NOUN
fuelectenerg-2188	227	7	-	-	PUNCT
fuelectenerg-2188	227	8	case	case	NOUN
fuelectenerg-2188	227	9	in	in	ADP
fuelectenerg-2188	227	10	mobile	mobile	ADJ
fuelectenerg-2188	227	11	robotics	robotic	NOUN
fuelectenerg-2188	227	12	.	.	PUNCT
fuelectenerg-2188	228	1	therefore	therefore	ADV
fuelectenerg-2188	228	2	the	the	DET
fuelectenerg-2188	228	3	script	script	NOUN
fuelectenerg-2188	228	4	visualises	visualise	VERB
fuelectenerg-2188	228	5	2d	2d	NUM
fuelectenerg-2188	228	6	plane	plane	NOUN
fuelectenerg-2188	228	7	of	of	ADP
fuelectenerg-2188	228	8	the	the	DET
fuelectenerg-2188	228	9	z	z	NOUN
fuelectenerg-2188	228	10	axes	axis	NOUN
fuelectenerg-2188	228	11	at	at	ADP
fuelectenerg-2188	228	12	the	the	DET
fuelectenerg-2188	228	13	fixed	fix	VERB
fuelectenerg-2188	228	14	height	height	NOUN
fuelectenerg-2188	228	15	of	of	ADP
fuelectenerg-2188	228	16	beacon	beacon	NOUN
fuelectenerg-2188	228	17	of	of	ADP
fuelectenerg-2188	228	18	1.3	1.3	NUM
fuelectenerg-2188	228	19	m	m	NOUN
fuelectenerg-2188	228	20	,	,	PUNCT
fuelectenerg-2188	228	21	as	as	ADP
fuelectenerg-2188	228	22	in	in	ADP
fuelectenerg-2188	228	23	fig	fig	NOUN
fuelectenerg-2188	228	24	.	.	PUNCT
fuelectenerg-2188	229	1	6	6	NUM
fuelectenerg-2188	229	2	.	.	X
fuelectenerg-2188	229	3	possible	possible	ADJ
fuelectenerg-2188	229	4	beacon	beacon	NOUN
fuelectenerg-2188	229	5	positions	position	NOUN
fuelectenerg-2188	229	6	in	in	ADP
fuelectenerg-2188	229	7	that	that	DET
fuelectenerg-2188	229	8	plane	plane	NOUN
fuelectenerg-2188	229	9	are	be	AUX
fuelectenerg-2188	229	10	circles	circle	NOUN
fuelectenerg-2188	229	11	,	,	PUNCT
fuelectenerg-2188	229	12	designated	designate	VERB
fuelectenerg-2188	229	13	with	with	ADP
fuelectenerg-2188	229	14	thick	thick	ADJ
fuelectenerg-2188	229	15	circular	circular	ADJ
fuelectenerg-2188	229	16	arcs	arc	NOUN
fuelectenerg-2188	229	17	in	in	ADP
fuelectenerg-2188	229	18	fig	fig	NOUN
fuelectenerg-2188	229	19	.	.	PUNCT
fuelectenerg-2188	230	1	6	6	X
fuelectenerg-2188	230	2	.	.	X
fuelectenerg-2188	230	3	note	note	VERB
fuelectenerg-2188	230	4	that	that	SCONJ
fuelectenerg-2188	230	5	both	both	CCONJ
fuelectenerg-2188	230	6	positive	positive	ADJ
fuelectenerg-2188	230	7	and	and	CCONJ
fuelectenerg-2188	230	8	negative	negative	ADJ
fuelectenerg-2188	230	9	measurement	measurement	NOUN
fuelectenerg-2188	230	10	errors	error	NOUN
fuelectenerg-2188	230	11	were	be	AUX
fuelectenerg-2188	230	12	introduced	introduce	VERB
fuelectenerg-2188	230	13	.	.	PUNCT
fuelectenerg-2188	231	1	the	the	DET
fuelectenerg-2188	231	2	dot	dot	NOUN
fuelectenerg-2188	231	3	represents	represent	VERB
fuelectenerg-2188	231	4	calculated	calculate	VERB
fuelectenerg-2188	231	5	position	position	NOUN
fuelectenerg-2188	231	6	,	,	PUNCT
fuelectenerg-2188	231	7	while	while	SCONJ
fuelectenerg-2188	231	8	the	the	DET
fuelectenerg-2188	231	9	short	short	ADJ
fuelectenerg-2188	231	10	lines	line	NOUN
fuelectenerg-2188	231	11	,	,	PUNCT
fuelectenerg-2188	231	12	that	that	PRON
fuelectenerg-2188	231	13	connect	connect	VERB
fuelectenerg-2188	231	14	it	it	PRON
fuelectenerg-2188	231	15	to	to	ADP
fuelectenerg-2188	231	16	the	the	DET
fuelectenerg-2188	231	17	arcs	arc	NOUN
fuelectenerg-2188	231	18	,	,	PUNCT
fuelectenerg-2188	231	19	are	be	AUX
fuelectenerg-2188	231	20	estimated	estimate	VERB
fuelectenerg-2188	231	21	measurement	measurement	NOUN
fuelectenerg-2188	231	22	errors	error	NOUN
fuelectenerg-2188	231	23	.	.	PUNCT
fuelectenerg-2188	232	1	the	the	DET
fuelectenerg-2188	232	2	squares	square	NOUN
fuelectenerg-2188	232	3	represent	represent	VERB
fuelectenerg-2188	232	4	projection	projection	NOUN
fuelectenerg-2188	232	5	of	of	ADP
fuelectenerg-2188	232	6	wall	wall	PROPN
fuelectenerg-2188	232	7	devices	device	NOUN
fuelectenerg-2188	232	8	on	on	ADP
fuelectenerg-2188	232	9	the	the	DET
fuelectenerg-2188	232	10	plane	plane	NOUN
fuelectenerg-2188	232	11	.	.	PUNCT
fuelectenerg-2188	233	1	they	they	PRON
fuelectenerg-2188	233	2	are	be	AUX
fuelectenerg-2188	233	3	also	also	ADV
fuelectenerg-2188	233	4	centres	centre	NOUN
fuelectenerg-2188	233	5	of	of	ADP
fuelectenerg-2188	233	6	the	the	DET
fuelectenerg-2188	233	7	circles	circle	NOUN
fuelectenerg-2188	233	8	.	.	PUNCT
fuelectenerg-2188	234	1	the	the	DET
fuelectenerg-2188	234	2	lower	low	ADJ
fuelectenerg-2188	234	3	left	left	ADJ
fuelectenerg-2188	234	4	part	part	NOUN
fuelectenerg-2188	234	5	contains	contain	VERB
fuelectenerg-2188	234	6	magnified	magnify	VERB
fuelectenerg-2188	234	7	detail	detail	NOUN
fuelectenerg-2188	234	8	around	around	ADP
fuelectenerg-2188	234	9	the	the	DET
fuelectenerg-2188	234	10	dot	dot	NOUN
fuelectenerg-2188	234	11	.	.	PUNCT
fuelectenerg-2188	234	12	fig	fig	NOUN
fuelectenerg-2188	234	13	.	.	PUNCT
fuelectenerg-2188	235	1	6	6	NUM
fuelectenerg-2188	235	2	a	a	DET
fuelectenerg-2188	235	3	plane	plane	NOUN
fuelectenerg-2188	235	4	,	,	PUNCT
fuelectenerg-2188	235	5	where	where	SCONJ
fuelectenerg-2188	235	6	the	the	DET
fuelectenerg-2188	235	7	z	z	NOUN
fuelectenerg-2188	235	8	coordinate	coordinate	NOUN
fuelectenerg-2188	235	9	is	be	AUX
fuelectenerg-2188	235	10	constant	constant	ADJ
fuelectenerg-2188	235	11	1.3	1.3	NUM
fuelectenerg-2188	235	12	m	m	NOUN
fuelectenerg-2188	235	13	,	,	PUNCT
fuelectenerg-2188	235	14	that	that	PRON
fuelectenerg-2188	235	15	contains	contain	VERB
fuelectenerg-2188	235	16	calculated	calculate	VERB
fuelectenerg-2188	235	17	robot	robot	NOUN
fuelectenerg-2188	235	18	position	position	NOUN
fuelectenerg-2188	235	19	which	which	PRON
fuelectenerg-2188	235	20	is	be	AUX
fuelectenerg-2188	235	21	shown	show	VERB
fuelectenerg-2188	235	22	with	with	ADP
fuelectenerg-2188	235	23	a	a	DET
fuelectenerg-2188	235	24	dot	dot	NOUN
fuelectenerg-2188	235	25	.	.	PUNCT
fuelectenerg-2188	235	26	possible	possible	ADJ
fuelectenerg-2188	235	27	beacon	beacon	NOUN
fuelectenerg-2188	235	28	positions	position	NOUN
fuelectenerg-2188	235	29	,	,	PUNCT
fuelectenerg-2188	235	30	for	for	ADP
fuelectenerg-2188	235	31	that	that	DET
fuelectenerg-2188	235	32	plane	plane	NOUN
fuelectenerg-2188	235	33	,	,	PUNCT
fuelectenerg-2188	235	34	according	accord	VERB
fuelectenerg-2188	235	35	to	to	ADP
fuelectenerg-2188	235	36	the	the	DET
fuelectenerg-2188	235	37	measured	measured	ADJ
fuelectenerg-2188	235	38	data	datum	NOUN
fuelectenerg-2188	235	39	are	be	AUX
fuelectenerg-2188	235	40	circles	circle	NOUN
fuelectenerg-2188	235	41	,	,	PUNCT
fuelectenerg-2188	235	42	are	be	AUX
fuelectenerg-2188	235	43	shown	show	VERB
fuelectenerg-2188	235	44	partially	partially	ADV
fuelectenerg-2188	235	45	with	with	ADP
fuelectenerg-2188	235	46	thick	thick	ADJ
fuelectenerg-2188	235	47	arcs	arc	NOUN
fuelectenerg-2188	235	48	.	.	PUNCT
fuelectenerg-2188	236	1	the	the	DET
fuelectenerg-2188	236	2	short	short	ADJ
fuelectenerg-2188	236	3	lines	line	NOUN
fuelectenerg-2188	236	4	represent	represent	VERB
fuelectenerg-2188	236	5	estimated	estimate	VERB
fuelectenerg-2188	236	6	measurement	measurement	NOUN
fuelectenerg-2188	236	7	error	error	NOUN
fuelectenerg-2188	236	8	.	.	PUNCT
fuelectenerg-2188	237	1	the	the	DET
fuelectenerg-2188	237	2	squares	square	NOUN
fuelectenerg-2188	237	3	represent	represent	VERB
fuelectenerg-2188	237	4	projection	projection	NOUN
fuelectenerg-2188	237	5	of	of	ADP
fuelectenerg-2188	237	6	wall	wall	PROPN
fuelectenerg-2188	237	7	devices	device	NOUN
fuelectenerg-2188	237	8	on	on	ADP
fuelectenerg-2188	237	9	the	the	DET
fuelectenerg-2188	237	10	plane	plane	NOUN
fuelectenerg-2188	237	11	.	.	PUNCT
fuelectenerg-2188	238	1	they	they	PRON
fuelectenerg-2188	238	2	are	be	AUX
fuelectenerg-2188	238	3	also	also	ADV
fuelectenerg-2188	238	4	centres	centre	NOUN
fuelectenerg-2188	238	5	of	of	ADP
fuelectenerg-2188	238	6	the	the	DET
fuelectenerg-2188	238	7	circles	circle	NOUN
fuelectenerg-2188	238	8	.	.	PUNCT
fuelectenerg-2188	239	1	the	the	DET
fuelectenerg-2188	239	2	zoomed	zoomed	PROPN
fuelectenerg-2188	239	3	detail	detail	NOUN
fuelectenerg-2188	239	4	around	around	ADP
fuelectenerg-2188	239	5	solution	solution	NOUN
fuelectenerg-2188	239	6	point	point	NOUN
fuelectenerg-2188	239	7	is	be	AUX
fuelectenerg-2188	239	8	presented	present	VERB
fuelectenerg-2188	239	9	at	at	ADP
fuelectenerg-2188	239	10	the	the	DET
fuelectenerg-2188	239	11	bottom	bottom	NOUN
fuelectenerg-2188	239	12	left	leave	VERB
fuelectenerg-2188	239	13	.	.	PUNCT
fuelectenerg-2188	240	1	visual	visual	ADJ
fuelectenerg-2188	240	2	checks	check	NOUN
fuelectenerg-2188	240	3	were	be	AUX
fuelectenerg-2188	240	4	only	only	ADV
fuelectenerg-2188	240	5	used	use	VERB
fuelectenerg-2188	240	6	as	as	ADP
fuelectenerg-2188	240	7	an	an	DET
fuelectenerg-2188	240	8	aid	aid	NOUN
fuelectenerg-2188	240	9	,	,	PUNCT
fuelectenerg-2188	240	10	for	for	ADP
fuelectenerg-2188	240	11	better	well	ADJ
fuelectenerg-2188	240	12	understanding	understanding	NOUN
fuelectenerg-2188	240	13	of	of	ADP
fuelectenerg-2188	240	14	behaviour	behaviour	NOUN
fuelectenerg-2188	240	15	of	of	ADP
fuelectenerg-2188	240	16	solution	solution	NOUN
fuelectenerg-2188	240	17	in	in	ADP
fuelectenerg-2188	240	18	response	response	NOUN
fuelectenerg-2188	240	19	to	to	ADP
fuelectenerg-2188	240	20	errors	error	NOUN
fuelectenerg-2188	240	21	and	and	CCONJ
fuelectenerg-2188	240	22	device	device	NOUN
fuelectenerg-2188	240	23	placement	placement	NOUN
fuelectenerg-2188	240	24	.	.	PUNCT
fuelectenerg-2188	241	1	for	for	ADP
fuelectenerg-2188	241	2	example	example	NOUN
fuelectenerg-2188	241	3	,	,	PUNCT
fuelectenerg-2188	241	4	actual	actual	ADJ
fuelectenerg-2188	241	5	and	and	CCONJ
fuelectenerg-2188	241	6	calculated	calculated	ADJ
fuelectenerg-2188	241	7	positions	position	NOUN
fuelectenerg-2188	241	8	are	be	AUX
fuelectenerg-2188	241	9	identical	identical	ADJ
fuelectenerg-2188	241	10	when	when	SCONJ
fuelectenerg-2188	241	11	there	there	PRON
fuelectenerg-2188	241	12	is	be	VERB
fuelectenerg-2188	241	13	no	no	DET
fuelectenerg-2188	241	14	measurement	measurement	NOUN
fuelectenerg-2188	241	15	error	error	NOUN
fuelectenerg-2188	241	16	.	.	PUNCT
fuelectenerg-2188	242	1	equal	equal	ADJ
fuelectenerg-2188	242	2	errors	error	NOUN
fuelectenerg-2188	242	3	in	in	ADP
fuelectenerg-2188	242	4	all	all	DET
fuelectenerg-2188	242	5	wall	wall	NOUN
fuelectenerg-2188	242	6	devices	device	NOUN
fuelectenerg-2188	242	7	tend	tend	VERB
fuelectenerg-2188	242	8	to	to	PART
fuelectenerg-2188	242	9	cancel	cancel	VERB
fuelectenerg-2188	242	10	each	each	DET
fuelectenerg-2188	242	11	other	other	ADJ
fuelectenerg-2188	242	12	.	.	PUNCT
fuelectenerg-2188	243	1	numeric	numeric	ADJ
fuelectenerg-2188	243	2	evaluation	evaluation	NOUN
fuelectenerg-2188	243	3	is	be	AUX
fuelectenerg-2188	243	4	done	do	VERB
fuelectenerg-2188	243	5	as	as	ADV
fuelectenerg-2188	243	6	well	well	ADV
fuelectenerg-2188	243	7	.	.	PUNCT
fuelectenerg-2188	244	1	we	we	PRON
fuelectenerg-2188	244	2	used	use	VERB
fuelectenerg-2188	244	3	nminimize	nminimize	NOUN
fuelectenerg-2188	244	4	function	function	NOUN
fuelectenerg-2188	244	5	for	for	ADP
fuelectenerg-2188	244	6	minimization	minimization	NOUN
fuelectenerg-2188	244	7	.	.	PUNCT
fuelectenerg-2188	245	1	available	available	ADJ
fuelectenerg-2188	245	2	minimisation	minimisation	NOUN
fuelectenerg-2188	245	3	methods	method	NOUN
fuelectenerg-2188	245	4	are	be	AUX
fuelectenerg-2188	245	5	nelder	nelder	ADJ
fuelectenerg-2188	245	6	-	-	PUNCT
fuelectenerg-2188	245	7	mead	mead	NOUN
fuelectenerg-2188	245	8	[	[	X
fuelectenerg-2188	245	9	8	8	NUM
fuelectenerg-2188	245	10	]	]	PUNCT
fuelectenerg-2188	245	11	,	,	PUNCT
fuelectenerg-2188	245	12	differential	differential	ADJ
fuelectenerg-2188	245	13	evolution	evolution	NOUN
fuelectenerg-2188	246	1	[	[	X
fuelectenerg-2188	246	2	9	9	NUM
fuelectenerg-2188	246	3	]	]	PUNCT
fuelectenerg-2188	246	4	,	,	PUNCT
fuelectenerg-2188	246	5	simulated	simulate	VERB
fuelectenerg-2188	246	6	annealing	anneal	VERB
fuelectenerg-2188	246	7	[	[	X
fuelectenerg-2188	246	8	10	10	NUM
fuelectenerg-2188	246	9	]	]	PUNCT
fuelectenerg-2188	246	10	and	and	CCONJ
fuelectenerg-2188	246	11	random	random	ADJ
fuelectenerg-2188	246	12	search	search	NOUN
fuelectenerg-2188	247	1	[	[	X
fuelectenerg-2188	247	2	11	11	NUM
fuelectenerg-2188	247	3	]	]	PUNCT
fuelectenerg-2188	247	4	.	.	PUNCT
fuelectenerg-2188	248	1	we	we	PRON
fuelectenerg-2188	248	2	used	use	VERB
fuelectenerg-2188	248	3	them	they	PRON
fuelectenerg-2188	248	4	all	all	PRON
fuelectenerg-2188	248	5	simultaneously	simultaneously	ADV
fuelectenerg-2188	248	6	in	in	ADP
fuelectenerg-2188	248	7	order	order	NOUN
fuelectenerg-2188	248	8	to	to	PART
fuelectenerg-2188	248	9	compare	compare	VERB
fuelectenerg-2188	248	10	them	they	PRON
fuelectenerg-2188	248	11	with	with	ADP
fuelectenerg-2188	248	12	respect	respect	NOUN
fuelectenerg-2188	248	13	to	to	ADP
fuelectenerg-2188	248	14	efficiency	efficiency	NOUN
fuelectenerg-2188	248	15	and	and	CCONJ
fuelectenerg-2188	248	16	accuracy	accuracy	NOUN
fuelectenerg-2188	248	17	.	.	PUNCT
fuelectenerg-2188	249	1	wall	wall	PROPN
fuelectenerg-2188	249	2	devices	device	NOUN
fuelectenerg-2188	249	3	were	be	AUX
fuelectenerg-2188	249	4	placed	place	VERB
fuelectenerg-2188	249	5	in	in	ADP
fuelectenerg-2188	249	6	rectangular	rectangular	ADJ
fuelectenerg-2188	249	7	pattern	pattern	NOUN
fuelectenerg-2188	249	8	with	with	ADP
fuelectenerg-2188	249	9	same	same	ADJ
fuelectenerg-2188	249	10	height	height	NOUN
fuelectenerg-2188	249	11	,	,	PUNCT
fuelectenerg-2188	249	12	as	as	SCONJ
fuelectenerg-2188	249	13	they	they	PRON
fuelectenerg-2188	249	14	might	might	AUX
fuelectenerg-2188	249	15	be	be	AUX
fuelectenerg-2188	249	16	used	use	VERB
fuelectenerg-2188	249	17	commonly	commonly	ADV
fuelectenerg-2188	249	18	.	.	PUNCT
fuelectenerg-2188	250	1	we	we	PRON
fuelectenerg-2188	250	2	generated	generate	VERB
fuelectenerg-2188	250	3	random	random	ADJ
fuelectenerg-2188	250	4	beacon	beacon	NOUN
fuelectenerg-2188	250	5	positions	position	NOUN
fuelectenerg-2188	250	6	,	,	PUNCT
fuelectenerg-2188	250	7	calculated	calculate	VERB
fuelectenerg-2188	250	8	accurate	accurate	ADJ
fuelectenerg-2188	250	9	distances	distance	NOUN
fuelectenerg-2188	250	10	to	to	ADP
fuelectenerg-2188	250	11	wall	wall	PROPN
fuelectenerg-2188	250	12	devices	device	NOUN
fuelectenerg-2188	250	13	,	,	PUNCT
fuelectenerg-2188	250	14	and	and	CCONJ
fuelectenerg-2188	250	15	then	then	ADV
fuelectenerg-2188	250	16	added	add	VERB
fuelectenerg-2188	250	17	a	a	DET
fuelectenerg-2188	250	18	gaussian	gaussian	ADJ
fuelectenerg-2188	250	19	error	error	NOUN
fuelectenerg-2188	250	20	in	in	ADP
fuelectenerg-2188	250	21	range	range	NOUN
fuelectenerg-2188	250	22	of	of	ADP
fuelectenerg-2188	250	23	±10	±10	NOUN
fuelectenerg-2188	250	24	cm	cm	NOUN
fuelectenerg-2188	250	25	.	.	PUNCT
fuelectenerg-2188	251	1	beacon	beacon	NOUN
fuelectenerg-2188	251	2	analasys	analasys	NOUN
fuelectenerg-2188	251	3	of	of	ADP
fuelectenerg-2188	251	4	two	two	NUM
fuelectenerg-2188	251	5	low	low	ADJ
fuelectenerg-2188	251	6	-	-	PUNCT
fuelectenerg-2188	251	7	cost	cost	NOUN
fuelectenerg-2188	251	8	and	and	CCONJ
fuelectenerg-2188	251	9	robust	robust	ADJ
fuelectenerg-2188	251	10	methods	method	NOUN
fuelectenerg-2188	251	11	for	for	ADP
fuelectenerg-2188	251	12	indoor	indoor	ADJ
fuelectenerg-2188	251	13	localisation	localisation	NOUN
fuelectenerg-2188	251	14	of	of	ADP
fuelectenerg-2188	251	15	mobile	mobile	ADJ
fuelectenerg-2188	251	16	robots	robot	NOUN
fuelectenerg-2188	251	17	413	413	NUM
fuelectenerg-2188	251	18	location	location	NOUN
fuelectenerg-2188	251	19	found	find	VERB
fuelectenerg-2188	251	20	by	by	ADP
fuelectenerg-2188	251	21	minimisation	minimisation	NOUN
fuelectenerg-2188	251	22	of	of	ADP
fuelectenerg-2188	251	23	function	function	NOUN
fuelectenerg-2188	251	24	(	(	PUNCT
fuelectenerg-2188	251	25	5	5	NUM
fuelectenerg-2188	251	26	)	)	PUNCT
fuelectenerg-2188	251	27	was	be	AUX
fuelectenerg-2188	251	28	accurate	accurate	ADJ
fuelectenerg-2188	251	29	enough	enough	ADV
fuelectenerg-2188	251	30	,	,	PUNCT
fuelectenerg-2188	251	31	mostly	mostly	ADV
fuelectenerg-2188	251	32	bellow	bellow	ADJ
fuelectenerg-2188	251	33	5	5	NUM
fuelectenerg-2188	251	34	cm	cm	NOUN
fuelectenerg-2188	251	35	error	error	NOUN
fuelectenerg-2188	251	36	.	.	PUNCT
fuelectenerg-2188	252	1	however	however	ADV
fuelectenerg-2188	252	2	,	,	PUNCT
fuelectenerg-2188	252	3	in	in	ADP
fuelectenerg-2188	252	4	some	some	DET
fuelectenerg-2188	252	5	cases	case	NOUN
fuelectenerg-2188	252	6	,	,	PUNCT
fuelectenerg-2188	252	7	the	the	DET
fuelectenerg-2188	252	8	error	error	NOUN
fuelectenerg-2188	252	9	went	go	VERB
fuelectenerg-2188	252	10	up	up	ADP
fuelectenerg-2188	252	11	to	to	ADP
fuelectenerg-2188	252	12	extremes	extreme	NOUN
fuelectenerg-2188	252	13	of	of	ADP
fuelectenerg-2188	252	14	almost	almost	ADV
fuelectenerg-2188	252	15	20	20	NUM
fuelectenerg-2188	252	16	cm	cm	NOUN
fuelectenerg-2188	252	17	.	.	PUNCT
fuelectenerg-2188	253	1	that	that	PRON
fuelectenerg-2188	253	2	occurs	occur	VERB
fuelectenerg-2188	253	3	in	in	ADP
fuelectenerg-2188	253	4	situation	situation	NOUN
fuelectenerg-2188	253	5	when	when	SCONJ
fuelectenerg-2188	253	6	two	two	NUM
fuelectenerg-2188	253	7	adjacent	adjacent	ADJ
fuelectenerg-2188	253	8	wall	wall	NOUN
fuelectenerg-2188	253	9	devices	device	NOUN
fuelectenerg-2188	253	10	have	have	VERB
fuelectenerg-2188	253	11	maximal	maximal	ADJ
fuelectenerg-2188	253	12	error	error	NOUN
fuelectenerg-2188	253	13	of	of	ADP
fuelectenerg-2188	253	14	+10	+10	NOUN
fuelectenerg-2188	253	15	cm	cm	NOUN
fuelectenerg-2188	253	16	while	while	SCONJ
fuelectenerg-2188	253	17	the	the	DET
fuelectenerg-2188	253	18	opposite	opposite	ADJ
fuelectenerg-2188	253	19	two	two	NUM
fuelectenerg-2188	253	20	have	have	VERB
fuelectenerg-2188	253	21	–	–	PUNCT
fuelectenerg-2188	253	22	10	10	NUM
fuelectenerg-2188	253	23	cm	cm	NOUN
fuelectenerg-2188	253	24	of	of	ADP
fuelectenerg-2188	253	25	error	error	NOUN
fuelectenerg-2188	253	26	.	.	PUNCT
fuelectenerg-2188	254	1	probability	probability	NOUN
fuelectenerg-2188	254	2	for	for	ADP
fuelectenerg-2188	254	3	this	this	PRON
fuelectenerg-2188	254	4	is	be	AUX
fuelectenerg-2188	254	5	rather	rather	ADV
fuelectenerg-2188	254	6	low	low	ADJ
fuelectenerg-2188	254	7	and	and	CCONJ
fuelectenerg-2188	254	8	general	general	ADJ
fuelectenerg-2188	254	9	conclusion	conclusion	NOUN
fuelectenerg-2188	254	10	is	be	AUX
fuelectenerg-2188	254	11	that	that	SCONJ
fuelectenerg-2188	254	12	this	this	DET
fuelectenerg-2188	254	13	method	method	NOUN
fuelectenerg-2188	254	14	works	work	VERB
fuelectenerg-2188	254	15	quite	quite	ADV
fuelectenerg-2188	254	16	nicely	nicely	ADV
fuelectenerg-2188	254	17	.	.	PUNCT
fuelectenerg-2188	255	1	it	it	PRON
fuelectenerg-2188	255	2	shows	show	VERB
fuelectenerg-2188	255	3	robustness	robustness	NOUN
fuelectenerg-2188	255	4	to	to	ADP
fuelectenerg-2188	255	5	both	both	CCONJ
fuelectenerg-2188	255	6	positive	positive	ADJ
fuelectenerg-2188	255	7	and	and	CCONJ
fuelectenerg-2188	255	8	negative	negative	ADJ
fuelectenerg-2188	255	9	measurement	measurement	NOUN
fuelectenerg-2188	255	10	errors	error	NOUN
fuelectenerg-2188	255	11	.	.	PUNCT
fuelectenerg-2188	256	1	solution	solution	NOUN
fuelectenerg-2188	256	2	exists	exist	VERB
fuelectenerg-2188	256	3	independently	independently	ADV
fuelectenerg-2188	256	4	from	from	ADP
fuelectenerg-2188	256	5	the	the	DET
fuelectenerg-2188	256	6	number	number	NOUN
fuelectenerg-2188	256	7	of	of	ADP
fuelectenerg-2188	256	8	wall	wall	NOUN
fuelectenerg-2188	256	9	devices	device	NOUN
fuelectenerg-2188	256	10	.	.	PUNCT
fuelectenerg-2188	257	1	increasing	increase	VERB
fuelectenerg-2188	257	2	their	their	PRON
fuelectenerg-2188	257	3	number	number	NOUN
fuelectenerg-2188	257	4	to	to	PART
fuelectenerg-2188	257	5	overcome	overcome	VERB
fuelectenerg-2188	257	6	temporary	temporary	ADJ
fuelectenerg-2188	257	7	occlusion	occlusion	NOUN
fuelectenerg-2188	257	8	problems	problem	NOUN
fuelectenerg-2188	257	9	does	do	AUX
fuelectenerg-2188	257	10	not	not	PART
fuelectenerg-2188	257	11	affect	affect	VERB
fuelectenerg-2188	257	12	solution	solution	NOUN
fuelectenerg-2188	257	13	calculation	calculation	NOUN
fuelectenerg-2188	257	14	,	,	PUNCT
fuelectenerg-2188	257	15	neither	neither	CCONJ
fuelectenerg-2188	257	16	in	in	ADP
fuelectenerg-2188	257	17	complexity	complexity	NOUN
fuelectenerg-2188	257	18	nor	nor	CCONJ
fuelectenerg-2188	257	19	in	in	ADP
fuelectenerg-2188	257	20	time	time	NOUN
fuelectenerg-2188	257	21	.	.	PUNCT
fuelectenerg-2188	258	1	comparison	comparison	NOUN
fuelectenerg-2188	258	2	of	of	ADP
fuelectenerg-2188	258	3	results	result	NOUN
fuelectenerg-2188	258	4	of	of	ADP
fuelectenerg-2188	258	5	four	four	NUM
fuelectenerg-2188	258	6	minimisation	minimisation	NOUN
fuelectenerg-2188	258	7	methods	method	NOUN
fuelectenerg-2188	258	8	showed	show	VERB
fuelectenerg-2188	258	9	no	no	DET
fuelectenerg-2188	258	10	significant	significant	ADJ
fuelectenerg-2188	258	11	difference	difference	NOUN
fuelectenerg-2188	258	12	between	between	ADP
fuelectenerg-2188	258	13	them	they	PRON
fuelectenerg-2188	258	14	.	.	PUNCT
fuelectenerg-2188	259	1	difference	difference	NOUN
fuelectenerg-2188	259	2	in	in	ADP
fuelectenerg-2188	259	3	accuracy	accuracy	NOUN
fuelectenerg-2188	259	4	was	be	AUX
fuelectenerg-2188	259	5	well	well	ADV
fuelectenerg-2188	259	6	below	below	ADP
fuelectenerg-2188	259	7	1	1	NUM
fuelectenerg-2188	259	8	cm	cm	NOUN
fuelectenerg-2188	259	9	.	.	PUNCT
fuelectenerg-2188	260	1	the	the	DET
fuelectenerg-2188	260	2	same	same	ADJ
fuelectenerg-2188	260	3	could	could	AUX
fuelectenerg-2188	260	4	be	be	AUX
fuelectenerg-2188	260	5	said	say	VERB
fuelectenerg-2188	260	6	about	about	ADP
fuelectenerg-2188	260	7	efficiency	efficiency	NOUN
fuelectenerg-2188	260	8	.	.	PUNCT
fuelectenerg-2188	261	1	so	so	ADV
fuelectenerg-2188	261	2	we	we	PRON
fuelectenerg-2188	261	3	chose	choose	VERB
fuelectenerg-2188	261	4	the	the	DET
fuelectenerg-2188	261	5	nelder	nelder	NOUN
fuelectenerg-2188	261	6	-	-	PUNCT
fuelectenerg-2188	261	7	mead	mead	NOUN
fuelectenerg-2188	261	8	for	for	ADP
fuelectenerg-2188	261	9	practical	practical	ADJ
fuelectenerg-2188	261	10	implementation	implementation	NOUN
fuelectenerg-2188	261	11	.	.	PUNCT
fuelectenerg-2188	262	1	3.2	3.2	NUM
fuelectenerg-2188	262	2	.	.	PUNCT
fuelectenerg-2188	262	3	implementation	implementation	NOUN
fuelectenerg-2188	262	4	and	and	CCONJ
fuelectenerg-2188	262	5	results	result	NOUN
fuelectenerg-2188	262	6	after	after	ADP
fuelectenerg-2188	262	7	successful	successful	ADJ
fuelectenerg-2188	262	8	method	method	NOUN
fuelectenerg-2188	262	9	of	of	ADP
fuelectenerg-2188	262	10	validation	validation	NOUN
fuelectenerg-2188	262	11	in	in	ADP
fuelectenerg-2188	262	12	wolfram	wolfram	PROPN
fuelectenerg-2188	262	13	mathematica	mathematica	PROPN
fuelectenerg-2188	262	14	,	,	PUNCT
fuelectenerg-2188	262	15	we	we	PRON
fuelectenerg-2188	262	16	have	have	AUX
fuelectenerg-2188	262	17	built	build	VERB
fuelectenerg-2188	262	18	c++	c++	ADP
fuelectenerg-2188	262	19	code	code	PROPN
fuelectenerg-2188	262	20	.	.	PUNCT
fuelectenerg-2188	263	1	we	we	PRON
fuelectenerg-2188	263	2	have	have	AUX
fuelectenerg-2188	263	3	chosen	choose	VERB
fuelectenerg-2188	263	4	to	to	PART
fuelectenerg-2188	263	5	use	use	VERB
fuelectenerg-2188	263	6	nelder	nelder	ADJ
fuelectenerg-2188	263	7	-	-	PUNCT
fuelectenerg-2188	263	8	mead	mead	NOUN
fuelectenerg-2188	263	9	solver	solver	NOUN
fuelectenerg-2188	263	10	from	from	ADP
fuelectenerg-2188	263	11	the	the	DET
fuelectenerg-2188	263	12	gnu	gnu	NOUN
fuelectenerg-2188	263	13	scientific	scientific	ADJ
fuelectenerg-2188	263	14	library	library	NOUN
fuelectenerg-2188	263	15	.	.	PUNCT
fuelectenerg-2188	264	1	the	the	DET
fuelectenerg-2188	264	2	program	program	NOUN
fuelectenerg-2188	264	3	was	be	AUX
fuelectenerg-2188	264	4	used	use	VERB
fuelectenerg-2188	264	5	on	on	ADP
fuelectenerg-2188	264	6	the	the	DET
fuelectenerg-2188	264	7	minnowboard	minnowboard	ADJ
fuelectenerg-2188	264	8	computer	computer	NOUN
fuelectenerg-2188	264	9	with	with	ADP
fuelectenerg-2188	264	10	non	non	ADJ
fuelectenerg-2188	264	11	-	-	ADJ
fuelectenerg-2188	264	12	commercial	commercial	ADJ
fuelectenerg-2188	264	13	ubuntu	ubuntu	NOUN
fuelectenerg-2188	264	14	os	os	NOUN
fuelectenerg-2188	264	15	.	.	PUNCT
fuelectenerg-2188	265	1	the	the	DET
fuelectenerg-2188	265	2	minnowboard	minnowboard	NOUN
fuelectenerg-2188	265	3	is	be	AUX
fuelectenerg-2188	265	4	an	an	DET
fuelectenerg-2188	265	5	open	open	ADJ
fuelectenerg-2188	265	6	-	-	PUNCT
fuelectenerg-2188	265	7	source	source	NOUN
fuelectenerg-2188	265	8	,	,	PUNCT
fuelectenerg-2188	265	9	64	64	NUM
fuelectenerg-2188	265	10	-	-	PUNCT
fuelectenerg-2188	265	11	bit	bit	NOUN
fuelectenerg-2188	265	12	intel	intel	PROPN
fuelectenerg-2188	265	13	®	®	NOUN
fuelectenerg-2188	265	14	atom	atom	NOUN
fuelectenerg-2188	265	15	™	™	PROPN
fuelectenerg-2188	265	16	based	base	VERB
fuelectenerg-2188	265	17	mini	mini	ADJ
fuelectenerg-2188	265	18	/	/	ADJ
fuelectenerg-2188	265	19	embedded	embed	VERB
fuelectenerg-2188	265	20	pc	pc	NOUN
fuelectenerg-2188	265	21	.	.	PUNCT
fuelectenerg-2188	266	1	initial	initial	ADJ
fuelectenerg-2188	266	2	tests	test	NOUN
fuelectenerg-2188	266	3	were	be	AUX
fuelectenerg-2188	266	4	done	do	VERB
fuelectenerg-2188	266	5	with	with	ADP
fuelectenerg-2188	266	6	pre	pre	VERB
fuelectenerg-2188	266	7	calculated	calculate	VERB
fuelectenerg-2188	266	8	examples	example	NOUN
fuelectenerg-2188	266	9	,	,	PUNCT
fuelectenerg-2188	266	10	generated	generate	VERB
fuelectenerg-2188	266	11	with	with	ADP
fuelectenerg-2188	266	12	mathematica	mathematica	PROPN
fuelectenerg-2188	266	13	script	script	PROPN
fuelectenerg-2188	266	14	.	.	PUNCT
fuelectenerg-2188	267	1	execution	execution	NOUN
fuelectenerg-2188	267	2	time	time	NOUN
fuelectenerg-2188	267	3	was	be	AUX
fuelectenerg-2188	267	4	about	about	ADV
fuelectenerg-2188	267	5	1	1	NUM
fuelectenerg-2188	267	6	ms	ms	NOUN
fuelectenerg-2188	267	7	,	,	PUNCT
fuelectenerg-2188	267	8	in	in	ADP
fuelectenerg-2188	267	9	average	average	ADJ
fuelectenerg-2188	267	10	.	.	PUNCT
fuelectenerg-2188	268	1	though	though	SCONJ
fuelectenerg-2188	268	2	sometimes	sometimes	ADV
fuelectenerg-2188	268	3	it	it	PRON
fuelectenerg-2188	268	4	reached	reach	VERB
fuelectenerg-2188	268	5	3ms	3ms	ADV
fuelectenerg-2188	268	6	however	however	ADV
fuelectenerg-2188	268	7	,	,	PUNCT
fuelectenerg-2188	268	8	this	this	PRON
fuelectenerg-2188	268	9	was	be	AUX
fuelectenerg-2188	268	10	not	not	PART
fuelectenerg-2188	268	11	the	the	DET
fuelectenerg-2188	268	12	only	only	ADJ
fuelectenerg-2188	268	13	program	program	NOUN
fuelectenerg-2188	268	14	running	running	NOUN
fuelectenerg-2188	268	15	.	.	PUNCT
fuelectenerg-2188	269	1	nevertheless	nevertheless	ADV
fuelectenerg-2188	269	2	,	,	PUNCT
fuelectenerg-2188	269	3	we	we	PRON
fuelectenerg-2188	269	4	find	find	VERB
fuelectenerg-2188	269	5	this	this	DET
fuelectenerg-2188	269	6	quite	quite	ADV
fuelectenerg-2188	269	7	satisfactory	satisfactory	ADJ
fuelectenerg-2188	269	8	.	.	PUNCT
fuelectenerg-2188	270	1	for	for	ADP
fuelectenerg-2188	270	2	service	service	NOUN
fuelectenerg-2188	270	3	type	type	NOUN
fuelectenerg-2188	270	4	robot	robot	NOUN
fuelectenerg-2188	270	5	speed	speed	NOUN
fuelectenerg-2188	270	6	,	,	PUNCT
fuelectenerg-2188	270	7	this	this	PRON
fuelectenerg-2188	270	8	introduces	introduce	VERB
fuelectenerg-2188	270	9	a	a	DET
fuelectenerg-2188	270	10	localisation	localisation	NOUN
fuelectenerg-2188	270	11	error	error	NOUN
fuelectenerg-2188	270	12	less	less	ADJ
fuelectenerg-2188	270	13	than	than	ADP
fuelectenerg-2188	270	14	one	one	NUM
fuelectenerg-2188	270	15	millimetre	millimetre	NOUN
fuelectenerg-2188	270	16	.	.	PUNCT
fuelectenerg-2188	271	1	delays	delay	NOUN
fuelectenerg-2188	271	2	in	in	ADP
fuelectenerg-2188	271	3	distance	distance	NOUN
fuelectenerg-2188	271	4	measuring	measure	VERB
fuelectenerg-2188	271	5	system	system	NOUN
fuelectenerg-2188	271	6	are	be	AUX
fuelectenerg-2188	271	7	much	much	ADV
fuelectenerg-2188	271	8	greater	great	ADJ
fuelectenerg-2188	271	9	and	and	CCONJ
fuelectenerg-2188	271	10	position	position	NOUN
fuelectenerg-2188	271	11	sampling	sampling	NOUN
fuelectenerg-2188	271	12	is	be	AUX
fuelectenerg-2188	271	13	below	below	ADP
fuelectenerg-2188	271	14	10hz	10hz	NOUN
fuelectenerg-2188	271	15	.	.	PUNCT
fuelectenerg-2188	272	1	if	if	SCONJ
fuelectenerg-2188	272	2	by	by	ADP
fuelectenerg-2188	272	3	any	any	DET
fuelectenerg-2188	272	4	chance	chance	NOUN
fuelectenerg-2188	272	5	execution	execution	NOUN
fuelectenerg-2188	272	6	time	time	NOUN
fuelectenerg-2188	272	7	has	have	VERB
fuelectenerg-2188	272	8	to	to	PART
fuelectenerg-2188	272	9	be	be	AUX
fuelectenerg-2188	272	10	reduced	reduce	VERB
fuelectenerg-2188	272	11	it	it	PRON
fuelectenerg-2188	272	12	could	could	AUX
fuelectenerg-2188	272	13	be	be	AUX
fuelectenerg-2188	272	14	done	do	VERB
fuelectenerg-2188	272	15	by	by	ADP
fuelectenerg-2188	272	16	lowering	lower	VERB
fuelectenerg-2188	272	17	solver	solver	NOUN
fuelectenerg-2188	272	18	precision	precision	NOUN
fuelectenerg-2188	272	19	.	.	PUNCT
fuelectenerg-2188	273	1	we	we	PRON
fuelectenerg-2188	273	2	noticed	notice	VERB
fuelectenerg-2188	273	3	that	that	SCONJ
fuelectenerg-2188	273	4	in	in	ADP
fuelectenerg-2188	273	5	most	most	ADJ
fuelectenerg-2188	273	6	cases	case	NOUN
fuelectenerg-2188	273	7	10	10	NUM
fuelectenerg-2188	273	8	to	to	PART
fuelectenerg-2188	273	9	20	20	NUM
fuelectenerg-2188	273	10	iterations	iteration	NOUN
fuelectenerg-2188	273	11	were	be	AUX
fuelectenerg-2188	273	12	enough	enough	ADJ
fuelectenerg-2188	273	13	to	to	PART
fuelectenerg-2188	273	14	get	get	VERB
fuelectenerg-2188	273	15	the	the	DET
fuelectenerg-2188	273	16	right	right	ADJ
fuelectenerg-2188	273	17	position	position	NOUN
fuelectenerg-2188	273	18	of	of	ADP
fuelectenerg-2188	273	19	centimetre	centimetre	NOUN
fuelectenerg-2188	273	20	resolution	resolution	NOUN
fuelectenerg-2188	273	21	.	.	PUNCT
fuelectenerg-2188	274	1	as	as	ADP
fuelectenerg-2188	274	2	in	in	ADP
fuelectenerg-2188	274	3	the	the	DET
fuelectenerg-2188	274	4	visual	visual	ADJ
fuelectenerg-2188	274	5	feedback	feedback	NOUN
fuelectenerg-2188	274	6	localisation	localisation	NOUN
fuelectenerg-2188	274	7	in	in	ADP
fuelectenerg-2188	274	8	section	section	NOUN
fuelectenerg-2188	274	9	2	2	NUM
fuelectenerg-2188	274	10	,	,	PUNCT
fuelectenerg-2188	274	11	we	we	PRON
fuelectenerg-2188	274	12	initially	initially	ADV
fuelectenerg-2188	274	13	verified	verify	VERB
fuelectenerg-2188	274	14	the	the	DET
fuelectenerg-2188	274	15	system	system	NOUN
fuelectenerg-2188	274	16	,	,	PUNCT
fuelectenerg-2188	274	17	through	through	ADP
fuelectenerg-2188	274	18	repetitive	repetitive	ADJ
fuelectenerg-2188	274	19	measurement	measurement	NOUN
fuelectenerg-2188	274	20	with	with	ADP
fuelectenerg-2188	274	21	beacon	beacon	NOUN
fuelectenerg-2188	274	22	fixed	fix	VERB
fuelectenerg-2188	274	23	at	at	ADP
fuelectenerg-2188	274	24	arbitrary	arbitrary	ADJ
fuelectenerg-2188	274	25	position	position	NOUN
fuelectenerg-2188	274	26	in	in	ADP
fuelectenerg-2188	274	27	the	the	DET
fuelectenerg-2188	274	28	workspace	workspace	NOUN
fuelectenerg-2188	274	29	.	.	PUNCT
fuelectenerg-2188	275	1	this	this	DET
fuelectenerg-2188	275	2	verification	verification	NOUN
fuelectenerg-2188	275	3	helps	help	VERB
fuelectenerg-2188	275	4	understanding	understand	VERB
fuelectenerg-2188	275	5	repeatability	repeatability	NOUN
fuelectenerg-2188	275	6	in	in	ADP
fuelectenerg-2188	275	7	measurement	measurement	NOUN
fuelectenerg-2188	275	8	and	and	CCONJ
fuelectenerg-2188	275	9	also	also	ADV
fuelectenerg-2188	275	10	gives	give	VERB
fuelectenerg-2188	275	11	reasonable	reasonable	ADJ
fuelectenerg-2188	275	12	confidence	confidence	NOUN
fuelectenerg-2188	275	13	in	in	ADP
fuelectenerg-2188	275	14	usability	usability	NOUN
fuelectenerg-2188	275	15	for	for	ADP
fuelectenerg-2188	275	16	further	further	ADJ
fuelectenerg-2188	275	17	implementation	implementation	NOUN
fuelectenerg-2188	275	18	on	on	ADP
fuelectenerg-2188	275	19	a	a	DET
fuelectenerg-2188	275	20	mobile	mobile	ADJ
fuelectenerg-2188	275	21	robot	robot	NOUN
fuelectenerg-2188	275	22	.	.	PUNCT
fuelectenerg-2188	276	1	upon	upon	SCONJ
fuelectenerg-2188	276	2	consecutive	consecutive	ADJ
fuelectenerg-2188	276	3	large	large	ADJ
fuelectenerg-2188	276	4	number	number	NOUN
fuelectenerg-2188	276	5	of	of	ADP
fuelectenerg-2188	276	6	measurements	measurement	NOUN
fuelectenerg-2188	276	7	,	,	PUNCT
fuelectenerg-2188	276	8	we	we	PRON
fuelectenerg-2188	276	9	can	can	AUX
fuelectenerg-2188	276	10	confirm	confirm	VERB
fuelectenerg-2188	276	11	that	that	SCONJ
fuelectenerg-2188	276	12	the	the	DET
fuelectenerg-2188	276	13	system	system	NOUN
fuelectenerg-2188	276	14	is	be	AUX
fuelectenerg-2188	276	15	reliable	reliable	ADJ
fuelectenerg-2188	276	16	and	and	CCONJ
fuelectenerg-2188	276	17	repeatable	repeatable	ADJ
fuelectenerg-2188	276	18	at	at	ADP
fuelectenerg-2188	276	19	an	an	DET
fuelectenerg-2188	276	20	acceptable	acceptable	ADJ
fuelectenerg-2188	276	21	level	level	NOUN
fuelectenerg-2188	276	22	.	.	PUNCT
fuelectenerg-2188	277	1	the	the	DET
fuelectenerg-2188	277	2	beacon	beacon	NOUN
fuelectenerg-2188	277	3	firing	firing	NOUN
fuelectenerg-2188	277	4	rate	rate	NOUN
fuelectenerg-2188	277	5	was	be	AUX
fuelectenerg-2188	277	6	fixed	fix	VERB
fuelectenerg-2188	277	7	,	,	PUNCT
fuelectenerg-2188	277	8	with	with	ADP
fuelectenerg-2188	277	9	the	the	DET
fuelectenerg-2188	277	10	period	period	NOUN
fuelectenerg-2188	277	11	of	of	ADP
fuelectenerg-2188	277	12	150	150	NUM
fuelectenerg-2188	277	13	ms	ms	NOUN
fuelectenerg-2188	277	14	,	,	PUNCT
fuelectenerg-2188	277	15	which	which	PRON
fuelectenerg-2188	277	16	is	be	AUX
fuelectenerg-2188	277	17	frequency	frequency	NOUN
fuelectenerg-2188	277	18	of	of	ADP
fuelectenerg-2188	277	19	6.67	6.67	NUM
fuelectenerg-2188	277	20	hz	hz	NOUN
fuelectenerg-2188	277	21	.	.	PUNCT
fuelectenerg-2188	278	1	although	although	SCONJ
fuelectenerg-2188	278	2	we	we	PRON
fuelectenerg-2188	278	3	could	could	AUX
fuelectenerg-2188	278	4	set	set	VERB
fuelectenerg-2188	278	5	it	it	PRON
fuelectenerg-2188	278	6	up	up	ADP
fuelectenerg-2188	278	7	to	to	ADP
fuelectenerg-2188	278	8	10hz	10hz	NOUN
fuelectenerg-2188	278	9	,	,	PUNCT
fuelectenerg-2188	278	10	we	we	PRON
fuelectenerg-2188	278	11	did	do	AUX
fuelectenerg-2188	278	12	not	not	PART
fuelectenerg-2188	278	13	want	want	VERB
fuelectenerg-2188	278	14	to	to	PART
fuelectenerg-2188	278	15	use	use	VERB
fuelectenerg-2188	278	16	it	it	PRON
fuelectenerg-2188	278	17	at	at	ADP
fuelectenerg-2188	278	18	its	its	PRON
fuelectenerg-2188	278	19	limits	limit	NOUN
fuelectenerg-2188	278	20	.	.	PUNCT
fuelectenerg-2188	279	1	a	a	DET
fuelectenerg-2188	279	2	number	number	NOUN
fuelectenerg-2188	279	3	of	of	ADP
fuelectenerg-2188	279	4	1172	1172	NUM
fuelectenerg-2188	279	5	measurements	measurement	NOUN
fuelectenerg-2188	279	6	at	at	ADP
fuelectenerg-2188	279	7	fixed	fix	VERB
fuelectenerg-2188	279	8	position	position	NOUN
fuelectenerg-2188	279	9	is	be	AUX
fuelectenerg-2188	279	10	presented	present	VERB
fuelectenerg-2188	279	11	as	as	ADP
fuelectenerg-2188	279	12	histogram	histogram	NOUN
fuelectenerg-2188	279	13	in	in	ADP
fuelectenerg-2188	279	14	fig	fig	NOUN
fuelectenerg-2188	279	15	.	.	PUNCT
fuelectenerg-2188	280	1	7	7	X
fuelectenerg-2188	280	2	.	.	PUNCT
fuelectenerg-2188	280	3	the	the	DET
fuelectenerg-2188	280	4	average	average	ADJ
fuelectenerg-2188	280	5	point	point	NOUN
fuelectenerg-2188	280	6	is	be	AUX
fuelectenerg-2188	280	7	(	(	PUNCT
fuelectenerg-2188	280	8	213	213	NUM
fuelectenerg-2188	280	9	cm	cm	NOUN
fuelectenerg-2188	280	10	,	,	PUNCT
fuelectenerg-2188	280	11	169	169	NUM
fuelectenerg-2188	280	12	cm	cm	NOUN
fuelectenerg-2188	280	13	)	)	PUNCT
fuelectenerg-2188	280	14	and	and	CCONJ
fuelectenerg-2188	280	15	standard	standard	ADJ
fuelectenerg-2188	280	16	deviation	deviation	NOUN
fuelectenerg-2188	280	17	is	be	AUX
fuelectenerg-2188	280	18	0.62	0.62	NUM
fuelectenerg-2188	280	19	,	,	PUNCT
fuelectenerg-2188	280	20	or	or	CCONJ
fuelectenerg-2188	280	21	0.38	0.38	NUM
fuelectenerg-2188	280	22	for	for	ADP
fuelectenerg-2188	280	23	x	x	SYM
fuelectenerg-2188	280	24	axis	axis	NOUN
fuelectenerg-2188	280	25	data	datum	NOUN
fuelectenerg-2188	280	26	and	and	CCONJ
fuelectenerg-2188	280	27	0.49	0.49	NUM
fuelectenerg-2188	280	28	for	for	ADP
fuelectenerg-2188	280	29	y	y	PROPN
fuelectenerg-2188	280	30	axis	axis	PROPN
fuelectenerg-2188	280	31	data	datum	NOUN
fuelectenerg-2188	280	32	.	.	PUNCT
fuelectenerg-2188	281	1	in	in	ADP
fuelectenerg-2188	281	2	general	general	ADJ
fuelectenerg-2188	281	3	,	,	PUNCT
fuelectenerg-2188	281	4	only	only	ADV
fuelectenerg-2188	281	5	0.26	0.26	NUM
fuelectenerg-2188	281	6	%	%	NOUN
fuelectenerg-2188	281	7	,	,	PUNCT
fuelectenerg-2188	281	8	or	or	CCONJ
fuelectenerg-2188	281	9	3	3	NUM
fuelectenerg-2188	281	10	points	point	NOUN
fuelectenerg-2188	281	11	,	,	PUNCT
fuelectenerg-2188	281	12	is	be	AUX
fuelectenerg-2188	281	13	outside	outside	ADP
fuelectenerg-2188	281	14	of	of	ADP
fuelectenerg-2188	281	15	±	±	NUM
fuelectenerg-2188	281	16	1.5	1.5	NUM
fuelectenerg-2188	281	17	cm	cm	NOUN
fuelectenerg-2188	281	18	accuracy	accuracy	NOUN
fuelectenerg-2188	281	19	region	region	NOUN
fuelectenerg-2188	281	20	.	.	PUNCT
fuelectenerg-2188	282	1	these	these	DET
fuelectenerg-2188	282	2	data	datum	NOUN
fuelectenerg-2188	282	3	show	show	VERB
fuelectenerg-2188	282	4	a	a	DET
fuelectenerg-2188	282	5	satisfactory	satisfactory	ADJ
fuelectenerg-2188	282	6	initial	initial	ADJ
fuelectenerg-2188	282	7	accuracy	accuracy	NOUN
fuelectenerg-2188	282	8	of	of	ADP
fuelectenerg-2188	282	9	the	the	DET
fuelectenerg-2188	282	10	method	method	NOUN
fuelectenerg-2188	282	11	.	.	PUNCT
fuelectenerg-2188	283	1	although	although	SCONJ
fuelectenerg-2188	283	2	it	it	PRON
fuelectenerg-2188	283	3	returns	return	VERB
fuelectenerg-2188	283	4	a	a	DET
fuelectenerg-2188	283	5	bit	bit	NOUN
fuelectenerg-2188	283	6	more	more	ADV
fuelectenerg-2188	283	7	scattered	scatter	VERB
fuelectenerg-2188	283	8	location	location	NOUN
fuelectenerg-2188	283	9	than	than	ADP
fuelectenerg-2188	283	10	the	the	DET
fuelectenerg-2188	283	11	camera	camera	NOUN
fuelectenerg-2188	283	12	based	base	VERB
fuelectenerg-2188	283	13	method	method	NOUN
fuelectenerg-2188	283	14	,	,	PUNCT
fuelectenerg-2188	283	15	it	it	PRON
fuelectenerg-2188	283	16	works	work	VERB
fuelectenerg-2188	283	17	faster	fast	ADV
fuelectenerg-2188	283	18	.	.	PUNCT
fuelectenerg-2188	284	1	for	for	ADP
fuelectenerg-2188	284	2	dynamic	dynamic	ADJ
fuelectenerg-2188	284	3	testing	testing	NOUN
fuelectenerg-2188	284	4	of	of	ADP
fuelectenerg-2188	284	5	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	284	6	based	base	VERB
fuelectenerg-2188	284	7	localisation	localisation	NOUN
fuelectenerg-2188	284	8	system	system	NOUN
fuelectenerg-2188	284	9	,	,	PUNCT
fuelectenerg-2188	284	10	we	we	PRON
fuelectenerg-2188	284	11	have	have	AUX
fuelectenerg-2188	284	12	done	do	VERB
fuelectenerg-2188	284	13	the	the	DET
fuelectenerg-2188	284	14	same	same	ADJ
fuelectenerg-2188	284	15	test	test	NOUN
fuelectenerg-2188	284	16	as	as	ADP
fuelectenerg-2188	284	17	with	with	ADP
fuelectenerg-2188	284	18	camera	camera	NOUN
fuelectenerg-2188	284	19	based	base	VERB
fuelectenerg-2188	284	20	localisation	localisation	NOUN
fuelectenerg-2188	284	21	system	system	NOUN
fuelectenerg-2188	284	22	.	.	PUNCT
fuelectenerg-2188	285	1	furthermore	furthermore	ADV
fuelectenerg-2188	285	2	,	,	PUNCT
fuelectenerg-2188	285	3	we	we	PRON
fuelectenerg-2188	285	4	decided	decide	VERB
fuelectenerg-2188	285	5	to	to	PART
fuelectenerg-2188	285	6	do	do	VERB
fuelectenerg-2188	285	7	both	both	DET
fuelectenerg-2188	285	8	tests	test	NOUN
fuelectenerg-2188	285	9	in	in	ADP
fuelectenerg-2188	285	10	parallel	parallel	NOUN
fuelectenerg-2188	285	11	.	.	PUNCT
fuelectenerg-2188	286	1	this	this	PRON
fuelectenerg-2188	286	2	would	would	AUX
fuelectenerg-2188	286	3	make	make	VERB
fuelectenerg-2188	286	4	the	the	DET
fuelectenerg-2188	286	5	comparative	comparative	ADJ
fuelectenerg-2188	286	6	analysis	analysis	NOUN
fuelectenerg-2188	286	7	easier	easy	ADJ
fuelectenerg-2188	286	8	.	.	PUNCT
fuelectenerg-2188	287	1	so	so	ADV
fuelectenerg-2188	287	2	the	the	DET
fuelectenerg-2188	287	3	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	287	4	beacon	beacon	NOUN
fuelectenerg-2188	287	5	was	be	AUX
fuelectenerg-2188	287	6	placed	place	VERB
fuelectenerg-2188	287	7	on	on	ADP
fuelectenerg-2188	287	8	the	the	DET
fuelectenerg-2188	287	9	same	same	ADJ
fuelectenerg-2188	287	10	platform	platform	NOUN
fuelectenerg-2188	287	11	as	as	ADP
fuelectenerg-2188	287	12	the	the	DET
fuelectenerg-2188	287	13	marker	marker	NOUN
fuelectenerg-2188	287	14	.	.	PUNCT
fuelectenerg-2188	288	1	since	since	SCONJ
fuelectenerg-2188	288	2	the	the	DET
fuelectenerg-2188	288	3	platform	platform	NOUN
fuelectenerg-2188	288	4	,	,	PUNCT
fuelectenerg-2188	288	5	which	which	PRON
fuelectenerg-2188	288	6	was	be	AUX
fuelectenerg-2188	288	7	in	in	ADP
fuelectenerg-2188	288	8	the	the	DET
fuelectenerg-2188	288	9	centre	centre	NOUN
fuelectenerg-2188	288	10	of	of	ADP
fuelectenerg-2188	288	11	the	the	DET
fuelectenerg-2188	288	12	test	test	NOUN
fuelectenerg-2188	288	13	room	room	NOUN
fuelectenerg-2188	288	14	,	,	PUNCT
fuelectenerg-2188	288	15	was	be	AUX
fuelectenerg-2188	288	16	making	make	VERB
fuelectenerg-2188	288	17	circular	circular	ADJ
fuelectenerg-2188	288	18	motions	motion	NOUN
fuelectenerg-2188	288	19	,	,	PUNCT
fuelectenerg-2188	288	20	both	both	CCONJ
fuelectenerg-2188	288	21	the	the	DET
fuelectenerg-2188	288	22	marker	marker	NOUN
fuelectenerg-2188	288	23	and	and	CCONJ
fuelectenerg-2188	288	24	the	the	DET
fuelectenerg-2188	288	25	beacon	beacon	NOUN
fuelectenerg-2188	288	26	had	have	VERB
fuelectenerg-2188	288	27	the	the	DET
fuelectenerg-2188	288	28	same	same	ADJ
fuelectenerg-2188	288	29	centre	centre	NOUN
fuelectenerg-2188	288	30	of	of	ADP
fuelectenerg-2188	288	31	rotation	rotation	NOUN
fuelectenerg-2188	288	32	.	.	PUNCT
fuelectenerg-2188	289	1	since	since	SCONJ
fuelectenerg-2188	289	2	the	the	DET
fuelectenerg-2188	289	3	beacon	beacon	NOUN
fuelectenerg-2188	289	4	must	must	AUX
fuelectenerg-2188	289	5	not	not	PART
fuelectenerg-2188	289	6	occlude	occlude	VERB
fuelectenerg-2188	289	7	the	the	DET
fuelectenerg-2188	289	8	marker	marker	NOUN
fuelectenerg-2188	289	9	it	it	PRON
fuelectenerg-2188	289	10	was	be	AUX
fuelectenerg-2188	289	11	placed	place	VERB
fuelectenerg-2188	289	12	as	as	ADV
fuelectenerg-2188	289	13	close	close	ADJ
fuelectenerg-2188	289	14	as	as	ADP
fuelectenerg-2188	289	15	possible	possible	ADJ
fuelectenerg-2188	289	16	to	to	ADP
fuelectenerg-2188	289	17	it	it	PRON
fuelectenerg-2188	289	18	.	.	PUNCT
fuelectenerg-2188	290	1	nevertheless	nevertheless	ADV
fuelectenerg-2188	290	2	,	,	PUNCT
fuelectenerg-2188	290	3	there	there	PRON
fuelectenerg-2188	290	4	still	still	ADV
fuelectenerg-2188	290	5	existed	exist	VERB
fuelectenerg-2188	290	6	a	a	DET
fuelectenerg-2188	290	7	slight	slight	ADJ
fuelectenerg-2188	290	8	difference	difference	NOUN
fuelectenerg-2188	290	9	of	of	ADP
fuelectenerg-2188	290	10	almost	almost	ADV
fuelectenerg-2188	290	11	3	3	NUM
fuelectenerg-2188	290	12	cm	cm	NOUN
fuelectenerg-2188	290	13	,	,	PUNCT
fuelectenerg-2188	290	14	in	in	ADP
fuelectenerg-2188	290	15	their	their	PRON
fuelectenerg-2188	290	16	radiuses	radius	NOUN
fuelectenerg-2188	290	17	.	.	PUNCT
fuelectenerg-2188	291	1	the	the	DET
fuelectenerg-2188	291	2	414	414	NUM
fuelectenerg-2188	291	3	m.	m.	NOUN
fuelectenerg-2188	291	4	petković	petković	NOUN
fuelectenerg-2188	291	5	,	,	PUNCT
fuelectenerg-2188	291	6	v.	v.	ADP
fuelectenerg-2188	291	7	sibinović	sibinović	PROPN
fuelectenerg-2188	291	8	,	,	PUNCT
fuelectenerg-2188	291	9	d.	d.	PROPN
fuelectenerg-2188	291	10	popović	popović	PROPN
fuelectenerg-2188	291	11	,	,	PUNCT
fuelectenerg-2188	291	12	v.	v.	CCONJ
fuelectenerg-2188	291	13	mitić	mitić	NOUN
fuelectenerg-2188	291	14	,	,	PUNCT
fuelectenerg-2188	291	15	d.	d.	PROPN
fuelectenerg-2188	291	16	todorović	todorović	PROPN
fuelectenerg-2188	291	17	,	,	PUNCT
fuelectenerg-2188	291	18	g.	g.	PROPN
fuelectenerg-2188	291	19	s.	s.	PROPN
fuelectenerg-2188	291	20	đorđević	đorđević	PROPN
fuelectenerg-2188	291	21	initial	initial	ADJ
fuelectenerg-2188	291	22	trajectory	trajectory	NOUN
fuelectenerg-2188	291	23	analysis	analysis	NOUN
fuelectenerg-2188	291	24	confirmed	confirm	VERB
fuelectenerg-2188	291	25	a	a	DET
fuelectenerg-2188	291	26	slightly	slightly	ADV
fuelectenerg-2188	291	27	lower	low	ADJ
fuelectenerg-2188	291	28	localisation	localisation	NOUN
fuelectenerg-2188	291	29	accuracy	accuracy	NOUN
fuelectenerg-2188	291	30	of	of	ADP
fuelectenerg-2188	291	31	this	this	DET
fuelectenerg-2188	291	32	system	system	NOUN
fuelectenerg-2188	291	33	compared	compare	VERB
fuelectenerg-2188	291	34	to	to	ADP
fuelectenerg-2188	291	35	the	the	DET
fuelectenerg-2188	291	36	camera	camera	NOUN
fuelectenerg-2188	291	37	based	base	VERB
fuelectenerg-2188	291	38	one	one	NUM
fuelectenerg-2188	291	39	.	.	PUNCT
fuelectenerg-2188	292	1	therefore	therefore	ADV
fuelectenerg-2188	292	2	,	,	PUNCT
fuelectenerg-2188	292	3	we	we	PRON
fuelectenerg-2188	292	4	decided	decide	VERB
fuelectenerg-2188	292	5	to	to	PART
fuelectenerg-2188	292	6	use	use	VERB
fuelectenerg-2188	292	7	the	the	DET
fuelectenerg-2188	292	8	centre	centre	NOUN
fuelectenerg-2188	292	9	of	of	ADP
fuelectenerg-2188	292	10	rotation	rotation	NOUN
fuelectenerg-2188	292	11	(	(	PUNCT
fuelectenerg-2188	292	12	x0	x0	PROPN
fuelectenerg-2188	292	13	,	,	PUNCT
fuelectenerg-2188	292	14	y0	y0	PROPN
fuelectenerg-2188	292	15	)	)	PUNCT
fuelectenerg-2188	292	16	calculated	calculate	VERB
fuelectenerg-2188	292	17	from	from	ADP
fuelectenerg-2188	292	18	the	the	DET
fuelectenerg-2188	292	19	camera	camera	NOUN
fuelectenerg-2188	292	20	based	base	VERB
fuelectenerg-2188	292	21	system	system	NOUN
fuelectenerg-2188	292	22	trajectory	trajectory	NOUN
fuelectenerg-2188	292	23	analysis	analysis	NOUN
fuelectenerg-2188	292	24	,	,	PUNCT
fuelectenerg-2188	292	25	as	as	ADV
fuelectenerg-2188	292	26	well	well	ADV
fuelectenerg-2188	292	27	as	as	ADP
fuelectenerg-2188	292	28	speed	speed	NOUN
fuelectenerg-2188	292	29	values	value	NOUN
fuelectenerg-2188	292	30	(	(	PUNCT
fuelectenerg-2188	292	31	vx	vx	NOUN
fuelectenerg-2188	292	32	,	,	PUNCT
fuelectenerg-2188	292	33	vy	vy	NOUN
fuelectenerg-2188	292	34	)	)	PUNCT
fuelectenerg-2188	292	35	,	,	PUNCT
fuelectenerg-2188	292	36	and	and	CCONJ
fuelectenerg-2188	292	37	repeat	repeat	VERB
fuelectenerg-2188	292	38	fitting	fitting	ADJ
fuelectenerg-2188	292	39	process	process	NOUN
fuelectenerg-2188	292	40	with	with	ADP
fuelectenerg-2188	292	41	(	(	PUNCT
fuelectenerg-2188	292	42	2	2	NUM
fuelectenerg-2188	292	43	)	)	PUNCT
fuelectenerg-2188	292	44	.	.	PUNCT
fuelectenerg-2188	293	1	the	the	DET
fuelectenerg-2188	293	2	best	good	ADJ
fuelectenerg-2188	293	3	result	result	NOUN
fuelectenerg-2188	293	4	gave	give	VERB
fuelectenerg-2188	293	5	r	r	NOUN
fuelectenerg-2188	293	6	of	of	ADP
fuelectenerg-2188	293	7	44.8	44.8	NUM
fuelectenerg-2188	293	8	cm	cm	NOUN
fuelectenerg-2188	293	9	,	,	PUNCT
fuelectenerg-2188	293	10	an	an	DET
fuelectenerg-2188	293	11	average	average	ADJ
fuelectenerg-2188	293	12	error	error	NOUN
fuelectenerg-2188	293	13	of	of	ADP
fuelectenerg-2188	293	14	-3e-14	-3e-14	NUM
fuelectenerg-2188	293	15	,	,	PUNCT
fuelectenerg-2188	293	16	and	and	CCONJ
fuelectenerg-2188	293	17	a	a	DET
fuelectenerg-2188	293	18	standard	standard	ADJ
fuelectenerg-2188	293	19	deviation	deviation	NOUN
fuelectenerg-2188	293	20	of	of	ADP
fuelectenerg-2188	293	21	7.44	7.44	NUM
fuelectenerg-2188	293	22	cm	cm	NOUN
fuelectenerg-2188	293	23	.	.	PUNCT
fuelectenerg-2188	294	1	this	this	DET
fuelectenerg-2188	294	2	result	result	NOUN
fuelectenerg-2188	294	3	looks	look	VERB
fuelectenerg-2188	294	4	a	a	DET
fuelectenerg-2188	294	5	lot	lot	NOUN
fuelectenerg-2188	294	6	higher	high	ADJ
fuelectenerg-2188	294	7	than	than	ADP
fuelectenerg-2188	294	8	the	the	DET
fuelectenerg-2188	294	9	one	one	NOUN
fuelectenerg-2188	294	10	for	for	ADP
fuelectenerg-2188	294	11	the	the	DET
fuelectenerg-2188	294	12	static	static	ADJ
fuelectenerg-2188	294	13	test	test	NOUN
fuelectenerg-2188	294	14	.	.	PUNCT
fuelectenerg-2188	295	1	this	this	PRON
fuelectenerg-2188	295	2	stems	stem	VERB
fuelectenerg-2188	295	3	from	from	ADP
fuelectenerg-2188	295	4	the	the	DET
fuelectenerg-2188	295	5	poor	poor	ADJ
fuelectenerg-2188	295	6	choice	choice	NOUN
fuelectenerg-2188	295	7	of	of	ADP
fuelectenerg-2188	295	8	rf	rf	NOUN
fuelectenerg-2188	295	9	modules	module	NOUN
fuelectenerg-2188	295	10	for	for	ADP
fuelectenerg-2188	295	11	the	the	DET
fuelectenerg-2188	295	12	system	system	NOUN
fuelectenerg-2188	295	13	.	.	PUNCT
fuelectenerg-2188	296	1	these	these	PRON
fuelectenerg-2188	296	2	are	be	AUX
fuelectenerg-2188	296	3	low	low	ADJ
fuelectenerg-2188	296	4	power	power	NOUN
fuelectenerg-2188	296	5	zigbee	zigbee	NOUN
fuelectenerg-2188	296	6	modules	module	NOUN
fuelectenerg-2188	296	7	.	.	PUNCT
fuelectenerg-2188	297	1	several	several	ADJ
fuelectenerg-2188	297	2	studies	study	NOUN
fuelectenerg-2188	297	3	indicate	indicate	VERB
fuelectenerg-2188	297	4	low	low	ADJ
fuelectenerg-2188	297	5	performance	performance	NOUN
fuelectenerg-2188	297	6	of	of	ADP
fuelectenerg-2188	297	7	zigbee	zigbee	NOUN
fuelectenerg-2188	297	8	communication	communication	NOUN
fuelectenerg-2188	297	9	in	in	ADP
fuelectenerg-2188	297	10	presence	presence	NOUN
fuelectenerg-2188	297	11	of	of	ADP
fuelectenerg-2188	297	12	wi	wi	PROPN
fuelectenerg-2188	297	13	-	-	PUNCT
fuelectenerg-2188	297	14	fi	fi	NOUN
fuelectenerg-2188	297	15	signals	signal	NOUN
fuelectenerg-2188	297	16	.	.	PUNCT
fuelectenerg-2188	298	1	this	this	PRON
fuelectenerg-2188	298	2	is	be	AUX
fuelectenerg-2188	298	3	nicely	nicely	ADV
fuelectenerg-2188	298	4	summarised	summarise	VERB
fuelectenerg-2188	298	5	in	in	ADP
fuelectenerg-2188	298	6	[	[	X
fuelectenerg-2188	298	7	12	12	NUM
fuelectenerg-2188	298	8	]	]	PUNCT
fuelectenerg-2188	298	9	.	.	PUNCT
fuelectenerg-2188	299	1	there	there	ADV
fuelectenerg-2188	299	2	it	it	PRON
fuelectenerg-2188	299	3	is	be	AUX
fuelectenerg-2188	299	4	clearly	clearly	ADV
fuelectenerg-2188	299	5	stated	state	VERB
fuelectenerg-2188	299	6	that	that	SCONJ
fuelectenerg-2188	299	7	wi	wi	PROPN
fuelectenerg-2188	299	8	-	-	PUNCT
fuelectenerg-2188	299	9	fi	fi	NOUN
fuelectenerg-2188	299	10	signal	signal	NOUN
fuelectenerg-2188	299	11	can	can	AUX
fuelectenerg-2188	299	12	corrupt	corrupt	VERB
fuelectenerg-2188	299	13	zigbee	zigbee	PROPN
fuelectenerg-2188	299	14	signal	signal	PROPN
fuelectenerg-2188	299	15	on	on	ADP
fuelectenerg-2188	299	16	bit	bit	NOUN
fuelectenerg-2188	299	17	level	level	NOUN
fuelectenerg-2188	299	18	or	or	CCONJ
fuelectenerg-2188	299	19	cause	cause	VERB
fuelectenerg-2188	299	20	drastic	drastic	ADJ
fuelectenerg-2188	299	21	increase	increase	NOUN
fuelectenerg-2188	299	22	in	in	ADP
fuelectenerg-2188	299	23	retransmission	retransmission	NOUN
fuelectenerg-2188	299	24	.	.	PUNCT
fuelectenerg-2188	300	1	since	since	SCONJ
fuelectenerg-2188	300	2	our	our	PRON
fuelectenerg-2188	300	3	setup	setup	NOUN
fuelectenerg-2188	300	4	room	room	NOUN
fuelectenerg-2188	300	5	had	have	VERB
fuelectenerg-2188	300	6	one	one	NUM
fuelectenerg-2188	300	7	wi	wi	PROPN
fuelectenerg-2188	300	8	-	-	PUNCT
fuelectenerg-2188	300	9	fi	fi	NOUN
fuelectenerg-2188	300	10	router	router	NOUN
fuelectenerg-2188	300	11	and	and	CCONJ
fuelectenerg-2188	300	12	there	there	PRON
fuelectenerg-2188	300	13	were	be	VERB
fuelectenerg-2188	300	14	plenty	plenty	ADV
fuelectenerg-2188	300	15	more	more	ADV
fuelectenerg-2188	300	16	distributed	distribute	VERB
fuelectenerg-2188	300	17	in	in	ADP
fuelectenerg-2188	300	18	nearby	nearby	ADJ
fuelectenerg-2188	300	19	offices	office	NOUN
fuelectenerg-2188	300	20	,	,	PUNCT
fuelectenerg-2188	300	21	we	we	PRON
fuelectenerg-2188	300	22	have	have	AUX
fuelectenerg-2188	300	23	noticed	notice	VERB
fuelectenerg-2188	300	24	both	both	DET
fuelectenerg-2188	300	25	effects	effect	NOUN
fuelectenerg-2188	300	26	.	.	PUNCT
fuelectenerg-2188	301	1	when	when	SCONJ
fuelectenerg-2188	301	2	we	we	PRON
fuelectenerg-2188	301	3	analysed	analyse	VERB
fuelectenerg-2188	301	4	time	time	NOUN
fuelectenerg-2188	301	5	of	of	ADP
fuelectenerg-2188	301	6	arrival	arrival	NOUN
fuelectenerg-2188	301	7	of	of	ADP
fuelectenerg-2188	301	8	packets	packet	NOUN
fuelectenerg-2188	301	9	from	from	ADP
fuelectenerg-2188	301	10	single	single	ADJ
fuelectenerg-2188	301	11	wall	wall	NOUN
fuelectenerg-2188	301	12	device	device	NOUN
fuelectenerg-2188	301	13	we	we	PRON
fuelectenerg-2188	301	14	discovered	discover	VERB
fuelectenerg-2188	301	15	that	that	SCONJ
fuelectenerg-2188	301	16	latency	latency	NOUN
fuelectenerg-2188	301	17	between	between	ADP
fuelectenerg-2188	301	18	packets	packet	NOUN
fuelectenerg-2188	301	19	is	be	AUX
fuelectenerg-2188	301	20	quite	quite	ADV
fuelectenerg-2188	301	21	drastic	drastic	ADJ
fuelectenerg-2188	301	22	.	.	PUNCT
fuelectenerg-2188	302	1	instead	instead	ADV
fuelectenerg-2188	302	2	of	of	ADP
fuelectenerg-2188	302	3	having	have	VERB
fuelectenerg-2188	302	4	packets	packet	NOUN
fuelectenerg-2188	302	5	at	at	ADP
fuelectenerg-2188	302	6	regular	regular	ADJ
fuelectenerg-2188	302	7	beacon	beacon	NOUN
fuelectenerg-2188	302	8	firing	firing	NOUN
fuelectenerg-2188	302	9	intervals	interval	NOUN
fuelectenerg-2188	302	10	of	of	ADP
fuelectenerg-2188	302	11	150	150	NUM
fuelectenerg-2188	302	12	ms	ms	NOUN
fuelectenerg-2188	302	13	,	,	PUNCT
fuelectenerg-2188	302	14	plus	plus	CCONJ
fuelectenerg-2188	302	15	or	or	CCONJ
fuelectenerg-2188	302	16	minus	minus	NUM
fuelectenerg-2188	302	17	time	time	NOUN
fuelectenerg-2188	302	18	of	of	ADP
fuelectenerg-2188	302	19	flight	flight	NOUN
fuelectenerg-2188	302	20	of	of	ADP
fuelectenerg-2188	302	21	ultrasound	ultrasound	NOUN
fuelectenerg-2188	302	22	up	up	ADP
fuelectenerg-2188	302	23	to	to	PART
fuelectenerg-2188	302	24	5	5	NUM
fuelectenerg-2188	302	25	m	m	NOUN
fuelectenerg-2188	302	26	,	,	PUNCT
fuelectenerg-2188	302	27	there	there	PRON
fuelectenerg-2188	302	28	were	be	VERB
fuelectenerg-2188	302	29	packet	packet	ADJ
fuelectenerg-2188	302	30	buffering	buffering	NOUN
fuelectenerg-2188	302	31	where	where	SCONJ
fuelectenerg-2188	302	32	packets	packet	NOUN
fuelectenerg-2188	302	33	came	come	VERB
fuelectenerg-2188	302	34	with	with	ADP
fuelectenerg-2188	302	35	less	less	ADJ
fuelectenerg-2188	302	36	than	than	ADP
fuelectenerg-2188	302	37	30	30	NUM
fuelectenerg-2188	302	38	ms	ms	NOUN
fuelectenerg-2188	302	39	difference	difference	NOUN
fuelectenerg-2188	302	40	.	.	PUNCT
fuelectenerg-2188	303	1	since	since	SCONJ
fuelectenerg-2188	303	2	packets	packet	NOUN
fuelectenerg-2188	303	3	with	with	ADP
fuelectenerg-2188	303	4	distance	distance	NOUN
fuelectenerg-2188	303	5	information	information	NOUN
fuelectenerg-2188	303	6	were	be	AUX
fuelectenerg-2188	303	7	not	not	PART
fuelectenerg-2188	303	8	time	time	NOUN
fuelectenerg-2188	303	9	stamped	stamp	VERB
fuelectenerg-2188	303	10	at	at	ADP
fuelectenerg-2188	303	11	transmitter	transmitter	NOUN
fuelectenerg-2188	303	12	side	side	NOUN
fuelectenerg-2188	303	13	,	,	PUNCT
fuelectenerg-2188	303	14	it	it	PRON
fuelectenerg-2188	303	15	was	be	AUX
fuelectenerg-2188	303	16	impossible	impossible	ADJ
fuelectenerg-2188	303	17	to	to	PART
fuelectenerg-2188	303	18	determine	determine	VERB
fuelectenerg-2188	303	19	whether	whether	SCONJ
fuelectenerg-2188	303	20	the	the	DET
fuelectenerg-2188	303	21	wall	wall	NOUN
fuelectenerg-2188	303	22	device	device	NOUN
fuelectenerg-2188	303	23	failed	fail	VERB
fuelectenerg-2188	303	24	to	to	PART
fuelectenerg-2188	303	25	transmit	transmit	VERB
fuelectenerg-2188	303	26	after	after	ADP
fuelectenerg-2188	303	27	one	one	NUM
fuelectenerg-2188	303	28	beacon	beacon	NOUN
fuelectenerg-2188	303	29	firing	firing	NOUN
fuelectenerg-2188	303	30	or	or	CCONJ
fuelectenerg-2188	303	31	the	the	DET
fuelectenerg-2188	303	32	measured	measure	VERB
fuelectenerg-2188	303	33	distance	distance	NOUN
fuelectenerg-2188	303	34	information	information	NOUN
fuelectenerg-2188	303	35	came	come	VERB
fuelectenerg-2188	303	36	after	after	ADP
fuelectenerg-2188	303	37	the	the	DET
fuelectenerg-2188	303	38	following	follow	VERB
fuelectenerg-2188	303	39	beacon	beacon	NOUN
fuelectenerg-2188	303	40	firing	firing	NOUN
fuelectenerg-2188	303	41	.	.	PUNCT
fuelectenerg-2188	304	1	in	in	ADP
fuelectenerg-2188	304	2	such	such	ADJ
fuelectenerg-2188	304	3	cases	case	NOUN
fuelectenerg-2188	304	4	mixing	mix	VERB
fuelectenerg-2188	304	5	of	of	ADP
fuelectenerg-2188	304	6	data	datum	NOUN
fuelectenerg-2188	304	7	occurred	occur	VERB
fuelectenerg-2188	304	8	.	.	PUNCT
fuelectenerg-2188	305	1	it	it	PRON
fuelectenerg-2188	305	2	could	could	AUX
fuelectenerg-2188	305	3	be	be	AUX
fuelectenerg-2188	305	4	otherwise	otherwise	ADV
fuelectenerg-2188	305	5	interpreted	interpret	VERB
fuelectenerg-2188	305	6	like	like	ADP
fuelectenerg-2188	305	7	higher	high	ADJ
fuelectenerg-2188	305	8	inaccuracy	inaccuracy	NOUN
fuelectenerg-2188	305	9	in	in	ADP
fuelectenerg-2188	305	10	distance	distance	NOUN
fuelectenerg-2188	305	11	measurement	measurement	NOUN
fuelectenerg-2188	305	12	,	,	PUNCT
fuelectenerg-2188	305	13	which	which	PRON
fuelectenerg-2188	305	14	leads	lead	VERB
fuelectenerg-2188	305	15	to	to	ADP
fuelectenerg-2188	305	16	higher	high	ADJ
fuelectenerg-2188	305	17	localisation	localisation	NOUN
fuelectenerg-2188	305	18	error	error	NOUN
fuelectenerg-2188	305	19	.	.	PUNCT
fuelectenerg-2188	306	1	at	at	ADP
fuelectenerg-2188	306	2	some	some	DET
fuelectenerg-2188	306	3	rare	rare	ADJ
fuelectenerg-2188	306	4	moments	moment	NOUN
fuelectenerg-2188	306	5	,	,	PUNCT
fuelectenerg-2188	306	6	packets	packet	NOUN
fuelectenerg-2188	306	7	from	from	ADP
fuelectenerg-2188	306	8	unknown	unknown	ADJ
fuelectenerg-2188	306	9	wall	wall	PROPN
fuelectenerg-2188	306	10	unit	unit	PROPN
fuelectenerg-2188	306	11	address	address	NOUN
fuelectenerg-2188	306	12	were	be	AUX
fuelectenerg-2188	306	13	received	receive	VERB
fuelectenerg-2188	306	14	,	,	PUNCT
fuelectenerg-2188	306	15	which	which	PRON
fuelectenerg-2188	306	16	we	we	PRON
fuelectenerg-2188	306	17	interpret	interpret	VERB
fuelectenerg-2188	306	18	like	like	ADP
fuelectenerg-2188	306	19	obvious	obvious	ADJ
fuelectenerg-2188	306	20	pollution	pollution	NOUN
fuelectenerg-2188	306	21	of	of	ADP
fuelectenerg-2188	306	22	data	datum	NOUN
fuelectenerg-2188	306	23	.	.	PUNCT
fuelectenerg-2188	307	1	it	it	PRON
fuelectenerg-2188	307	2	is	be	AUX
fuelectenerg-2188	307	3	quite	quite	ADV
fuelectenerg-2188	307	4	possible	possible	ADJ
fuelectenerg-2188	307	5	that	that	SCONJ
fuelectenerg-2188	307	6	lower	low	ADJ
fuelectenerg-2188	307	7	performance	performance	NOUN
fuelectenerg-2188	307	8	of	of	ADP
fuelectenerg-2188	307	9	zigbee	zigbee	NOUN
fuelectenerg-2188	307	10	modules	module	NOUN
fuelectenerg-2188	307	11	is	be	AUX
fuelectenerg-2188	307	12	even	even	ADV
fuelectenerg-2188	307	13	due	due	ADJ
fuelectenerg-2188	307	14	to	to	ADP
fuelectenerg-2188	307	15	its	its	PRON
fuelectenerg-2188	307	16	quality	quality	NOUN
fuelectenerg-2188	307	17	,	,	PUNCT
fuelectenerg-2188	307	18	since	since	SCONJ
fuelectenerg-2188	307	19	they	they	PRON
fuelectenerg-2188	307	20	were	be	AUX
fuelectenerg-2188	307	21	one	one	NUM
fuelectenerg-2188	307	22	of	of	ADP
fuelectenerg-2188	307	23	the	the	DET
fuelectenerg-2188	307	24	cheapest	cheap	ADJ
fuelectenerg-2188	307	25	on	on	ADP
fuelectenerg-2188	307	26	the	the	DET
fuelectenerg-2188	307	27	market	market	NOUN
fuelectenerg-2188	307	28	.	.	PUNCT
fuelectenerg-2188	308	1	fig	fig	NOUN
fuelectenerg-2188	308	2	.	.	PUNCT
fuelectenerg-2188	309	1	7	7	NUM
fuelectenerg-2188	309	2	histogram	histogram	NOUN
fuelectenerg-2188	309	3	of	of	ADP
fuelectenerg-2188	309	4	1172	1172	NUM
fuelectenerg-2188	309	5	measurements	measurement	NOUN
fuelectenerg-2188	309	6	at	at	ADP
fuelectenerg-2188	309	7	single	single	ADJ
fuelectenerg-2188	309	8	beacon	beacon	NOUN
fuelectenerg-2188	309	9	pint	pint	NOUN
fuelectenerg-2188	309	10	.	.	PUNCT
fuelectenerg-2188	310	1	most	most	ADV
fuelectenerg-2188	310	2	often	often	ADV
fuelectenerg-2188	310	3	measured	measure	VERB
fuelectenerg-2188	310	4	position	position	NOUN
fuelectenerg-2188	310	5	is	be	AUX
fuelectenerg-2188	310	6	(	(	PUNCT
fuelectenerg-2188	310	7	213	213	NUM
fuelectenerg-2188	310	8	,	,	PUNCT
fuelectenerg-2188	310	9	169	169	NUM
fuelectenerg-2188	310	10	)	)	PUNCT
fuelectenerg-2188	310	11	cm	cm	NOUN
fuelectenerg-2188	310	12	.	.	PUNCT
fuelectenerg-2188	311	1	analasys	analasy	NOUN
fuelectenerg-2188	311	2	of	of	ADP
fuelectenerg-2188	311	3	two	two	NUM
fuelectenerg-2188	311	4	low	low	ADJ
fuelectenerg-2188	311	5	-	-	PUNCT
fuelectenerg-2188	311	6	cost	cost	NOUN
fuelectenerg-2188	311	7	and	and	CCONJ
fuelectenerg-2188	311	8	robust	robust	ADJ
fuelectenerg-2188	311	9	methods	method	NOUN
fuelectenerg-2188	311	10	for	for	ADP
fuelectenerg-2188	311	11	indoor	indoor	ADJ
fuelectenerg-2188	311	12	localisation	localisation	NOUN
fuelectenerg-2188	311	13	of	of	ADP
fuelectenerg-2188	311	14	mobile	mobile	ADJ
fuelectenerg-2188	311	15	robots	robot	NOUN
fuelectenerg-2188	311	16	415	415	NUM
fuelectenerg-2188	311	17	problems	problem	NOUN
fuelectenerg-2188	311	18	associated	associate	VERB
fuelectenerg-2188	311	19	with	with	ADP
fuelectenerg-2188	311	20	zigbee	zigbee	NOUN
fuelectenerg-2188	311	21	modules	module	NOUN
fuelectenerg-2188	311	22	could	could	AUX
fuelectenerg-2188	311	23	perhaps	perhaps	ADV
fuelectenerg-2188	311	24	be	be	AUX
fuelectenerg-2188	311	25	overcome	overcome	VERB
fuelectenerg-2188	311	26	by	by	ADP
fuelectenerg-2188	311	27	using	use	VERB
fuelectenerg-2188	311	28	better	well	ADJ
fuelectenerg-2188	311	29	and	and	CCONJ
fuelectenerg-2188	311	30	more	more	ADV
fuelectenerg-2188	311	31	reliable	reliable	ADJ
fuelectenerg-2188	311	32	modules	module	NOUN
fuelectenerg-2188	311	33	,	,	PUNCT
fuelectenerg-2188	311	34	and	and	CCONJ
fuelectenerg-2188	311	35	by	by	ADP
fuelectenerg-2188	311	36	implementation	implementation	NOUN
fuelectenerg-2188	311	37	of	of	ADP
fuelectenerg-2188	311	38	some	some	DET
fuelectenerg-2188	311	39	better	well	ADJ
fuelectenerg-2188	311	40	protocol	protocol	NOUN
fuelectenerg-2188	311	41	for	for	ADP
fuelectenerg-2188	311	42	sending	send	VERB
fuelectenerg-2188	311	43	data	datum	NOUN
fuelectenerg-2188	311	44	over	over	ADP
fuelectenerg-2188	311	45	zigbee	zigbee	PROPN
fuelectenerg-2188	311	46	as	as	SCONJ
fuelectenerg-2188	311	47	suggested	suggest	VERB
fuelectenerg-2188	311	48	in	in	ADP
fuelectenerg-2188	311	49	[	[	X
fuelectenerg-2188	311	50	12	12	NUM
fuelectenerg-2188	311	51	]	]	PUNCT
fuelectenerg-2188	311	52	.	.	PUNCT
fuelectenerg-2188	312	1	another	another	DET
fuelectenerg-2188	312	2	solution	solution	NOUN
fuelectenerg-2188	312	3	could	could	AUX
fuelectenerg-2188	312	4	be	be	AUX
fuelectenerg-2188	312	5	using	use	VERB
fuelectenerg-2188	312	6	modules	module	NOUN
fuelectenerg-2188	312	7	that	that	PRON
fuelectenerg-2188	312	8	avoid	avoid	VERB
fuelectenerg-2188	312	9	overcrowded	overcrowded	ADJ
fuelectenerg-2188	312	10	2.4	2.4	NUM
fuelectenerg-2188	312	11	ghz	ghz	NOUN
fuelectenerg-2188	312	12	region	region	NOUN
fuelectenerg-2188	312	13	at	at	ADV
fuelectenerg-2188	312	14	all	all	ADV
fuelectenerg-2188	312	15	.	.	PUNCT
fuelectenerg-2188	313	1	since	since	SCONJ
fuelectenerg-2188	313	2	we	we	PRON
fuelectenerg-2188	313	3	had	have	AUX
fuelectenerg-2188	313	4	already	already	ADV
fuelectenerg-2188	313	5	identified	identify	VERB
fuelectenerg-2188	313	6	the	the	DET
fuelectenerg-2188	313	7	problematic	problematic	ADJ
fuelectenerg-2188	313	8	latency	latency	NOUN
fuelectenerg-2188	313	9	in	in	ADP
fuelectenerg-2188	313	10	our	our	PRON
fuelectenerg-2188	313	11	system	system	NOUN
fuelectenerg-2188	313	12	,	,	PUNCT
fuelectenerg-2188	313	13	we	we	PRON
fuelectenerg-2188	313	14	skipped	skip	VERB
fuelectenerg-2188	313	15	the	the	DET
fuelectenerg-2188	313	16	second	second	ADJ
fuelectenerg-2188	313	17	part	part	NOUN
fuelectenerg-2188	313	18	of	of	ADP
fuelectenerg-2188	313	19	trajectory	trajectory	ADJ
fuelectenerg-2188	313	20	accuracy	accuracy	NOUN
fuelectenerg-2188	313	21	analysis	analysis	NOUN
fuelectenerg-2188	313	22	that	that	PRON
fuelectenerg-2188	313	23	we	we	PRON
fuelectenerg-2188	313	24	did	do	VERB
fuelectenerg-2188	313	25	with	with	ADP
fuelectenerg-2188	313	26	the	the	DET
fuelectenerg-2188	313	27	camera	camera	NOUN
fuelectenerg-2188	313	28	based	base	VERB
fuelectenerg-2188	313	29	system	system	NOUN
fuelectenerg-2188	313	30	.	.	PUNCT
fuelectenerg-2188	314	1	simply	simply	ADV
fuelectenerg-2188	314	2	,	,	PUNCT
fuelectenerg-2188	314	3	it	it	PRON
fuelectenerg-2188	314	4	would	would	AUX
fuelectenerg-2188	314	5	not	not	PART
fuelectenerg-2188	314	6	add	add	VERB
fuelectenerg-2188	314	7	any	any	DET
fuelectenerg-2188	314	8	value	value	NOUN
fuelectenerg-2188	314	9	to	to	ADP
fuelectenerg-2188	314	10	the	the	DET
fuelectenerg-2188	314	11	results	result	NOUN
fuelectenerg-2188	314	12	.	.	PUNCT
fuelectenerg-2188	315	1	4	4	X
fuelectenerg-2188	315	2	.	.	X
fuelectenerg-2188	315	3	conclusion	conclusion	NOUN
fuelectenerg-2188	315	4	we	we	PRON
fuelectenerg-2188	315	5	have	have	AUX
fuelectenerg-2188	315	6	implemented	implement	VERB
fuelectenerg-2188	315	7	two	two	NUM
fuelectenerg-2188	315	8	methods	method	NOUN
fuelectenerg-2188	315	9	for	for	ADP
fuelectenerg-2188	315	10	indoor	indoor	ADJ
fuelectenerg-2188	315	11	localisation	localisation	NOUN
fuelectenerg-2188	315	12	,	,	PUNCT
fuelectenerg-2188	315	13	and	and	CCONJ
fuelectenerg-2188	315	14	tested	test	VERB
fuelectenerg-2188	315	15	them	they	PRON
fuelectenerg-2188	315	16	against	against	ADP
fuelectenerg-2188	315	17	each	each	DET
fuelectenerg-2188	315	18	other	other	ADJ
fuelectenerg-2188	315	19	under	under	ADP
fuelectenerg-2188	315	20	identical	identical	ADJ
fuelectenerg-2188	315	21	conditions	condition	NOUN
fuelectenerg-2188	315	22	in	in	ADP
fuelectenerg-2188	315	23	our	our	PRON
fuelectenerg-2188	315	24	testing	testing	NOUN
fuelectenerg-2188	315	25	facility	facility	NOUN
fuelectenerg-2188	315	26	.	.	PUNCT
fuelectenerg-2188	316	1	after	after	ADP
fuelectenerg-2188	316	2	initial	initial	ADJ
fuelectenerg-2188	316	3	static	static	ADJ
fuelectenerg-2188	316	4	testing	testing	NOUN
fuelectenerg-2188	316	5	and	and	CCONJ
fuelectenerg-2188	316	6	validation	validation	NOUN
fuelectenerg-2188	316	7	of	of	ADP
fuelectenerg-2188	316	8	systems	system	NOUN
fuelectenerg-2188	316	9	accuracy	accuracy	NOUN
fuelectenerg-2188	316	10	,	,	PUNCT
fuelectenerg-2188	316	11	with	with	ADP
fuelectenerg-2188	316	12	laser	laser	NOUN
fuelectenerg-2188	316	13	range	range	NOUN
fuelectenerg-2188	316	14	finder	finder	NOUN
fuelectenerg-2188	316	15	,	,	PUNCT
fuelectenerg-2188	316	16	we	we	PRON
fuelectenerg-2188	316	17	have	have	AUX
fuelectenerg-2188	316	18	determined	determine	VERB
fuelectenerg-2188	316	19	that	that	SCONJ
fuelectenerg-2188	316	20	the	the	DET
fuelectenerg-2188	316	21	first	first	ADJ
fuelectenerg-2188	316	22	method	method	NOUN
fuelectenerg-2188	316	23	,	,	PUNCT
fuelectenerg-2188	316	24	the	the	DET
fuelectenerg-2188	316	25	camera	camera	NOUN
fuelectenerg-2188	316	26	-	-	PUNCT
fuelectenerg-2188	316	27	based	base	VERB
fuelectenerg-2188	316	28	one	one	NOUN
fuelectenerg-2188	316	29	,	,	PUNCT
fuelectenerg-2188	316	30	has	have	VERB
fuelectenerg-2188	316	31	better	well	ADJ
fuelectenerg-2188	316	32	accuracy	accuracy	NOUN
fuelectenerg-2188	316	33	.	.	PUNCT
fuelectenerg-2188	317	1	although	although	SCONJ
fuelectenerg-2188	317	2	it	it	PRON
fuelectenerg-2188	317	3	has	have	VERB
fuelectenerg-2188	317	4	half	half	NOUN
fuelectenerg-2188	317	5	of	of	ADP
fuelectenerg-2188	317	6	localisation	localisation	NOUN
fuelectenerg-2188	317	7	speed	speed	NOUN
fuelectenerg-2188	317	8	than	than	ADP
fuelectenerg-2188	317	9	the	the	DET
fuelectenerg-2188	317	10	time	time	NOUN
fuelectenerg-2188	317	11	-	-	PUNCT
fuelectenerg-2188	317	12	of	of	ADP
fuelectenerg-2188	317	13	-	-	PUNCT
fuelectenerg-2188	317	14	flight	flight	NOUN
fuelectenerg-2188	317	15	method	method	NOUN
fuelectenerg-2188	317	16	,	,	PUNCT
fuelectenerg-2188	317	17	we	we	PRON
fuelectenerg-2188	317	18	have	have	AUX
fuelectenerg-2188	317	19	decided	decide	VERB
fuelectenerg-2188	317	20	to	to	PART
fuelectenerg-2188	317	21	use	use	VERB
fuelectenerg-2188	317	22	it	it	PRON
fuelectenerg-2188	317	23	as	as	ADP
fuelectenerg-2188	317	24	referent	referent	NOUN
fuelectenerg-2188	317	25	system	system	NOUN
fuelectenerg-2188	317	26	during	during	ADP
fuelectenerg-2188	317	27	dynamic	dynamic	ADJ
fuelectenerg-2188	317	28	testing	testing	NOUN
fuelectenerg-2188	317	29	.	.	PUNCT
fuelectenerg-2188	318	1	since	since	SCONJ
fuelectenerg-2188	318	2	mobile	mobile	ADJ
fuelectenerg-2188	318	3	service	service	NOUN
fuelectenerg-2188	318	4	robots	robot	NOUN
fuelectenerg-2188	318	5	have	have	VERB
fuelectenerg-2188	318	6	moderate	moderate	ADJ
fuelectenerg-2188	318	7	speeds	speed	NOUN
fuelectenerg-2188	318	8	,	,	PUNCT
fuelectenerg-2188	318	9	then	then	ADV
fuelectenerg-2188	318	10	the	the	DET
fuelectenerg-2188	318	11	localisation	localisation	NOUN
fuelectenerg-2188	318	12	rate	rate	NOUN
fuelectenerg-2188	318	13	of	of	ADP
fuelectenerg-2188	318	14	visually	visually	ADV
fuelectenerg-2188	318	15	based	base	VERB
fuelectenerg-2188	318	16	system	system	NOUN
fuelectenerg-2188	318	17	is	be	AUX
fuelectenerg-2188	318	18	quite	quite	ADV
fuelectenerg-2188	318	19	adequate	adequate	ADJ
fuelectenerg-2188	318	20	.	.	PUNCT
fuelectenerg-2188	319	1	dynamic	dynamic	ADJ
fuelectenerg-2188	319	2	test	test	NOUN
fuelectenerg-2188	319	3	showed	show	VERB
fuelectenerg-2188	319	4	that	that	SCONJ
fuelectenerg-2188	319	5	ultrasonic	ultrasonic	ADJ
fuelectenerg-2188	319	6	based	base	VERB
fuelectenerg-2188	319	7	localisation	localisation	NOUN
fuelectenerg-2188	319	8	system	system	NOUN
fuelectenerg-2188	319	9	has	have	VERB
fuelectenerg-2188	319	10	lower	low	ADJ
fuelectenerg-2188	319	11	accuracy	accuracy	NOUN
fuelectenerg-2188	319	12	and	and	CCONJ
fuelectenerg-2188	319	13	success	success	NOUN
fuelectenerg-2188	319	14	rate	rate	NOUN
fuelectenerg-2188	319	15	of	of	ADP
fuelectenerg-2188	319	16	measurement	measurement	NOUN
fuelectenerg-2188	319	17	,	,	PUNCT
fuelectenerg-2188	319	18	due	due	ADP
fuelectenerg-2188	319	19	to	to	ADP
fuelectenerg-2188	319	20	zigbee	zigbee	PROPN
fuelectenerg-2188	319	21	modules	module	NOUN
fuelectenerg-2188	319	22	communication	communication	NOUN
fuelectenerg-2188	319	23	glitches	glitch	NOUN
fuelectenerg-2188	319	24	that	that	PRON
fuelectenerg-2188	319	25	require	require	VERB
fuelectenerg-2188	319	26	additional	additional	ADJ
fuelectenerg-2188	319	27	attention	attention	NOUN
fuelectenerg-2188	319	28	and	and	CCONJ
fuelectenerg-2188	319	29	improvements	improvement	NOUN
fuelectenerg-2188	319	30	.	.	PUNCT
fuelectenerg-2188	320	1	on	on	ADP
fuelectenerg-2188	320	2	the	the	DET
fuelectenerg-2188	320	3	other	other	ADJ
fuelectenerg-2188	320	4	hand	hand	NOUN
fuelectenerg-2188	320	5	,	,	PUNCT
fuelectenerg-2188	320	6	the	the	DET
fuelectenerg-2188	320	7	first	first	ADJ
fuelectenerg-2188	320	8	method	method	NOUN
fuelectenerg-2188	320	9	has	have	VERB
fuelectenerg-2188	320	10	its	its	PRON
fuelectenerg-2188	320	11	own	own	ADJ
fuelectenerg-2188	320	12	pitfalls	pitfall	NOUN
fuelectenerg-2188	320	13	.	.	PUNCT
fuelectenerg-2188	321	1	it	it	PRON
fuelectenerg-2188	321	2	is	be	AUX
fuelectenerg-2188	321	3	,	,	PUNCT
fuelectenerg-2188	321	4	foremost	foremost	ADV
fuelectenerg-2188	321	5	,	,	PUNCT
fuelectenerg-2188	321	6	sensitivity	sensitivity	NOUN
fuelectenerg-2188	321	7	to	to	ADP
fuelectenerg-2188	321	8	changes	change	NOUN
fuelectenerg-2188	321	9	in	in	ADP
fuelectenerg-2188	321	10	lighting	lighting	NOUN
fuelectenerg-2188	321	11	condition	condition	NOUN
fuelectenerg-2188	321	12	.	.	PUNCT
fuelectenerg-2188	322	1	it	it	PRON
fuelectenerg-2188	322	2	also	also	ADV
fuelectenerg-2188	322	3	requires	require	VERB
fuelectenerg-2188	322	4	a	a	DET
fuelectenerg-2188	322	5	comprehensive	comprehensive	ADJ
fuelectenerg-2188	322	6	calibration	calibration	NOUN
fuelectenerg-2188	322	7	which	which	PRON
fuelectenerg-2188	322	8	should	should	AUX
fuelectenerg-2188	322	9	be	be	AUX
fuelectenerg-2188	322	10	automated	automate	VERB
fuelectenerg-2188	322	11	in	in	ADP
fuelectenerg-2188	322	12	order	order	NOUN
fuelectenerg-2188	322	13	to	to	PART
fuelectenerg-2188	322	14	make	make	VERB
fuelectenerg-2188	322	15	it	it	PRON
fuelectenerg-2188	322	16	an	an	DET
fuelectenerg-2188	322	17	off	off	ADP
fuelectenerg-2188	322	18	-	-	PUNCT
fuelectenerg-2188	322	19	the	the	DET
fuelectenerg-2188	322	20	-	-	PUNCT
fuelectenerg-2188	322	21	shelf	shelf	NOUN
fuelectenerg-2188	322	22	localisation	localisation	NOUN
fuelectenerg-2188	322	23	solution	solution	NOUN
fuelectenerg-2188	322	24	.	.	PUNCT
fuelectenerg-2188	323	1	the	the	DET
fuelectenerg-2188	323	2	standard	standard	ADJ
fuelectenerg-2188	323	3	pc	pc	NOUN
fuelectenerg-2188	323	4	could	could	AUX
fuelectenerg-2188	323	5	be	be	AUX
fuelectenerg-2188	323	6	easily	easily	ADV
fuelectenerg-2188	323	7	replaced	replace	VERB
fuelectenerg-2188	323	8	with	with	ADP
fuelectenerg-2188	323	9	embedded	embed	VERB
fuelectenerg-2188	323	10	type	type	NOUN
fuelectenerg-2188	323	11	pc	pc	NOUN
fuelectenerg-2188	323	12	,	,	PUNCT
fuelectenerg-2188	323	13	for	for	ADP
fuelectenerg-2188	323	14	example	example	NOUN
fuelectenerg-2188	323	15	,	,	PUNCT
fuelectenerg-2188	323	16	with	with	ADP
fuelectenerg-2188	323	17	any	any	PRON
fuelectenerg-2188	323	18	of	of	ADP
fuelectenerg-2188	323	19	newer	new	ADJ
fuelectenerg-2188	323	20	raspberry	raspberry	NOUN
fuelectenerg-2188	323	21	pi	pi	NOUN
fuelectenerg-2188	323	22	series	series	NOUN
fuelectenerg-2188	323	23	.	.	PUNCT
fuelectenerg-2188	324	1	nevertheless	nevertheless	ADV
fuelectenerg-2188	324	2	,	,	PUNCT
fuelectenerg-2188	324	3	both	both	DET
fuelectenerg-2188	324	4	systems	system	NOUN
fuelectenerg-2188	324	5	showed	show	VERB
fuelectenerg-2188	324	6	simplicity	simplicity	NOUN
fuelectenerg-2188	324	7	in	in	ADP
fuelectenerg-2188	324	8	setting	set	VERB
fuelectenerg-2188	324	9	up	up	ADP
fuelectenerg-2188	324	10	and	and	CCONJ
fuelectenerg-2188	324	11	use	use	VERB
fuelectenerg-2188	324	12	.	.	PUNCT
fuelectenerg-2188	325	1	their	their	PRON
fuelectenerg-2188	325	2	low	low	ADJ
fuelectenerg-2188	325	3	implementation	implementation	NOUN
fuelectenerg-2188	325	4	cost	cost	NOUN
fuelectenerg-2188	325	5	makes	make	VERB
fuelectenerg-2188	325	6	them	they	PRON
fuelectenerg-2188	325	7	affordable	affordable	ADJ
fuelectenerg-2188	325	8	for	for	ADP
fuelectenerg-2188	325	9	use	use	NOUN
fuelectenerg-2188	325	10	in	in	ADP
fuelectenerg-2188	325	11	education	education	NOUN
fuelectenerg-2188	325	12	and	and	CCONJ
fuelectenerg-2188	325	13	some	some	DET
fuelectenerg-2188	325	14	less	less	ADV
fuelectenerg-2188	325	15	demanding	demand	VERB
fuelectenerg-2188	325	16	real	real	ADJ
fuelectenerg-2188	325	17	life	life	NOUN
fuelectenerg-2188	325	18	applications	application	NOUN
fuelectenerg-2188	325	19	,	,	PUNCT
fuelectenerg-2188	325	20	such	such	ADJ
fuelectenerg-2188	325	21	as	as	ADP
fuelectenerg-2188	325	22	service	service	NOUN
fuelectenerg-2188	325	23	robots	robot	NOUN
fuelectenerg-2188	325	24	.	.	PUNCT
fuelectenerg-2188	326	1	in	in	ADP
fuelectenerg-2188	326	2	conclusion	conclusion	NOUN
fuelectenerg-2188	326	3	,	,	PUNCT
fuelectenerg-2188	326	4	camera	camera	NOUN
fuelectenerg-2188	326	5	-	-	PUNCT
fuelectenerg-2188	326	6	based	base	VERB
fuelectenerg-2188	326	7	system	system	NOUN
fuelectenerg-2188	326	8	is	be	AUX
fuelectenerg-2188	326	9	better	well	ADJ
fuelectenerg-2188	326	10	for	for	ADP
fuelectenerg-2188	326	11	laboratory	laboratory	NOUN
fuelectenerg-2188	326	12	conditions	condition	NOUN
fuelectenerg-2188	326	13	due	due	ADP
fuelectenerg-2188	326	14	to	to	ADP
fuelectenerg-2188	326	15	its	its	PRON
fuelectenerg-2188	326	16	high	high	ADJ
fuelectenerg-2188	326	17	accuracy	accuracy	NOUN
fuelectenerg-2188	326	18	.	.	PUNCT
fuelectenerg-2188	327	1	the	the	DET
fuelectenerg-2188	327	2	other	other	ADJ
fuelectenerg-2188	327	3	system	system	NOUN
fuelectenerg-2188	327	4	,	,	PUNCT
fuelectenerg-2188	327	5	although	although	SCONJ
fuelectenerg-2188	327	6	less	less	ADV
fuelectenerg-2188	327	7	accurate	accurate	ADJ
fuelectenerg-2188	327	8	,	,	PUNCT
fuelectenerg-2188	327	9	is	be	AUX
fuelectenerg-2188	327	10	more	more	ADV
fuelectenerg-2188	327	11	suitable	suitable	ADJ
fuelectenerg-2188	327	12	for	for	ADP
fuelectenerg-2188	327	13	a	a	DET
fuelectenerg-2188	327	14	variety	variety	NOUN
fuelectenerg-2188	327	15	of	of	ADP
fuelectenerg-2188	327	16	other	other	ADJ
fuelectenerg-2188	327	17	locations	location	NOUN
fuelectenerg-2188	327	18	.	.	PUNCT
fuelectenerg-2188	328	1	references	reference	NOUN
fuelectenerg-2188	328	2	[	[	X
fuelectenerg-2188	328	3	1	1	NUM
fuelectenerg-2188	328	4	]	]	PUNCT
fuelectenerg-2188	328	5	m.	m.	NOUN
fuelectenerg-2188	328	6	petković	petković	NOUN
fuelectenerg-2188	328	7	,	,	PUNCT
fuelectenerg-2188	328	8	v.	v.	ADP
fuelectenerg-2188	328	9	sibinović	sibinović	PROPN
fuelectenerg-2188	328	10	,	,	PUNCT
fuelectenerg-2188	328	11	d.	d.	PROPN
fuelectenerg-2188	328	12	popović	popović	PROPN
fuelectenerg-2188	328	13	,	,	PUNCT
fuelectenerg-2188	328	14	v.	v.	CCONJ
fuelectenerg-2188	328	15	mitić	mitić	NOUN
fuelectenerg-2188	328	16	,	,	PUNCT
fuelectenerg-2188	328	17	d.	d.	PROPN
fuelectenerg-2188	328	18	todorović	todorović	PROPN
fuelectenerg-2188	328	19	and	and	CCONJ
fuelectenerg-2188	328	20	g.	g.	PROPN
fuelectenerg-2188	328	21	s.	s.	PROPN
fuelectenerg-2188	328	22	đorđević	đorđević	PROPN
fuelectenerg-2188	328	23	,	,	PUNCT
fuelectenerg-2188	328	24	“	"	PUNCT
fuelectenerg-2188	328	25	robust	robust	ADJ
fuelectenerg-2188	328	26	indoor	indoor	ADJ
fuelectenerg-2188	328	27	localisation	localisation	NOUN
fuelectenerg-2188	328	28	methods	method	NOUN
fuelectenerg-2188	328	29	of	of	ADP
fuelectenerg-2188	328	30	mobile	mobile	ADJ
fuelectenerg-2188	328	31	robots	robot	NOUN
fuelectenerg-2188	328	32	:	:	PUNCT
fuelectenerg-2188	328	33	direct	direct	ADJ
fuelectenerg-2188	328	34	visual	visual	ADJ
fuelectenerg-2188	328	35	feedback	feedback	NOUN
fuelectenerg-2188	328	36	and	and	CCONJ
fuelectenerg-2188	328	37	time	time	NOUN
fuelectenerg-2188	328	38	-	-	PUNCT
fuelectenerg-2188	328	39	of	of	ADP
fuelectenerg-2188	328	40	-	-	PUNCT
fuelectenerg-2188	328	41	flight	flight	NOUN
fuelectenerg-2188	328	42	trilateration	trilateration	NOUN
fuelectenerg-2188	328	43	”	"	PUNCT
fuelectenerg-2188	328	44	,	,	PUNCT
fuelectenerg-2188	328	45	in	in	ADP
fuelectenerg-2188	328	46	proceedings	proceeding	NOUN
fuelectenerg-2188	328	47	of	of	ADP
fuelectenerg-2188	328	48	the	the	DET
fuelectenerg-2188	328	49	3rd	3rd	ADJ
fuelectenerg-2188	328	50	international	international	ADJ
fuelectenerg-2188	328	51	conference	conference	NOUN
fuelectenerg-2188	328	52	on	on	ADP
fuelectenerg-2188	328	53	electrical	electrical	ADJ
fuelectenerg-2188	328	54	,	,	PUNCT
fuelectenerg-2188	328	55	electronic	electronic	ADJ
fuelectenerg-2188	328	56	and	and	CCONJ
fuelectenerg-2188	328	57	computing	compute	VERB
fuelectenerg-2188	328	58	engineering	engineering	NOUN
fuelectenerg-2188	328	59	(	(	PUNCT
fuelectenerg-2188	328	60	icetran	icetran	NOUN
fuelectenerg-2188	328	61	2016	2016	NUM
fuelectenerg-2188	328	62	)	)	PUNCT
fuelectenerg-2188	328	63	,	,	PUNCT
fuelectenerg-2188	328	64	zlatibor	zlatibor	NOUN
fuelectenerg-2188	328	65	,	,	PUNCT
fuelectenerg-2188	328	66	serbia	serbia	PROPN
fuelectenerg-2188	328	67	,	,	PUNCT
fuelectenerg-2188	328	68	june	june	PROPN
fuelectenerg-2188	328	69	13	13	NUM
fuelectenerg-2188	328	70	–	–	PUNCT
fuelectenerg-2188	328	71	16	16	NUM
fuelectenerg-2188	328	72	,	,	PUNCT
fuelectenerg-2188	328	73	2016	2016	NUM
fuelectenerg-2188	328	74	,	,	PUNCT
fuelectenerg-2188	328	75	eli2.6	eli2.6	PROPN
fuelectenerg-2188	328	76	1	1	NUM
fuelectenerg-2188	328	77	-	-	SYM
fuelectenerg-2188	328	78	6	6	NUM
fuelectenerg-2188	328	79	.	.	PUNCT
fuelectenerg-2188	329	1	[	[	X
fuelectenerg-2188	329	2	2	2	NUM
fuelectenerg-2188	329	3	]	]	PUNCT
fuelectenerg-2188	329	4	"	"	PUNCT
fuelectenerg-2188	329	5	microsoft	microsoft	PROPN
fuelectenerg-2188	329	6	indoor	indoor	ADJ
fuelectenerg-2188	329	7	localisation	localisation	NOUN
fuelectenerg-2188	329	8	competition	competition	NOUN
fuelectenerg-2188	329	9	"	"	PUNCT
fuelectenerg-2188	329	10	.	.	PUNCT
fuelectenerg-2188	330	1	research.microsoft.com	research.microsoft.com	PROPN
fuelectenerg-2188	330	2	.	.	PUNCT
fuelectenerg-2188	331	1	n.p	n.p	PROPN
fuelectenerg-2188	331	2	.	.	PROPN
fuelectenerg-2188	331	3	,	,	PUNCT
fuelectenerg-2188	331	4	2016	2016	NUM
fuelectenerg-2188	331	5	.	.	PUNCT
fuelectenerg-2188	332	1	web	web	NOUN
fuelectenerg-2188	332	2	.	.	PROPN
fuelectenerg-2188	332	3	15	15	NUM
fuelectenerg-2188	332	4	apr	apr	NOUN
fuelectenerg-2188	332	5	.	.	PROPN
fuelectenerg-2188	332	6	2016	2016	NUM
fuelectenerg-2188	332	7	.	.	PUNCT
fuelectenerg-2188	333	1	[	[	X
fuelectenerg-2188	333	2	3	3	X
fuelectenerg-2188	333	3	]	]	X
fuelectenerg-2188	333	4	j.	j.	PROPN
fuelectenerg-2188	333	5	borenstein	borenstein	PROPN
fuelectenerg-2188	333	6	,	,	PUNCT
fuelectenerg-2188	333	7	et	et	PROPN
fuelectenerg-2188	333	8	al	al	PROPN
fuelectenerg-2188	333	9	,	,	PUNCT
fuelectenerg-2188	333	10	“	"	PUNCT
fuelectenerg-2188	333	11	mobile	mobile	ADJ
fuelectenerg-2188	333	12	robot	robot	NOUN
fuelectenerg-2188	333	13	positioning	positioning	NOUN
fuelectenerg-2188	333	14	sensors	sensor	NOUN
fuelectenerg-2188	333	15	and	and	CCONJ
fuelectenerg-2188	333	16	techniques	technique	NOUN
fuelectenerg-2188	333	17	”	"	PUNCT
fuelectenerg-2188	333	18	,	,	PUNCT
fuelectenerg-2188	333	19	invited	invite	VERB
fuelectenerg-2188	333	20	paper	paper	NOUN
fuelectenerg-2188	333	21	for	for	ADP
fuelectenerg-2188	333	22	the	the	DET
fuelectenerg-2188	333	23	journal	journal	NOUN
fuelectenerg-2188	333	24	of	of	ADP
fuelectenerg-2188	333	25	robotic	robotic	ADJ
fuelectenerg-2188	333	26	systems	system	NOUN
fuelectenerg-2188	333	27	,	,	PUNCT
fuelectenerg-2188	333	28	special	special	ADJ
fuelectenerg-2188	333	29	issue	issue	NOUN
fuelectenerg-2188	333	30	on	on	ADP
fuelectenerg-2188	333	31	mobile	mobile	ADJ
fuelectenerg-2188	333	32	robots	robot	NOUN
fuelectenerg-2188	333	33	,	,	PUNCT
fuelectenerg-2188	333	34	vol	vol	NOUN
fuelectenerg-2188	333	35	.	.	PROPN
fuelectenerg-2188	334	1	14	14	NUM
fuelectenerg-2188	334	2	,	,	PUNCT
fuelectenerg-2188	334	3	no	no	INTJ
fuelectenerg-2188	334	4	.	.	NOUN
fuelectenerg-2188	334	5	4	4	NUM
fuelectenerg-2188	334	6	,	,	PUNCT
fuelectenerg-2188	334	7	pp	pp	ADJ
fuelectenerg-2188	334	8	.	.	PUNCT
fuelectenerg-2188	335	1	231	231	NUM
fuelectenerg-2188	335	2	–	–	PUNCT
fuelectenerg-2188	335	3	249	249	NUM
fuelectenerg-2188	335	4	,	,	PUNCT
fuelectenerg-2188	335	5	1996	1996	NUM
fuelectenerg-2188	335	6	.	.	PUNCT
fuelectenerg-2188	336	1	[	[	X
fuelectenerg-2188	336	2	4	4	X
fuelectenerg-2188	336	3	]	]	PUNCT
fuelectenerg-2188	336	4	"	"	PUNCT
fuelectenerg-2188	336	5	the	the	DET
fuelectenerg-2188	336	6	cricket	cricket	PROPN
fuelectenerg-2188	336	7	indoor	indoor	ADJ
fuelectenerg-2188	336	8	location	location	NOUN
fuelectenerg-2188	336	9	system	system	NOUN
fuelectenerg-2188	336	10	:	:	PUNCT
fuelectenerg-2188	336	11	an	an	DET
fuelectenerg-2188	336	12	nms	nms	NOUN
fuelectenerg-2188	336	13	project	project	NOUN
fuelectenerg-2188	336	14	"	"	PUNCT
fuelectenerg-2188	336	15	.	.	PUNCT
fuelectenerg-2188	337	1	cricket.csail.mit.edu	cricket.csail.mit.edu	X
fuelectenerg-2188	337	2	.	.	PUNCT
fuelectenerg-2188	338	1	n.p	n.p	PROPN
fuelectenerg-2188	338	2	.	.	PROPN
fuelectenerg-2188	338	3	,	,	PUNCT
fuelectenerg-2188	338	4	2016	2016	NUM
fuelectenerg-2188	338	5	.	.	PUNCT
fuelectenerg-2188	339	1	web	web	NOUN
fuelectenerg-2188	339	2	.	.	PROPN
fuelectenerg-2188	339	3	15	15	NUM
fuelectenerg-2188	339	4	apr	apr	NOUN
fuelectenerg-2188	339	5	.	.	PROPN
fuelectenerg-2188	339	6	2016	2016	NUM
fuelectenerg-2188	339	7	.	.	PUNCT
fuelectenerg-2188	340	1	[	[	X
fuelectenerg-2188	340	2	5	5	NUM
fuelectenerg-2188	340	3	]	]	X
fuelectenerg-2188	340	4	n.	n.	PROPN
fuelectenerg-2188	340	5	b.	b.	PROPN
fuelectenerg-2188	340	6	priyantha	priyantha	PROPN
fuelectenerg-2188	340	7	,	,	PUNCT
fuelectenerg-2188	340	8	a.	a.	PROPN
fuelectenerg-2188	340	9	chakraborty	chakraborty	PROPN
fuelectenerg-2188	340	10	and	and	CCONJ
fuelectenerg-2188	340	11	h.	h.	PROPN
fuelectenerg-2188	340	12	balakrishnan	balakrishnan	PROPN
fuelectenerg-2188	340	13	,	,	PUNCT
fuelectenerg-2188	340	14	“	"	PUNCT
fuelectenerg-2188	340	15	the	the	DET
fuelectenerg-2188	340	16	cricket	cricket	NOUN
fuelectenerg-2188	340	17	location	location	NOUN
fuelectenerg-2188	340	18	-	-	PUNCT
fuelectenerg-2188	340	19	support	support	NOUN
fuelectenerg-2188	340	20	system	system	NOUN
fuelectenerg-2188	340	21	”	"	PUNCT
fuelectenerg-2188	340	22	,	,	PUNCT
fuelectenerg-2188	340	23	in	in	ADP
fuelectenerg-2188	340	24	proceedings	proceeding	NOUN
fuelectenerg-2188	340	25	of	of	ADP
fuelectenerg-2188	340	26	the	the	DET
fuelectenerg-2188	340	27	6th	6th	ADJ
fuelectenerg-2188	340	28	acm	acm	PROPN
fuelectenerg-2188	340	29	mobicom	mobicom	PROPN
fuelectenerg-2188	340	30	,	,	PUNCT
fuelectenerg-2188	340	31	boston	boston	PROPN
fuelectenerg-2188	340	32	,	,	PUNCT
fuelectenerg-2188	340	33	ma	ma	PROPN
fuelectenerg-2188	340	34	,	,	PUNCT
fuelectenerg-2188	340	35	august	august	PROPN
fuelectenerg-2188	340	36	2000	2000	NUM
fuelectenerg-2188	340	37	.	.	PUNCT
fuelectenerg-2188	341	1	[	[	X
fuelectenerg-2188	341	2	6	6	NUM
fuelectenerg-2188	341	3	]	]	PUNCT
fuelectenerg-2188	341	4	c.	c.	PROPN
fuelectenerg-2188	341	5	hughes	hughes	PROPN
fuelectenerg-2188	341	6	,	,	PUNCT
fuelectenerg-2188	341	7	et	et	PROPN
fuelectenerg-2188	341	8	al	al	PROPN
fuelectenerg-2188	341	9	.	.	PROPN
fuelectenerg-2188	341	10	,	,	PUNCT
fuelectenerg-2188	341	11	“	"	PUNCT
fuelectenerg-2188	341	12	wide	wide	ADJ
fuelectenerg-2188	341	13	-	-	PUNCT
fuelectenerg-2188	341	14	angle	angle	NOUN
fuelectenerg-2188	341	15	camera	camera	NOUN
fuelectenerg-2188	341	16	technology	technology	NOUN
fuelectenerg-2188	341	17	for	for	ADP
fuelectenerg-2188	341	18	automotive	automotive	ADJ
fuelectenerg-2188	341	19	applications	application	NOUN
fuelectenerg-2188	341	20	:	:	PUNCT
fuelectenerg-2188	341	21	a	a	DET
fuelectenerg-2188	341	22	review	review	NOUN
fuelectenerg-2188	341	23	”	"	PUNCT
fuelectenerg-2188	341	24	,	,	PUNCT
fuelectenerg-2188	341	25	iet	iet	PROPN
fuelectenerg-2188	341	26	intelligent	intelligent	ADJ
fuelectenerg-2188	341	27	transport	transport	NOUN
fuelectenerg-2188	341	28	systems	system	NOUN
fuelectenerg-2188	341	29	,	,	PUNCT
fuelectenerg-2188	341	30	vol	vol	NOUN
fuelectenerg-2188	341	31	.	.	PROPN
fuelectenerg-2188	342	1	3	3	NUM
fuelectenerg-2188	342	2	,	,	PUNCT
fuelectenerg-2188	342	3	no	no	INTJ
fuelectenerg-2188	342	4	.	.	NOUN
fuelectenerg-2188	342	5	1	1	NUM
fuelectenerg-2188	342	6	,	,	PUNCT
fuelectenerg-2188	342	7	pp	pp	ADJ
fuelectenerg-2188	342	8	.	.	PUNCT
fuelectenerg-2188	343	1	19	19	NUM
fuelectenerg-2188	343	2	-	-	SYM
fuelectenerg-2188	343	3	31	31	NUM
fuelectenerg-2188	343	4	,	,	PUNCT
fuelectenerg-2188	343	5	2009	2009	NUM
fuelectenerg-2188	343	6	.	.	PUNCT
fuelectenerg-2188	344	1	[	[	X
fuelectenerg-2188	344	2	7	7	X
fuelectenerg-2188	344	3	]	]	PUNCT
fuelectenerg-2188	344	4	z.	z.	PROPN
fuelectenerg-2188	344	5	garofalaki	garofalaki	PROPN
fuelectenerg-2188	344	6	,	,	PUNCT
fuelectenerg-2188	344	7	et	et	PROPN
fuelectenerg-2188	344	8	al	al	PROPN
fuelectenerg-2188	344	9	,	,	PUNCT
fuelectenerg-2188	344	10	“	"	PUNCT
fuelectenerg-2188	344	11	object	object	VERB
fuelectenerg-2188	344	12	motion	motion	NOUN
fuelectenerg-2188	344	13	tracking	tracking	NOUN
fuelectenerg-2188	344	14	based	base	VERB
fuelectenerg-2188	344	15	on	on	ADP
fuelectenerg-2188	344	16	color	color	NOUN
fuelectenerg-2188	344	17	detection	detection	NOUN
fuelectenerg-2188	344	18	for	for	ADP
fuelectenerg-2188	344	19	android	android	PROPN
fuelectenerg-2188	344	20	devices	device	NOUN
fuelectenerg-2188	344	21	”	"	PUNCT
fuelectenerg-2188	344	22	,	,	PUNCT
fuelectenerg-2188	344	23	international	international	ADJ
fuelectenerg-2188	344	24	journal	journal	NOUN
fuelectenerg-2188	344	25	of	of	ADP
fuelectenerg-2188	344	26	computer	computer	NOUN
fuelectenerg-2188	344	27	,	,	PUNCT
fuelectenerg-2188	344	28	electrical	electrical	ADJ
fuelectenerg-2188	344	29	,	,	PUNCT
fuelectenerg-2188	344	30	automation	automation	NOUN
fuelectenerg-2188	344	31	,	,	PUNCT
fuelectenerg-2188	344	32	control	control	NOUN
fuelectenerg-2188	344	33	and	and	CCONJ
fuelectenerg-2188	344	34	information	information	NOUN
fuelectenerg-2188	344	35	engineering	engineering	NOUN
fuelectenerg-2188	344	36	,	,	PUNCT
fuelectenerg-2188	344	37	vol	vol	NOUN
fuelectenerg-2188	344	38	.	.	PROPN
fuelectenerg-2188	345	1	9	9	NUM
fuelectenerg-2188	345	2	,	,	PUNCT
fuelectenerg-2188	345	3	no	no	INTJ
fuelectenerg-2188	345	4	.	.	NOUN
fuelectenerg-2188	345	5	4	4	NUM
fuelectenerg-2188	345	6	,	,	PUNCT
fuelectenerg-2188	345	7	pp	pp	ADJ
fuelectenerg-2188	345	8	.	.	PUNCT
fuelectenerg-2188	346	1	970	970	NUM
fuelectenerg-2188	346	2	-	-	SYM
fuelectenerg-2188	346	3	973	973	NUM
fuelectenerg-2188	346	4	,	,	PUNCT
fuelectenerg-2188	346	5	2015	2015	NUM
fuelectenerg-2188	346	6	.	.	PUNCT
fuelectenerg-2188	347	1	416	416	NUM
fuelectenerg-2188	347	2	m.	m.	NOUN
fuelectenerg-2188	347	3	petković	petković	NOUN
fuelectenerg-2188	347	4	,	,	PUNCT
fuelectenerg-2188	347	5	v.	v.	ADP
fuelectenerg-2188	347	6	sibinović	sibinović	PROPN
fuelectenerg-2188	347	7	,	,	PUNCT
fuelectenerg-2188	347	8	d.	d.	PROPN
fuelectenerg-2188	347	9	popović	popović	PROPN
fuelectenerg-2188	347	10	,	,	PUNCT
fuelectenerg-2188	347	11	v.	v.	CCONJ
fuelectenerg-2188	347	12	mitić	mitić	NOUN
fuelectenerg-2188	347	13	,	,	PUNCT
fuelectenerg-2188	347	14	d.	d.	PROPN
fuelectenerg-2188	347	15	todorović	todorović	PROPN
fuelectenerg-2188	347	16	,	,	PUNCT
fuelectenerg-2188	347	17	g.	g.	PROPN
fuelectenerg-2188	347	18	s.	s.	PROPN
fuelectenerg-2188	347	19	đorđević	đorđević	PROPN
fuelectenerg-2188	348	1	[	[	X
fuelectenerg-2188	348	2	8	8	X
fuelectenerg-2188	348	3	]	]	PUNCT
fuelectenerg-2188	348	4	j.	j.	PROPN
fuelectenerg-2188	348	5	a.	a.	PROPN
fuelectenerg-2188	348	6	nelder	nelder	PROPN
fuelectenerg-2188	348	7	and	and	CCONJ
fuelectenerg-2188	348	8	r.	r.	PROPN
fuelectenerg-2188	348	9	mead	mead	PROPN
fuelectenerg-2188	348	10	,	,	PUNCT
fuelectenerg-2188	348	11	“	"	PUNCT
fuelectenerg-2188	348	12	a	a	DET
fuelectenerg-2188	348	13	simplex	simplex	NOUN
fuelectenerg-2188	348	14	method	method	NOUN
fuelectenerg-2188	348	15	for	for	ADP
fuelectenerg-2188	348	16	function	function	NOUN
fuelectenerg-2188	348	17	minimization	minimization	NOUN
fuelectenerg-2188	348	18	”	"	PUNCT
fuelectenerg-2188	348	19	,	,	PUNCT
fuelectenerg-2188	348	20	computer	computer	NOUN
fuelectenerg-2188	348	21	journal	journal	NOUN
fuelectenerg-2188	348	22	,	,	PUNCT
fuelectenerg-2188	348	23	no	no	INTJ
fuelectenerg-2188	348	24	.	.	NOUN
fuelectenerg-2188	348	25	7	7	NUM
fuelectenerg-2188	348	26	,	,	PUNCT
fuelectenerg-2188	348	27	pp	pp	ADJ
fuelectenerg-2188	348	28	.	.	PUNCT
fuelectenerg-2188	349	1	308–313	308–313	NUM
fuelectenerg-2188	349	2	,	,	PUNCT
fuelectenerg-2188	349	3	1965	1965	NUM
fuelectenerg-2188	349	4	.	.	PUNCT
fuelectenerg-2188	350	1	[	[	X
fuelectenerg-2188	350	2	9	9	NUM
fuelectenerg-2188	350	3	]	]	X
fuelectenerg-2188	350	4	r.	r.	X
fuelectenerg-2188	350	5	storn	storn	PROPN
fuelectenerg-2188	350	6	and	and	CCONJ
fuelectenerg-2188	350	7	k.	k.	PROPN
fuelectenerg-2188	350	8	price	price	NOUN
fuelectenerg-2188	350	9	,	,	PUNCT
fuelectenerg-2188	350	10	“	"	PUNCT
fuelectenerg-2188	350	11	differential	differential	ADJ
fuelectenerg-2188	350	12	evolution	evolution	NOUN
fuelectenerg-2188	350	13	a	a	DET
fuelectenerg-2188	350	14	simple	simple	ADJ
fuelectenerg-2188	350	15	and	and	CCONJ
fuelectenerg-2188	350	16	efficient	efficient	ADJ
fuelectenerg-2188	350	17	heuristic	heuristic	NOUN
fuelectenerg-2188	350	18	for	for	ADP
fuelectenerg-2188	350	19	global	global	ADJ
fuelectenerg-2188	350	20	optimization	optimization	NOUN
fuelectenerg-2188	350	21	over	over	ADP
fuelectenerg-2188	350	22	continuous	continuous	ADJ
fuelectenerg-2188	350	23	spaces	space	NOUN
fuelectenerg-2188	350	24	”	"	PUNCT
fuelectenerg-2188	350	25	,	,	PUNCT
fuelectenerg-2188	350	26	journal	journal	NOUN
fuelectenerg-2188	350	27	of	of	ADP
fuelectenerg-2188	350	28	global	global	ADJ
fuelectenerg-2188	350	29	optimization	optimization	NOUN
fuelectenerg-2188	350	30	,	,	PUNCT
fuelectenerg-2188	350	31	no	no	INTJ
fuelectenerg-2188	350	32	.	.	NOUN
fuelectenerg-2188	350	33	11	11	NUM
fuelectenerg-2188	350	34	,	,	PUNCT
fuelectenerg-2188	350	35	pp	pp	ADJ
fuelectenerg-2188	350	36	.	.	PUNCT
fuelectenerg-2188	351	1	341–359	341–359	NUM
fuelectenerg-2188	351	2	,	,	PUNCT
fuelectenerg-2188	351	3	1997	1997	NUM
fuelectenerg-2188	351	4	.	.	PUNCT
fuelectenerg-2188	352	1	[	[	X
fuelectenerg-2188	352	2	10	10	NUM
fuelectenerg-2188	352	3	]	]	X
fuelectenerg-2188	352	4	s.	s.	PROPN
fuelectenerg-2188	352	5	kirkpatrick	kirkpatrick	PROPN
fuelectenerg-2188	352	6	,	,	PUNCT
fuelectenerg-2188	352	7	c.	c.	PROPN
fuelectenerg-2188	352	8	d.	d.	PROPN
fuelectenerg-2188	352	9	gelatt	gelatt	PROPN
fuelectenerg-2188	352	10	jr	jr	PROPN
fuelectenerg-2188	352	11	and	and	CCONJ
fuelectenerg-2188	352	12	m.	m.	NOUN
fuelectenerg-2188	352	13	p.	p.	PROPN
fuelectenerg-2188	352	14	vecchi	vecchi	PROPN
fuelectenerg-2188	352	15	,	,	PUNCT
fuelectenerg-2188	352	16	“	"	PUNCT
fuelectenerg-2188	352	17	optimization	optimization	NOUN
fuelectenerg-2188	352	18	by	by	ADP
fuelectenerg-2188	352	19	simulated	simulated	ADJ
fuelectenerg-2188	352	20	annealing	annealing	NOUN
fuelectenerg-2188	352	21	”	"	PUNCT
fuelectenerg-2188	352	22	,	,	PUNCT
fuelectenerg-2188	352	23	science	science	NOUN
fuelectenerg-2188	352	24	,	,	PUNCT
fuelectenerg-2188	352	25	vol	vol	NOUN
fuelectenerg-2188	352	26	.	.	NOUN
fuelectenerg-2188	352	27	220	220	NUM
fuelectenerg-2188	352	28	,	,	PUNCT
fuelectenerg-2188	352	29	no	no	INTJ
fuelectenerg-2188	352	30	.	.	NOUN
fuelectenerg-2188	352	31	4598	4598	NUM
fuelectenerg-2188	352	32	,	,	PUNCT
fuelectenerg-2188	352	33	pp	pp	ADJ
fuelectenerg-2188	352	34	.	.	PUNCT
fuelectenerg-2188	353	1	671–680	671–680	NUM
fuelectenerg-2188	353	2	,	,	PUNCT
fuelectenerg-2188	353	3	1983	1983	NUM
fuelectenerg-2188	353	4	.	.	PUNCT
fuelectenerg-2188	354	1	[	[	X
fuelectenerg-2188	354	2	11	11	NUM
fuelectenerg-2188	354	3	]	]	X
fuelectenerg-2188	354	4	l.	l.	PROPN
fuelectenerg-2188	354	5	a.	a.	PROPN
fuelectenerg-2188	354	6	rastrigin	rastrigin	PROPN
fuelectenerg-2188	354	7	,	,	PUNCT
fuelectenerg-2188	354	8	“	"	PUNCT
fuelectenerg-2188	354	9	the	the	DET
fuelectenerg-2188	354	10	convergence	convergence	NOUN
fuelectenerg-2188	354	11	of	of	ADP
fuelectenerg-2188	354	12	the	the	DET
fuelectenerg-2188	354	13	random	random	ADJ
fuelectenerg-2188	354	14	search	search	NOUN
fuelectenerg-2188	354	15	method	method	NOUN
fuelectenerg-2188	354	16	in	in	ADP
fuelectenerg-2188	354	17	the	the	DET
fuelectenerg-2188	354	18	extremal	extremal	ADJ
fuelectenerg-2188	354	19	control	control	NOUN
fuelectenerg-2188	354	20	of	of	ADP
fuelectenerg-2188	354	21	a	a	DET
fuelectenerg-2188	354	22	many	many	ADJ
fuelectenerg-2188	354	23	parameter	parameter	NOUN
fuelectenerg-2188	354	24	system	system	NOUN
fuelectenerg-2188	354	25	”	"	PUNCT
fuelectenerg-2188	354	26	,	,	PUNCT
fuelectenerg-2188	354	27	automation	automation	NOUN
fuelectenerg-2188	354	28	and	and	CCONJ
fuelectenerg-2188	354	29	remote	remote	ADJ
fuelectenerg-2188	354	30	control	control	NOUN
fuelectenerg-2188	354	31	,	,	PUNCT
fuelectenerg-2188	354	32	vol	vol	NOUN
fuelectenerg-2188	354	33	.	.	PROPN
fuelectenerg-2188	354	34	24	24	NUM
fuelectenerg-2188	354	35	,	,	PUNCT
fuelectenerg-2188	354	36	no	no	INTJ
fuelectenerg-2188	354	37	.	.	NOUN
fuelectenerg-2188	354	38	10	10	NUM
fuelectenerg-2188	354	39	,	,	PUNCT
fuelectenerg-2188	354	40	pp	pp	ADJ
fuelectenerg-2188	354	41	.	.	PUNCT
fuelectenerg-2188	354	42	1337–1342	1337–1342	NUM
fuelectenerg-2188	354	43	,	,	PUNCT
fuelectenerg-2188	354	44	1963	1963	NUM
fuelectenerg-2188	354	45	.	.	PUNCT
fuelectenerg-2188	355	1	[	[	X
fuelectenerg-2188	355	2	12	12	NUM
fuelectenerg-2188	355	3	]	]	X
fuelectenerg-2188	355	4	c.	c.	PROPN
fuelectenerg-2188	355	5	m.	m.	PROPN
fuelectenerg-2188	355	6	liang	liang	PROPN
fuelectenerg-2188	355	7	,	,	PUNCT
fuelectenerg-2188	355	8	n.	n.	PROPN
fuelectenerg-2188	355	9	b.	b.	PROPN
fuelectenerg-2188	355	10	priyantha	priyantha	PROPN
fuelectenerg-2188	355	11	,	,	PUNCT
fuelectenerg-2188	355	12	j.	j.	PROPN
fuelectenerg-2188	355	13	liu	liu	PROPN
fuelectenerg-2188	355	14	and	and	CCONJ
fuelectenerg-2188	355	15	a.	a.	NOUN
fuelectenerg-2188	355	16	terzis	terzi	NOUN
fuelectenerg-2188	355	17	“	"	PUNCT
fuelectenerg-2188	355	18	surviving	survive	VERB
fuelectenerg-2188	355	19	wi	wi	PROPN
fuelectenerg-2188	355	20	-	-	PUNCT
fuelectenerg-2188	355	21	fi	fi	NOUN
fuelectenerg-2188	355	22	interference	interference	NOUN
fuelectenerg-2188	355	23	in	in	ADP
fuelectenerg-2188	355	24	low	low	ADJ
fuelectenerg-2188	355	25	power	power	NOUN
fuelectenerg-2188	355	26	zigbee	zigbee	PROPN
fuelectenerg-2188	355	27	networks	network	NOUN
fuelectenerg-2188	355	28	”	"	PUNCT
fuelectenerg-2188	355	29	,	,	PUNCT
fuelectenerg-2188	355	30	in	in	ADP
fuelectenerg-2188	355	31	proceedings	proceeding	NOUN
fuelectenerg-2188	355	32	of	of	ADP
fuelectenerg-2188	355	33	the	the	DET
fuelectenerg-2188	355	34	8th	8th	PROPN
fuelectenerg-2188	355	35	acm	acm	PROPN
fuelectenerg-2188	355	36	conference	conference	NOUN
fuelectenerg-2188	355	37	on	on	ADP
fuelectenerg-2188	355	38	embedded	embed	VERB
fuelectenerg-2188	355	39	networked	networked	ADJ
fuelectenerg-2188	355	40	sensor	sensor	NOUN
fuelectenerg-2188	355	41	systems	system	NOUN
fuelectenerg-2188	355	42	,	,	PUNCT
fuelectenerg-2188	355	43	acm	acm	PROPN
fuelectenerg-2188	355	44	ny	ny	PROPN
fuelectenerg-2188	355	45	,	,	PUNCT
fuelectenerg-2188	355	46	2010	2010	NUM
fuelectenerg-2188	355	47	,	,	PUNCT
fuelectenerg-2188	355	48	pp	pp	ADJ
fuelectenerg-2188	355	49	.	.	PUNCT
fuelectenerg-2188	356	1	309	309	NUM
fuelectenerg-2188	356	2	-	-	SYM
fuelectenerg-2188	356	3	322	322	NUM
fuelectenerg-2188	356	4	.	.	PUNCT