id	sid	tid	token	lemma	pos
fcis-1089	1	1	frontiers	frontier	NOUN
fcis-1089	1	2	in	in	ADP
fcis-1089	1	3	computing	computing	NOUN
fcis-1089	1	4	and	and	CCONJ
fcis-1089	1	5	intelligent	intelligent	ADJ
fcis-1089	1	6	systems	system	NOUN
fcis-1089	1	7	issn	issn	VERB
fcis-1089	1	8	:	:	PUNCT
fcis-1089	1	9	2832	2832	NUM
fcis-1089	1	10	-	-	SYM
fcis-1089	1	11	6024	6024	NUM
fcis-1089	1	12	|	|	NOUN
fcis-1089	1	13	vol	vol	NOUN
fcis-1089	1	14	.	.	PROPN
fcis-1089	2	1	1	1	NUM
fcis-1089	2	2	,	,	PUNCT
fcis-1089	2	3	no	no	INTJ
fcis-1089	2	4	.	.	NOUN
fcis-1089	2	5	1	1	NUM
fcis-1089	2	6	,	,	PUNCT
fcis-1089	2	7	2022	2022	NUM
fcis-1089	2	8	18	18	NUM
fcis-1089	2	9	a	a	DET
fcis-1089	2	10	survey	survey	NOUN
fcis-1089	2	11	on	on	ADP
fcis-1089	2	12	visual	visual	ADJ
fcis-1089	2	13	simultaneously	simultaneously	ADV
fcis-1089	2	14	localization	localization	NOUN
fcis-1089	2	15	and	and	CCONJ
fcis-1089	2	16	mapping	mapping	NOUN
fcis-1089	2	17	zijie	zijie	PROPN
fcis-1089	2	18	zhang	zhang	PROPN
fcis-1089	3	1	1,2	1,2	NUM
fcis-1089	3	2	,	,	PUNCT
fcis-1089	3	3	jing	je	VERB
fcis-1089	3	4	zeng	zeng	PROPN
fcis-1089	3	5	1,2	1,2	NUM
fcis-1089	3	6	1	1	NUM
fcis-1089	3	7	school	school	NOUN
fcis-1089	3	8	of	of	ADP
fcis-1089	3	9	automation	automation	NOUN
fcis-1089	3	10	and	and	CCONJ
fcis-1089	3	11	information	information	NOUN
fcis-1089	3	12	,	,	PUNCT
fcis-1089	3	13	sichuan	sichuan	PROPN
fcis-1089	3	14	university	university	PROPN
fcis-1089	3	15	of	of	ADP
fcis-1089	3	16	science	science	NOUN
fcis-1089	3	17	and	and	CCONJ
fcis-1089	3	18	engineering	engineering	NOUN
fcis-1089	3	19	,	,	PUNCT
fcis-1089	3	20	yibin	yibin	PROPN
fcis-1089	3	21	,	,	PUNCT
fcis-1089	3	22	644000	644000	NUM
fcis-1089	3	23	,	,	PUNCT
fcis-1089	3	24	china	china	PROPN
fcis-1089	3	25	.	.	PROPN
fcis-1089	3	26	2	2	NUM
fcis-1089	3	27	artificial	artificial	ADJ
fcis-1089	3	28	intelligence	intelligence	NOUN
fcis-1089	3	29	key	key	NOUN
fcis-1089	3	30	laboratory	laboratory	NOUN
fcis-1089	3	31	of	of	ADP
fcis-1089	3	32	sichuan	sichuan	PROPN
fcis-1089	3	33	province	province	PROPN
fcis-1089	3	34	,	,	PUNCT
fcis-1089	3	35	yibin	yibin	PROPN
fcis-1089	3	36	,	,	PUNCT
fcis-1089	3	37	644000	644000	NUM
fcis-1089	3	38	,	,	PUNCT
fcis-1089	3	39	china	china	PROPN
fcis-1089	3	40	.	.	PUNCT
fcis-1089	4	1	*	*	PUNCT
fcis-1089	4	2	corresponding	correspond	VERB
fcis-1089	4	3	author	author	NOUN
fcis-1089	4	4	:	:	PUNCT
fcis-1089	4	5	zijie	zijie	PROPN
fcis-1089	4	6	zhang	zhang	PROPN
fcis-1089	4	7	(	(	PUNCT
fcis-1089	4	8	email	email	NOUN
fcis-1089	4	9	:	:	PUNCT
fcis-1089	4	10	459741358@qq.com	459741358@qq.com	NUM
fcis-1089	4	11	)	)	PUNCT
fcis-1089	4	12	abstract	abstract	NOUN
fcis-1089	4	13	:	:	PUNCT
fcis-1089	4	14	visual	visual	ADJ
fcis-1089	4	15	simultaneous	simultaneous	ADJ
fcis-1089	4	16	localization	localization	NOUN
fcis-1089	4	17	and	and	CCONJ
fcis-1089	4	18	mapping	mapping	NOUN
fcis-1089	4	19	(	(	PUNCT
fcis-1089	4	20	vslam	vslam	PROPN
fcis-1089	4	21	)	)	PUNCT
fcis-1089	4	22	is	be	AUX
fcis-1089	4	23	an	an	DET
fcis-1089	4	24	important	important	ADJ
fcis-1089	4	25	branch	branch	NOUN
fcis-1089	4	26	of	of	ADP
fcis-1089	4	27	intelligent	intelligent	ADJ
fcis-1089	4	28	robot	robot	NOUN
fcis-1089	4	29	technology	technology	NOUN
fcis-1089	4	30	,	,	PUNCT
fcis-1089	4	31	which	which	PRON
fcis-1089	4	32	refers	refer	VERB
fcis-1089	4	33	to	to	ADP
fcis-1089	4	34	the	the	DET
fcis-1089	4	35	use	use	NOUN
fcis-1089	4	36	of	of	ADP
fcis-1089	4	37	cameras	camera	NOUN
fcis-1089	4	38	as	as	ADP
fcis-1089	4	39	the	the	DET
fcis-1089	4	40	only	only	ADJ
fcis-1089	4	41	external	external	ADJ
fcis-1089	4	42	sensors	sensor	NOUN
fcis-1089	4	43	to	to	PART
fcis-1089	4	44	achieve	achieve	VERB
fcis-1089	4	45	self	self	NOUN
fcis-1089	4	46	-	-	PUNCT
fcis-1089	4	47	localization	localization	NOUN
fcis-1089	4	48	in	in	ADP
fcis-1089	4	49	unfamiliar	unfamiliar	ADJ
fcis-1089	4	50	environments	environment	NOUN
fcis-1089	4	51	while	while	SCONJ
fcis-1089	4	52	creating	create	VERB
fcis-1089	4	53	environmental	environmental	ADJ
fcis-1089	4	54	maps	map	NOUN
fcis-1089	4	55	.	.	PUNCT
fcis-1089	5	1	the	the	DET
fcis-1089	5	2	map	map	NOUN
fcis-1089	5	3	constructed	construct	VERB
fcis-1089	5	4	by	by	ADP
fcis-1089	5	5	slam	slam	NOUN
fcis-1089	5	6	is	be	AUX
fcis-1089	5	7	the	the	DET
fcis-1089	5	8	basis	basis	NOUN
fcis-1089	5	9	for	for	SCONJ
fcis-1089	5	10	subsequent	subsequent	ADJ
fcis-1089	5	11	robots	robot	NOUN
fcis-1089	5	12	to	to	PART
fcis-1089	5	13	achieve	achieve	VERB
fcis-1089	5	14	autonomous	autonomous	ADJ
fcis-1089	5	15	positioning	positioning	NOUN
fcis-1089	5	16	,	,	PUNCT
fcis-1089	5	17	path	path	NOUN
fcis-1089	5	18	planning	planning	NOUN
fcis-1089	5	19	and	and	CCONJ
fcis-1089	5	20	obstacle	obstacle	NOUN
fcis-1089	5	21	avoidance	avoidance	NOUN
fcis-1089	5	22	tasks	task	NOUN
fcis-1089	5	23	.	.	PUNCT
fcis-1089	6	1	this	this	DET
fcis-1089	6	2	paper	paper	NOUN
fcis-1089	6	3	introduces	introduce	VERB
fcis-1089	6	4	the	the	DET
fcis-1089	6	5	development	development	NOUN
fcis-1089	6	6	of	of	ADP
fcis-1089	6	7	visual	visual	ADJ
fcis-1089	6	8	slam	slam	NOUN
fcis-1089	6	9	at	at	ADP
fcis-1089	6	10	home	home	NOUN
fcis-1089	6	11	and	and	CCONJ
fcis-1089	6	12	abroad	abroad	ADV
fcis-1089	6	13	,	,	PUNCT
fcis-1089	6	14	the	the	DET
fcis-1089	6	15	basic	basic	ADJ
fcis-1089	6	16	methods	method	NOUN
fcis-1089	6	17	of	of	ADP
fcis-1089	6	18	visual	visual	ADJ
fcis-1089	6	19	slam	slam	NOUN
fcis-1089	6	20	,	,	PUNCT
fcis-1089	6	21	and	and	CCONJ
fcis-1089	6	22	the	the	DET
fcis-1089	6	23	key	key	ADJ
fcis-1089	6	24	problems	problem	NOUN
fcis-1089	6	25	in	in	ADP
fcis-1089	6	26	visual	visual	ADJ
fcis-1089	6	27	slam	slam	NOUN
fcis-1089	6	28	,	,	PUNCT
fcis-1089	6	29	and	and	CCONJ
fcis-1089	6	30	discusses	discuss	VERB
fcis-1089	6	31	the	the	DET
fcis-1089	6	32	main	main	ADJ
fcis-1089	6	33	development	development	NOUN
fcis-1089	6	34	trends	trend	NOUN
fcis-1089	6	35	and	and	CCONJ
fcis-1089	6	36	research	research	NOUN
fcis-1089	6	37	hotspots	hotspot	NOUN
fcis-1089	6	38	of	of	ADP
fcis-1089	6	39	visual	visual	ADJ
fcis-1089	6	40	slam	slam	NOUN
fcis-1089	6	41	.	.	PUNCT
fcis-1089	7	1	keywords	keyword	NOUN
fcis-1089	7	2	:	:	PUNCT
fcis-1089	7	3	vslam	vslam	ADJ
fcis-1089	7	4	,	,	PUNCT
fcis-1089	7	5	intelligent	intelligent	ADJ
fcis-1089	7	6	robot	robot	NOUN
fcis-1089	7	7	,	,	PUNCT
fcis-1089	7	8	development	development	NOUN
fcis-1089	7	9	trend	trend	NOUN
fcis-1089	7	10	.	.	PUNCT
fcis-1089	8	1	1	1	X
fcis-1089	8	2	.	.	X
fcis-1089	8	3	introduction	introduction	NOUN
fcis-1089	8	4	a	a	DET
fcis-1089	8	5	basic	basic	ADJ
fcis-1089	8	6	task	task	NOUN
fcis-1089	8	7	of	of	ADP
fcis-1089	8	8	a	a	DET
fcis-1089	8	9	mobile	mobile	ADJ
fcis-1089	8	10	robot	robot	NOUN
fcis-1089	8	11	is	be	AUX
fcis-1089	8	12	to	to	PART
fcis-1089	8	13	determine	determine	VERB
fcis-1089	8	14	its	its	PRON
fcis-1089	8	15	location	location	NOUN
fcis-1089	8	16	under	under	ADP
fcis-1089	8	17	the	the	DET
fcis-1089	8	18	condition	condition	NOUN
fcis-1089	8	19	of	of	ADP
fcis-1089	8	20	a	a	DET
fcis-1089	8	21	given	give	VERB
fcis-1089	8	22	environment	environment	NOUN
fcis-1089	8	23	map	map	NOUN
fcis-1089	8	24	.	.	PUNCT
fcis-1089	9	1	however	however	ADV
fcis-1089	9	2	,	,	PUNCT
fcis-1089	9	3	the	the	DET
fcis-1089	9	4	environment	environment	NOUN
fcis-1089	9	5	map	map	NOUN
fcis-1089	9	6	is	be	AUX
fcis-1089	9	7	not	not	PART
fcis-1089	9	8	available	available	ADJ
fcis-1089	9	9	from	from	ADP
fcis-1089	9	10	the	the	DET
fcis-1089	9	11	beginning	beginning	NOUN
fcis-1089	9	12	.	.	PUNCT
fcis-1089	10	1	when	when	SCONJ
fcis-1089	10	2	a	a	DET
fcis-1089	10	3	mobile	mobile	ADJ
fcis-1089	10	4	robot	robot	NOUN
fcis-1089	10	5	enters	enter	VERB
fcis-1089	10	6	an	an	DET
fcis-1089	10	7	unknown	unknown	ADJ
fcis-1089	10	8	environment	environment	NOUN
fcis-1089	10	9	,	,	PUNCT
fcis-1089	10	10	it	it	PRON
fcis-1089	10	11	needs	need	VERB
fcis-1089	10	12	to	to	PART
fcis-1089	10	13	build	build	VERB
fcis-1089	10	14	a	a	DET
fcis-1089	10	15	3	3	NUM
fcis-1089	10	16	-	-	PUNCT
fcis-1089	10	17	d	d	NOUN
fcis-1089	10	18	environment	environment	NOUN
fcis-1089	10	19	map	map	NOUN
fcis-1089	10	20	through	through	ADP
fcis-1089	10	21	its	its	PRON
fcis-1089	10	22	own	own	ADJ
fcis-1089	10	23	sensors	sensor	NOUN
fcis-1089	10	24	and	and	CCONJ
fcis-1089	10	25	determine	determine	VERB
fcis-1089	10	26	its	its	PRON
fcis-1089	10	27	location	location	NOUN
fcis-1089	10	28	in	in	ADP
fcis-1089	10	29	the	the	DET
fcis-1089	10	30	map	map	NOUN
fcis-1089	10	31	at	at	ADP
fcis-1089	10	32	the	the	DET
fcis-1089	10	33	same	same	ADJ
fcis-1089	10	34	time	time	NOUN
fcis-1089	10	35	.	.	PUNCT
fcis-1089	11	1	this	this	PRON
fcis-1089	11	2	is	be	AUX
fcis-1089	11	3	the	the	DET
fcis-1089	11	4	slam	slam	NOUN
fcis-1089	11	5	(	(	PUNCT
fcis-1089	11	6	simultaneously	simultaneously	ADV
fcis-1089	11	7	localization	localization	NOUN
fcis-1089	11	8	and	and	CCONJ
fcis-1089	11	9	mapping	mapping	NOUN
fcis-1089	11	10	)	)	PUNCT
fcis-1089	11	11	problem	problem	NOUN
fcis-1089	11	12	,	,	PUNCT
fcis-1089	11	13	it	it	PRON
fcis-1089	11	14	is	be	AUX
fcis-1089	11	15	a	a	DET
fcis-1089	11	16	real	real	ADJ
fcis-1089	11	17	-	-	PUNCT
fcis-1089	11	18	time	time	NOUN
fcis-1089	11	19	version	version	NOUN
fcis-1089	11	20	of	of	ADP
fcis-1089	11	21	motion	motion	NOUN
fcis-1089	11	22	recovery	recovery	NOUN
fcis-1089	11	23	architecture	architecture	NOUN
fcis-1089	11	24	(	(	PUNCT
fcis-1089	11	25	sfm	sfm	NOUN
fcis-1089	11	26	)	)	PUNCT
fcis-1089	12	1	[	[	X
fcis-1089	12	2	1	1	NUM
fcis-1089	12	3	]	]	PUNCT
fcis-1089	12	4	.	.	PUNCT
fcis-1089	13	1	the	the	DET
fcis-1089	13	2	slam	slam	NOUN
fcis-1089	13	3	of	of	ADP
fcis-1089	13	4	camera	camera	NOUN
fcis-1089	13	5	as	as	ADP
fcis-1089	13	6	the	the	DET
fcis-1089	13	7	only	only	ADJ
fcis-1089	13	8	external	external	ADJ
fcis-1089	13	9	sensor	sensor	NOUN
fcis-1089	13	10	is	be	AUX
fcis-1089	13	11	called	call	VERB
fcis-1089	13	12	visual	visual	ADJ
fcis-1089	13	13	slam	slam	NOUN
fcis-1089	13	14	(	(	PUNCT
fcis-1089	13	15	vslam	vslam	PROPN
fcis-1089	13	16	)	)	PUNCT
fcis-1089	13	17	.	.	PUNCT
fcis-1089	14	1	according	accord	VERB
fcis-1089	14	2	to	to	ADP
fcis-1089	14	3	the	the	DET
fcis-1089	14	4	number	number	NOUN
fcis-1089	14	5	and	and	CCONJ
fcis-1089	14	6	category	category	NOUN
fcis-1089	14	7	of	of	ADP
fcis-1089	14	8	cameras	camera	NOUN
fcis-1089	14	9	,	,	PUNCT
fcis-1089	14	10	visual	visual	ADJ
fcis-1089	14	11	slam	slam	NOUN
fcis-1089	14	12	can	can	AUX
fcis-1089	14	13	be	be	AUX
fcis-1089	14	14	divided	divide	VERB
fcis-1089	14	15	into	into	ADP
fcis-1089	14	16	monocular	monocular	ADJ
fcis-1089	14	17	slam	slam	NOUN
fcis-1089	14	18	,	,	PUNCT
fcis-1089	14	19	stereoscopic	stereoscopic	ADJ
fcis-1089	14	20	slam	slam	NOUN
fcis-1089	14	21	,	,	PUNCT
fcis-1089	14	22	rgb	rgb	PROPN
fcis-1089	14	23	-	-	PROPN
fcis-1089	14	24	d	d	PROPN
fcis-1089	14	25	slam	slam	NOUN
fcis-1089	14	26	[	[	X
fcis-1089	14	27	2	2	NUM
fcis-1089	14	28	]	]	PUNCT
fcis-1089	14	29	although	although	SCONJ
fcis-1089	14	30	the	the	DET
fcis-1089	14	31	slam	slam	NOUN
fcis-1089	14	32	problem	problem	NOUN
fcis-1089	14	33	has	have	AUX
fcis-1089	14	34	received	receive	VERB
fcis-1089	14	35	considerable	considerable	ADJ
fcis-1089	14	36	indepth	indepth	ADJ
fcis-1089	14	37	research	research	NOUN
fcis-1089	14	38	,	,	PUNCT
fcis-1089	14	39	and	and	CCONJ
fcis-1089	14	40	many	many	ADJ
fcis-1089	14	41	scholars	scholar	NOUN
fcis-1089	14	42	have	have	AUX
fcis-1089	14	43	also	also	ADV
fcis-1089	14	44	made	make	VERB
fcis-1089	14	45	a	a	DET
fcis-1089	14	46	detailed	detailed	ADJ
fcis-1089	14	47	overview	overview	NOUN
fcis-1089	14	48	of	of	ADP
fcis-1089	14	49	this	this	DET
fcis-1089	14	50	research	research	NOUN
fcis-1089	14	51	,	,	PUNCT
fcis-1089	14	52	there	there	PRON
fcis-1089	14	53	have	have	AUX
fcis-1089	14	54	been	be	AUX
fcis-1089	14	55	new	new	ADJ
fcis-1089	14	56	developments	development	NOUN
fcis-1089	14	57	in	in	ADP
fcis-1089	14	58	the	the	DET
fcis-1089	14	59	research	research	NOUN
fcis-1089	14	60	on	on	ADP
fcis-1089	14	61	this	this	DET
fcis-1089	14	62	problem	problem	NOUN
fcis-1089	14	63	in	in	ADP
fcis-1089	14	64	recent	recent	ADJ
fcis-1089	14	65	years	year	NOUN
fcis-1089	14	66	,	,	PUNCT
fcis-1089	14	67	such	such	ADJ
fcis-1089	14	68	as	as	ADP
fcis-1089	14	69	the	the	DET
fcis-1089	14	70	movement	movement	NOUN
fcis-1089	14	71	from	from	ADP
fcis-1089	14	72	3dof	3dof	PROPN
fcis-1089	14	73	to	to	ADP
fcis-1089	14	74	6dof	6dof	NOUN
fcis-1089	14	75	,	,	PUNCT
fcis-1089	14	76	the	the	DET
fcis-1089	14	77	map	map	NOUN
fcis-1089	14	78	from	from	ADP
fcis-1089	14	79	2d	2d	NUM
fcis-1089	14	80	to	to	ADP
fcis-1089	14	81	3d	3d	NUM
fcis-1089	14	82	,	,	PUNCT
fcis-1089	14	83	the	the	DET
fcis-1089	14	84	environment	environment	NOUN
fcis-1089	14	85	has	have	VERB
fcis-1089	14	86	the	the	DET
fcis-1089	14	87	trend	trend	NOUN
fcis-1089	14	88	of	of	ADP
fcis-1089	14	89	gradually	gradually	ADV
fcis-1089	14	90	changing	change	VERB
fcis-1089	14	91	from	from	ADP
fcis-1089	14	92	indoor	indoor	ADJ
fcis-1089	14	93	to	to	ADP
fcis-1089	14	94	outdoor	outdoor	NOUN
fcis-1089	14	95	,	,	PUNCT
fcis-1089	14	96	the	the	DET
fcis-1089	14	97	scale	scale	NOUN
fcis-1089	14	98	of	of	ADP
fcis-1089	14	99	the	the	DET
fcis-1089	14	100	map	map	NOUN
fcis-1089	14	101	continues	continue	VERB
fcis-1089	14	102	to	to	PART
fcis-1089	14	103	expand	expand	VERB
fcis-1089	14	104	,	,	PUNCT
fcis-1089	14	105	and	and	CCONJ
fcis-1089	14	106	the	the	DET
fcis-1089	14	107	research	research	NOUN
fcis-1089	14	108	on	on	ADP
fcis-1089	14	109	lifelong	lifelong	ADJ
fcis-1089	14	110	mapping	mapping	NOUN
fcis-1089	14	111	has	have	AUX
fcis-1089	14	112	sprung	spring	VERB
fcis-1089	14	113	up	up	ADP
fcis-1089	14	114	[	[	X
fcis-1089	14	115	3	3	NUM
fcis-1089	14	116	]	]	PUNCT
fcis-1089	14	117	.	.	PUNCT
fcis-1089	15	1	2	2	X
fcis-1089	15	2	.	.	X
fcis-1089	15	3	development	development	NOUN
fcis-1089	15	4	of	of	ADP
fcis-1089	15	5	vslam	vslam	PROPN
fcis-1089	15	6	in	in	ADP
fcis-1089	15	7	the	the	DET
fcis-1089	15	8	past	past	ADJ
fcis-1089	15	9	10	10	NUM
fcis-1089	15	10	years	year	NOUN
fcis-1089	15	11	,	,	PUNCT
fcis-1089	15	12	with	with	ADP
fcis-1089	15	13	the	the	DET
fcis-1089	15	14	improvement	improvement	NOUN
fcis-1089	15	15	of	of	ADP
fcis-1089	15	16	computer	computer	NOUN
fcis-1089	15	17	computing	computing	NOUN
fcis-1089	15	18	power	power	NOUN
fcis-1089	15	19	,	,	PUNCT
fcis-1089	15	20	visual	visual	ADJ
fcis-1089	15	21	slam	slam	NOUN
fcis-1089	15	22	has	have	AUX
fcis-1089	15	23	achieved	achieve	VERB
fcis-1089	15	24	rapid	rapid	ADJ
fcis-1089	15	25	development	development	NOUN
fcis-1089	15	26	.	.	PUNCT
fcis-1089	16	1	the	the	DET
fcis-1089	16	2	landmark	landmark	ADJ
fcis-1089	16	3	achievement	achievement	NOUN
fcis-1089	16	4	of	of	ADP
fcis-1089	16	5	visual	visual	ADJ
fcis-1089	16	6	slam	slam	NOUN
fcis-1089	16	7	is	be	AUX
fcis-1089	16	8	mono	mono	PROPN
fcis-1089	16	9	slam	slam	NOUN
fcis-1089	16	10	[	[	X
fcis-1089	16	11	4	4	NUM
fcis-1089	16	12	]	]	PUNCT
fcis-1089	16	13	proposed	propose	VERB
fcis-1089	16	14	by	by	ADP
fcis-1089	16	15	andrew	andrew	PROPN
fcis-1089	16	16	davison	davison	PROPN
fcis-1089	16	17	,	,	PUNCT
fcis-1089	16	18	which	which	PRON
fcis-1089	16	19	is	be	AUX
fcis-1089	16	20	the	the	DET
fcis-1089	16	21	first	first	ADJ
fcis-1089	16	22	monocular	monocular	ADJ
fcis-1089	16	23	slam	slam	NOUN
fcis-1089	16	24	based	base	VERB
fcis-1089	16	25	on	on	ADP
fcis-1089	16	26	ekf	ekf	NOUN
fcis-1089	16	27	[	[	X
fcis-1089	16	28	5	5	NUM
fcis-1089	16	29	]	]	SYM
fcis-1089	16	30	method	method	NOUN
fcis-1089	16	31	.	.	PUNCT
fcis-1089	17	1	it	it	PRON
fcis-1089	17	2	can	can	AUX
fcis-1089	17	3	achieve	achieve	VERB
fcis-1089	17	4	real	real	ADJ
fcis-1089	17	5	-	-	PUNCT
fcis-1089	17	6	time	time	NOUN
fcis-1089	17	7	but	but	CCONJ
fcis-1089	17	8	can	can	AUX
fcis-1089	17	9	not	not	PART
fcis-1089	17	10	determine	determine	VERB
fcis-1089	17	11	how	how	SCONJ
fcis-1089	17	12	much	much	ADJ
fcis-1089	17	13	drift	drift	NOUN
fcis-1089	17	14	,	,	PUNCT
fcis-1089	17	15	and	and	CCONJ
fcis-1089	17	16	can	can	AUX
fcis-1089	17	17	create	create	VERB
fcis-1089	17	18	sparse	sparse	ADJ
fcis-1089	17	19	maps	map	NOUN
fcis-1089	17	20	online	online	ADV
fcis-1089	17	21	under	under	ADP
fcis-1089	17	22	the	the	DET
fcis-1089	17	23	probability	probability	NOUN
fcis-1089	17	24	framework	framework	NOUN
fcis-1089	17	25	.	.	PUNCT
fcis-1089	18	1	dtam	dtam	NOUN
fcis-1089	19	1	[	[	PUNCT
fcis-1089	19	2	6	6	NUM
fcis-1089	19	3	]	]	PUNCT
fcis-1089	19	4	is	be	AUX
fcis-1089	19	5	a	a	DET
fcis-1089	19	6	monocular	monocular	ADJ
fcis-1089	19	7	slam	slam	NOUN
fcis-1089	19	8	algorithm	algorithm	NOUN
fcis-1089	19	9	based	base	VERB
fcis-1089	19	10	on	on	ADP
fcis-1089	19	11	direct	direct	ADJ
fcis-1089	19	12	method	method	NOUN
fcis-1089	19	13	proposed	propose	VERB
fcis-1089	19	14	in	in	ADP
fcis-1089	19	15	2011	2011	NUM
fcis-1089	19	16	.	.	PUNCT
fcis-1089	20	1	this	this	DET
fcis-1089	20	2	method	method	NOUN
fcis-1089	20	3	obtains	obtain	VERB
fcis-1089	20	4	the	the	DET
fcis-1089	20	5	six	six	NUM
fcis-1089	20	6	degrees	degree	NOUN
fcis-1089	20	7	of	of	ADP
fcis-1089	20	8	freedom	freedom	NOUN
fcis-1089	20	9	pose	pose	VERB
fcis-1089	20	10	of	of	ADP
fcis-1089	20	11	the	the	DET
fcis-1089	20	12	camera	camera	NOUN
fcis-1089	20	13	relative	relative	NOUN
fcis-1089	20	14	to	to	ADP
fcis-1089	20	15	the	the	DET
fcis-1089	20	16	dense	dense	ADJ
fcis-1089	20	17	map	map	NOUN
fcis-1089	20	18	through	through	ADP
fcis-1089	20	19	the	the	DET
fcis-1089	20	20	whole	whole	ADJ
fcis-1089	20	21	image	image	NOUN
fcis-1089	20	22	alignment	alignment	NOUN
fcis-1089	20	23	of	of	ADP
fcis-1089	20	24	the	the	DET
fcis-1089	20	25	frame	frame	NOUN
fcis-1089	20	26	rate	rate	NOUN
fcis-1089	20	27	,	,	PUNCT
fcis-1089	20	28	which	which	PRON
fcis-1089	20	29	can	can	AUX
fcis-1089	20	30	achieve	achieve	VERB
fcis-1089	20	31	the	the	DET
fcis-1089	20	32	real	real	ADJ
fcis-1089	20	33	-	-	PUNCT
fcis-1089	20	34	time	time	NOUN
fcis-1089	20	35	effect	effect	NOUN
fcis-1089	20	36	on	on	ADP
fcis-1089	20	37	the	the	DET
fcis-1089	20	38	gpu	gpu	PROPN
fcis-1089	20	39	.	.	PROPN
fcis-1089	20	40	ptam	ptam	PROPN
fcis-1089	21	1	[	[	X
fcis-1089	21	2	7	7	X
fcis-1089	21	3	]	]	PUNCT
fcis-1089	21	4	is	be	AUX
fcis-1089	21	5	the	the	DET
fcis-1089	21	6	first	first	ADJ
fcis-1089	21	7	algorithm	algorithm	NOUN
fcis-1089	21	8	proposed	propose	VERB
fcis-1089	21	9	by	by	ADP
fcis-1089	21	10	georg	georg	PROPN
fcis-1089	21	11	klein	klein	PROPN
fcis-1089	21	12	to	to	PART
fcis-1089	21	13	process	process	VERB
fcis-1089	21	14	slam	slam	NOUN
fcis-1089	21	15	with	with	ADP
fcis-1089	21	16	multithreading	multithreade	VERB
fcis-1089	21	17	,	,	PUNCT
fcis-1089	21	18	which	which	PRON
fcis-1089	21	19	divides	divide	VERB
fcis-1089	21	20	tracking	tracking	NOUN
fcis-1089	21	21	and	and	CCONJ
fcis-1089	21	22	mapping	mapping	NOUN
fcis-1089	21	23	into	into	ADP
fcis-1089	21	24	two	two	NUM
fcis-1089	21	25	separate	separate	ADJ
fcis-1089	21	26	tasks	task	NOUN
fcis-1089	21	27	and	and	CCONJ
fcis-1089	21	28	processes	process	VERB
fcis-1089	21	29	them	they	PRON
fcis-1089	21	30	in	in	ADP
fcis-1089	21	31	two	two	NUM
fcis-1089	21	32	parallel	parallel	ADJ
fcis-1089	21	33	threads	thread	NOUN
fcis-1089	21	34	.	.	PUNCT
fcis-1089	22	1	kinect	kinect	ADJ
fcis-1089	22	2	fusion	fusion	NOUN
fcis-1089	23	1	[	[	X
fcis-1089	23	2	8	8	NUM
fcis-1089	23	3	]	]	PUNCT
fcis-1089	23	4	is	be	AUX
fcis-1089	23	5	the	the	DET
fcis-1089	23	6	first	first	ADJ
fcis-1089	23	7	kinect	kinect	ADJ
fcis-1089	23	8	based	base	VERB
fcis-1089	23	9	algorithm	algorithm	NOUN
fcis-1089	23	10	that	that	PRON
fcis-1089	23	11	can	can	AUX
fcis-1089	23	12	build	build	VERB
fcis-1089	23	13	dense	dense	ADJ
fcis-1089	23	14	3d	3d	NOUN
fcis-1089	23	15	maps	map	NOUN
fcis-1089	23	16	on	on	ADP
fcis-1089	23	17	gpu	gpu	PROPN
fcis-1089	23	18	in	in	ADP
fcis-1089	23	19	real	real	ADJ
fcis-1089	23	20	time	time	NOUN
fcis-1089	23	21	.	.	PUNCT
fcis-1089	24	1	this	this	DET
fcis-1089	24	2	method	method	NOUN
fcis-1089	24	3	only	only	ADV
fcis-1089	24	4	uses	use	VERB
fcis-1089	24	5	the	the	DET
fcis-1089	24	6	depth	depth	NOUN
fcis-1089	24	7	information	information	NOUN
fcis-1089	24	8	obtained	obtain	VERB
fcis-1089	24	9	by	by	ADP
fcis-1089	24	10	kinect	kinect	ADJ
fcis-1089	24	11	camera	camera	NOUN
fcis-1089	24	12	to	to	PART
fcis-1089	24	13	calculate	calculate	VERB
fcis-1089	24	14	the	the	DET
fcis-1089	24	15	position	position	NOUN
fcis-1089	24	16	and	and	CCONJ
fcis-1089	24	17	posture	posture	NOUN
fcis-1089	24	18	of	of	ADP
fcis-1089	24	19	sensors	sensor	NOUN
fcis-1089	24	20	and	and	CCONJ
fcis-1089	24	21	build	build	VERB
fcis-1089	24	22	an	an	DET
fcis-1089	24	23	accurate	accurate	ADJ
fcis-1089	24	24	environment	environment	NOUN
fcis-1089	24	25	3	3	NUM
fcis-1089	24	26	-	-	SYM
fcis-1089	24	27	d	d	NOUN
fcis-1089	24	28	map	map	NOUN
fcis-1089	24	29	model	model	NOUN
fcis-1089	24	30	[	[	X
fcis-1089	24	31	5	5	NUM
fcis-1089	24	32	]	]	PUNCT
fcis-1089	24	33	.	.	PUNCT
fcis-1089	25	1	lsdslam	lsdslam	PROPN
fcis-1089	26	1	[	[	X
fcis-1089	26	2	9	9	X
fcis-1089	26	3	]	]	AUX
fcis-1089	26	4	proposed	propose	VERB
fcis-1089	26	5	in	in	ADP
fcis-1089	26	6	2014	2014	NUM
fcis-1089	26	7	is	be	AUX
fcis-1089	26	8	a	a	DET
fcis-1089	26	9	direct	direct	ADJ
fcis-1089	26	10	monocular	monocular	ADJ
fcis-1089	26	11	slam	slam	NOUN
fcis-1089	26	12	method	method	NOUN
fcis-1089	26	13	,	,	PUNCT
fcis-1089	26	14	which	which	PRON
fcis-1089	26	15	directly	directly	ADV
fcis-1089	26	16	processes	process	VERB
fcis-1089	26	17	the	the	DET
fcis-1089	26	18	pixels	pixel	NOUN
fcis-1089	26	19	of	of	ADP
fcis-1089	26	20	the	the	DET
fcis-1089	26	21	image	image	NOUN
fcis-1089	26	22	.	.	PUNCT
fcis-1089	27	1	compared	compare	VERB
fcis-1089	27	2	with	with	ADP
fcis-1089	27	3	the	the	DET
fcis-1089	27	4	previous	previous	ADJ
fcis-1089	27	5	monocular	monocular	ADJ
fcis-1089	27	6	visual	visual	ADJ
fcis-1089	27	7	odometer	odometer	NOUN
fcis-1089	27	8	based	base	VERB
fcis-1089	27	9	on	on	ADP
fcis-1089	27	10	the	the	DET
fcis-1089	27	11	direct	direct	ADJ
fcis-1089	27	12	method	method	NOUN
fcis-1089	27	13	,	,	PUNCT
fcis-1089	27	14	it	it	PRON
fcis-1089	27	15	can	can	AUX
fcis-1089	27	16	not	not	PART
fcis-1089	27	17	only	only	ADV
fcis-1089	27	18	calculate	calculate	VERB
fcis-1089	27	19	its	its	PRON
fcis-1089	27	20	own	own	ADJ
fcis-1089	27	21	posture	posture	NOUN
fcis-1089	27	22	,	,	PUNCT
fcis-1089	27	23	but	but	CCONJ
fcis-1089	27	24	also	also	ADV
fcis-1089	27	25	build	build	VERB
fcis-1089	27	26	a	a	DET
fcis-1089	27	27	global	global	ADJ
fcis-1089	27	28	semi	semi	ADV
fcis-1089	27	29	dense	dense	ADJ
fcis-1089	27	30	and	and	CCONJ
fcis-1089	27	31	accurate	accurate	ADJ
fcis-1089	27	32	environmental	environmental	ADJ
fcis-1089	27	33	map	map	NOUN
fcis-1089	27	34	.	.	PUNCT
fcis-1089	28	1	the	the	DET
fcis-1089	28	2	tracking	tracking	NOUN
fcis-1089	28	3	method	method	NOUN
fcis-1089	28	4	is	be	AUX
fcis-1089	28	5	directly	directly	ADV
fcis-1089	28	6	operated	operate	VERB
fcis-1089	28	7	on	on	ADP
fcis-1089	28	8	sim3	sim3	NOUN
fcis-1089	28	9	,	,	PUNCT
fcis-1089	28	10	so	so	SCONJ
fcis-1089	28	11	that	that	SCONJ
fcis-1089	28	12	the	the	DET
fcis-1089	28	13	scale	scale	NOUN
fcis-1089	28	14	drift	drift	NOUN
fcis-1089	28	15	can	can	AUX
fcis-1089	28	16	be	be	AUX
fcis-1089	28	17	accurately	accurately	ADV
fcis-1089	28	18	detected	detect	VERB
fcis-1089	28	19	,	,	PUNCT
fcis-1089	28	20	and	and	CCONJ
fcis-1089	28	21	can	can	AUX
fcis-1089	28	22	be	be	AUX
fcis-1089	28	23	run	run	VERB
fcis-1089	28	24	in	in	ADP
fcis-1089	28	25	real	real	ADJ
fcis-1089	28	26	time	time	NOUN
fcis-1089	28	27	on	on	ADP
fcis-1089	28	28	cpu	cpu	PROPN
fcis-1089	28	29	,	,	PUNCT
fcis-1089	28	30	orb	orb	NOUN
fcis-1089	28	31	-	-	NOUN
fcis-1089	28	32	slam	slam	NOUN
fcis-1089	28	33	[	[	X
fcis-1089	28	34	10	10	NUM
fcis-1089	28	35	]	]	PUNCT
fcis-1089	28	36	is	be	AUX
fcis-1089	28	37	a	a	DET
fcis-1089	28	38	relatively	relatively	ADV
fcis-1089	28	39	complete	complete	ADJ
fcis-1089	28	40	monocular	monocular	ADJ
fcis-1089	28	41	slam	slam	NOUN
fcis-1089	28	42	algorithm	algorithm	NOUN
fcis-1089	28	43	based	base	VERB
fcis-1089	28	44	on	on	ADP
fcis-1089	28	45	key	key	ADJ
fcis-1089	28	46	frames	frame	NOUN
fcis-1089	28	47	,	,	PUNCT
fcis-1089	28	48	which	which	PRON
fcis-1089	28	49	divides	divide	VERB
fcis-1089	28	50	the	the	DET
fcis-1089	28	51	whole	whole	ADJ
fcis-1089	28	52	system	system	NOUN
fcis-1089	28	53	into	into	ADP
fcis-1089	28	54	three	three	NUM
fcis-1089	28	55	threads	thread	NOUN
fcis-1089	28	56	:	:	PUNCT
fcis-1089	28	57	tracking	tracking	NOUN
fcis-1089	28	58	,	,	PUNCT
fcis-1089	28	59	map	map	VERB
fcis-1089	28	60	creation	creation	NOUN
fcis-1089	28	61	,	,	PUNCT
fcis-1089	28	62	and	and	CCONJ
fcis-1089	28	63	closed	closed	ADJ
fcis-1089	28	64	-	-	PUNCT
fcis-1089	28	65	loop	loop	NOUN
fcis-1089	28	66	control	control	NOUN
fcis-1089	28	67	.	.	PUNCT
fcis-1089	29	1	feature	feature	NOUN
fcis-1089	29	2	extraction	extraction	NOUN
fcis-1089	29	3	and	and	CCONJ
fcis-1089	29	4	matching	matching	NOUN
fcis-1089	29	5	,	,	PUNCT
fcis-1089	29	6	sparse	sparse	ADJ
fcis-1089	29	7	map	map	VERB
fcis-1089	29	8	creation	creation	NOUN
fcis-1089	29	9	,	,	PUNCT
fcis-1089	29	10	and	and	CCONJ
fcis-1089	29	11	location	location	NOUN
fcis-1089	29	12	recognition	recognition	NOUN
fcis-1089	29	13	are	be	AUX
fcis-1089	29	14	all	all	PRON
fcis-1089	29	15	based	base	VERB
fcis-1089	29	16	on	on	ADP
fcis-1089	29	17	orb	orb	NOUN
fcis-1089	29	18	features	feature	NOUN
fcis-1089	29	19	.	.	PUNCT
fcis-1089	30	1	its	its	PRON
fcis-1089	30	2	location	location	NOUN
fcis-1089	30	3	accuracy	accuracy	NOUN
fcis-1089	30	4	is	be	AUX
fcis-1089	30	5	very	very	ADV
fcis-1089	30	6	high	high	ADJ
fcis-1089	30	7	,	,	PUNCT
fcis-1089	30	8	and	and	CCONJ
fcis-1089	30	9	it	it	PRON
fcis-1089	30	10	can	can	AUX
fcis-1089	30	11	run	run	VERB
fcis-1089	30	12	in	in	ADP
fcis-1089	30	13	real	real	ADJ
fcis-1089	30	14	time	time	NOUN
fcis-1089	30	15	.	.	PUNCT
fcis-1089	31	1	3	3	X
fcis-1089	31	2	.	.	X
fcis-1089	31	3	classification	classification	NOUN
fcis-1089	31	4	of	of	ADP
fcis-1089	31	5	vslam	vslam	PROPN
fcis-1089	31	6	visual	visual	ADJ
fcis-1089	31	7	slam	slam	NOUN
fcis-1089	31	8	algorithm	algorithm	NOUN
fcis-1089	31	9	can	can	AUX
fcis-1089	31	10	be	be	AUX
fcis-1089	31	11	divided	divide	VERB
fcis-1089	31	12	into	into	ADP
fcis-1089	31	13	feature	feature	NOUN
fcis-1089	31	14	-	-	PUNCT
fcis-1089	31	15	based	base	VERB
fcis-1089	31	16	slam	slam	NOUN
fcis-1089	31	17	method	method	NOUN
fcis-1089	31	18	and	and	CCONJ
fcis-1089	31	19	direct	direct	ADJ
fcis-1089	31	20	method	method	NOUN
fcis-1089	31	21	according	accord	VERB
fcis-1089	31	22	to	to	ADP
fcis-1089	31	23	the	the	DET
fcis-1089	31	24	different	different	ADJ
fcis-1089	31	25	use	use	NOUN
fcis-1089	31	26	of	of	ADP
fcis-1089	31	27	image	image	NOUN
fcis-1089	31	28	information	information	NOUN
fcis-1089	31	29	.	.	PUNCT
fcis-1089	32	1	3.1	3.1	NUM
fcis-1089	32	2	.	.	PUNCT
fcis-1089	32	3	feature	feature	NOUN
fcis-1089	32	4	based	base	VERB
fcis-1089	32	5	vslam	vslam	PROPN
fcis-1089	32	6	method	method	NOUN
fcis-1089	32	7	feature	feature	NOUN
fcis-1089	32	8	based	base	VERB
fcis-1089	32	9	visual	visual	ADJ
fcis-1089	32	10	slam	slam	NOUN
fcis-1089	32	11	method	method	NOUN
fcis-1089	32	12	refers	refer	VERB
fcis-1089	32	13	to	to	ADP
fcis-1089	32	14	the	the	DET
fcis-1089	32	15	detection	detection	NOUN
fcis-1089	32	16	and	and	CCONJ
fcis-1089	32	17	extraction	extraction	NOUN
fcis-1089	32	18	of	of	ADP
fcis-1089	32	19	feature	feature	NOUN
fcis-1089	32	20	points	point	NOUN
fcis-1089	32	21	of	of	ADP
fcis-1089	32	22	the	the	DET
fcis-1089	32	23	input	input	NOUN
fcis-1089	32	24	image	image	NOUN
fcis-1089	32	25	,	,	PUNCT
fcis-1089	32	26	and	and	CCONJ
fcis-1089	32	27	the	the	DET
fcis-1089	32	28	calculation	calculation	NOUN
fcis-1089	32	29	of	of	ADP
fcis-1089	32	30	camera	camera	NOUN
fcis-1089	32	31	pose	pose	VERB
fcis-1089	32	32	and	and	CCONJ
fcis-1089	32	33	the	the	DET
fcis-1089	32	34	mapping	mapping	NOUN
fcis-1089	32	35	of	of	ADP
fcis-1089	32	36	the	the	DET
fcis-1089	32	37	environment	environment	NOUN
fcis-1089	32	38	based	base	VERB
fcis-1089	32	39	on	on	ADP
fcis-1089	32	40	2	2	NUM
fcis-1089	32	41	-	-	PUNCT
fcis-1089	32	42	d/3	d/3	NOUN
fcis-1089	32	43	-	-	PUNCT
fcis-1089	32	44	d	d	NOUN
fcis-1089	32	45	feature	feature	NOUN
fcis-1089	32	46	matching	matching	NOUN
fcis-1089	32	47	.	.	PUNCT
fcis-1089	33	1	if	if	SCONJ
fcis-1089	33	2	the	the	DET
fcis-1089	33	3	whole	whole	ADJ
fcis-1089	33	4	image	image	NOUN
fcis-1089	33	5	is	be	AUX
fcis-1089	33	6	processed	process	VERB
fcis-1089	33	7	,	,	PUNCT
fcis-1089	33	8	the	the	DET
fcis-1089	33	9	computational	computational	ADJ
fcis-1089	33	10	complexity	complexity	NOUN
fcis-1089	33	11	is	be	AUX
fcis-1089	33	12	too	too	ADV
fcis-1089	33	13	high	high	ADJ
fcis-1089	33	14	.	.	PUNCT
fcis-1089	34	1	because	because	SCONJ
fcis-1089	34	2	the	the	DET
fcis-1089	34	3	feature	feature	NOUN
fcis-1089	34	4	can	can	AUX
fcis-1089	34	5	save	save	VERB
fcis-1089	34	6	the	the	DET
fcis-1089	34	7	important	important	ADJ
fcis-1089	34	8	information	information	NOUN
fcis-1089	34	9	of	of	ADP
fcis-1089	34	10	the	the	DET
fcis-1089	34	11	image	image	NOUN
fcis-1089	34	12	and	and	CCONJ
fcis-1089	34	13	effectively	effectively	ADV
fcis-1089	34	14	reduce	reduce	VERB
fcis-1089	34	15	the	the	DET
fcis-1089	34	16	amount	amount	NOUN
fcis-1089	34	17	of	of	ADP
fcis-1089	34	18	calculation	calculation	NOUN
fcis-1089	34	19	,	,	PUNCT
fcis-1089	34	20	it	it	PRON
fcis-1089	34	21	is	be	AUX
fcis-1089	34	22	widely	widely	ADV
fcis-1089	34	23	used	use	VERB
fcis-1089	34	24	.	.	PUNCT
fcis-1089	35	1	the	the	DET
fcis-1089	35	2	early	early	ADJ
fcis-1089	35	3	implementation	implementation	NOUN
fcis-1089	35	4	of	of	ADP
fcis-1089	35	5	monocular	monocular	ADJ
fcis-1089	35	6	vision	vision	NOUN
fcis-1089	35	7	slam	slam	NOUN
fcis-1089	35	8	is	be	AUX
fcis-1089	35	9	achieved	achieve	VERB
fcis-1089	35	10	by	by	ADP
fcis-1089	35	11	means	mean	NOUN
fcis-1089	35	12	of	of	ADP
fcis-1089	35	13	filters	filter	NOUN
fcis-1089	35	14	.	.	PUNCT
fcis-1089	36	1	the	the	DET
fcis-1089	36	2	extended	extend	VERB
fcis-1089	36	3	kalman	kalman	NOUN
fcis-1089	36	4	filter	filter	PROPN
fcis-1089	36	5	(	(	PUNCT
fcis-1089	36	6	ekf	ekf	PROPN
fcis-1089	36	7	)	)	PUNCT
fcis-1089	36	8	is	be	AUX
fcis-1089	36	9	used	use	VERB
fcis-1089	36	10	to	to	PART
fcis-1089	36	11	realize	realize	VERB
fcis-1089	36	12	simultaneous	simultaneous	ADJ
fcis-1089	36	13	positioning	positioning	NOUN
fcis-1089	36	14	and	and	CCONJ
fcis-1089	36	15	map	map	VERB
fcis-1089	36	16	creation	creation	NOUN
fcis-1089	36	17	.	.	PUNCT
fcis-1089	37	1	its	its	PRON
fcis-1089	37	2	main	main	ADJ
fcis-1089	37	3	idea	idea	NOUN
fcis-1089	37	4	is	be	AUX
fcis-1089	37	5	to	to	PART
fcis-1089	37	6	use	use	VERB
fcis-1089	37	7	the	the	DET
fcis-1089	37	8	state	state	NOUN
fcis-1089	37	9	vector	vector	NOUN
fcis-1089	37	10	to	to	PART
fcis-1089	37	11	store	store	VERB
fcis-1089	37	12	the	the	DET
fcis-1089	37	13	three	three	NUM
fcis-1089	37	14	-	-	PUNCT
fcis-1089	37	15	dimensional	dimensional	ADJ
fcis-1089	37	16	coordinates	coordinate	NOUN
fcis-1089	37	17	of	of	ADP
fcis-1089	37	18	the	the	DET
fcis-1089	37	19	camera	camera	NOUN
fcis-1089	37	20	pose	pose	VERB
fcis-1089	37	21	and	and	CCONJ
fcis-1089	37	22	map	map	VERB
fcis-1089	37	23	points	point	NOUN
fcis-1089	37	24	,	,	PUNCT
fcis-1089	37	25	use	use	VERB
fcis-1089	37	26	the	the	DET
fcis-1089	37	27	probability	probability	NOUN
fcis-1089	37	28	density	density	NOUN
fcis-1089	37	29	function	function	NOUN
fcis-1089	37	30	to	to	PART
fcis-1089	37	31	express	express	VERB
fcis-1089	37	32	the	the	DET
fcis-1089	37	33	uncertainty	uncertainty	NOUN
fcis-1089	37	34	,	,	PUNCT
fcis-1089	37	35	and	and	CCONJ
fcis-1089	37	36	finally	finally	ADV
fcis-1089	37	37	obtain	obtain	VERB
fcis-1089	37	38	the	the	DET
fcis-1089	37	39	mean	mean	NOUN
fcis-1089	37	40	and	and	CCONJ
fcis-1089	37	41	variance	variance	NOUN
fcis-1089	37	42	of	of	ADP
fcis-1089	37	43	the	the	DET
fcis-1089	37	44	19	19	NUM
fcis-1089	37	45	updated	update	VERB
fcis-1089	37	46	state	state	NOUN
fcis-1089	37	47	vector	vector	NOUN
fcis-1089	37	48	from	from	ADP
fcis-1089	37	49	the	the	DET
fcis-1089	37	50	observation	observation	NOUN
fcis-1089	37	51	model	model	NOUN
fcis-1089	37	52	and	and	CCONJ
fcis-1089	37	53	recursive	recursive	ADJ
fcis-1089	37	54	calculation	calculation	NOUN
fcis-1089	37	55	[	[	X
fcis-1089	37	56	11	11	NUM
fcis-1089	37	57	]	]	PUNCT
fcis-1089	37	58	then	then	ADV
fcis-1089	37	59	monocular	monocular	ADJ
fcis-1089	37	60	visual	visual	ADJ
fcis-1089	37	61	slam	slam	NOUN
fcis-1089	37	62	based	base	VERB
fcis-1089	37	63	on	on	ADP
fcis-1089	37	64	key	key	ADJ
fcis-1089	37	65	frames	frame	NOUN
fcis-1089	37	66	gradually	gradually	ADV
fcis-1089	37	67	developed	develop	VERB
fcis-1089	37	68	,	,	PUNCT
fcis-1089	37	69	of	of	ADP
fcis-1089	37	70	which	which	PRON
fcis-1089	37	71	the	the	DET
fcis-1089	37	72	most	most	ADV
fcis-1089	37	73	representative	representative	NOUN
fcis-1089	37	74	is	be	AUX
fcis-1089	37	75	parallel	parallel	ADJ
fcis-1089	37	76	tracking	tracking	NOUN
fcis-1089	37	77	and	and	CCONJ
fcis-1089	37	78	mapping	mapping	NOUN
fcis-1089	37	79	(	(	PUNCT
fcis-1089	37	80	ptam	ptam	NOUN
fcis-1089	37	81	)	)	PUNCT
fcis-1089	38	1	[	[	X
fcis-1089	38	2	12	12	NUM
fcis-1089	38	3	]	]	PUNCT
fcis-1089	38	4	,	,	PUNCT
fcis-1089	38	5	which	which	PRON
fcis-1089	38	6	proposes	propose	VERB
fcis-1089	38	7	a	a	DET
fcis-1089	38	8	simple	simple	ADJ
fcis-1089	38	9	and	and	CCONJ
fcis-1089	38	10	effective	effective	ADJ
fcis-1089	38	11	method	method	NOUN
fcis-1089	38	12	to	to	PART
fcis-1089	38	13	extract	extract	VERB
fcis-1089	38	14	key	key	ADJ
fcis-1089	38	15	frames	frame	NOUN
fcis-1089	38	16	,	,	PUNCT
fcis-1089	38	17	and	and	CCONJ
fcis-1089	38	18	divides	divide	VERB
fcis-1089	38	19	positioning	positioning	NOUN
fcis-1089	38	20	and	and	CCONJ
fcis-1089	38	21	map	map	VERB
fcis-1089	38	22	creation	creation	NOUN
fcis-1089	38	23	into	into	ADP
fcis-1089	38	24	two	two	NUM
fcis-1089	38	25	independent	independent	ADJ
fcis-1089	38	26	tasks	task	NOUN
fcis-1089	38	27	,	,	PUNCT
fcis-1089	38	28	which	which	PRON
fcis-1089	38	29	are	be	AUX
fcis-1089	38	30	carried	carry	VERB
fcis-1089	38	31	out	out	ADP
fcis-1089	38	32	on	on	ADP
fcis-1089	38	33	two	two	NUM
fcis-1089	38	34	threads	thread	NOUN
fcis-1089	38	35	.	.	PUNCT
fcis-1089	39	1	3.2	3.2	NUM
fcis-1089	39	2	.	.	PUNCT
fcis-1089	40	1	direct	direct	ADJ
fcis-1089	40	2	vslam	vslam	PROPN
fcis-1089	40	3	method	method	VERB
fcis-1089	40	4	the	the	DET
fcis-1089	40	5	direct	direct	ADJ
fcis-1089	40	6	slam	slam	NOUN
fcis-1089	40	7	method	method	NOUN
fcis-1089	40	8	refers	refer	VERB
fcis-1089	40	9	to	to	ADP
fcis-1089	40	10	the	the	DET
fcis-1089	40	11	direct	direct	ADJ
fcis-1089	40	12	operation	operation	NOUN
fcis-1089	40	13	of	of	ADP
fcis-1089	40	14	the	the	DET
fcis-1089	40	15	intensity	intensity	NOUN
fcis-1089	40	16	of	of	ADP
fcis-1089	40	17	pixels	pixel	NOUN
fcis-1089	40	18	,	,	PUNCT
fcis-1089	40	19	which	which	PRON
fcis-1089	40	20	avoids	avoid	VERB
fcis-1089	40	21	the	the	DET
fcis-1089	40	22	extraction	extraction	NOUN
fcis-1089	40	23	of	of	ADP
fcis-1089	40	24	feature	feature	NOUN
fcis-1089	40	25	points	point	NOUN
fcis-1089	40	26	.	.	PUNCT
fcis-1089	41	1	this	this	DET
fcis-1089	41	2	method	method	NOUN
fcis-1089	41	3	can	can	AUX
fcis-1089	41	4	use	use	VERB
fcis-1089	41	5	all	all	DET
fcis-1089	41	6	the	the	DET
fcis-1089	41	7	information	information	NOUN
fcis-1089	41	8	of	of	ADP
fcis-1089	41	9	the	the	DET
fcis-1089	41	10	image	image	NOUN
fcis-1089	41	11	.	.	PUNCT
fcis-1089	42	1	in	in	ADP
fcis-1089	42	2	addition	addition	NOUN
fcis-1089	42	3	,	,	PUNCT
fcis-1089	42	4	more	more	ADV
fcis-1089	42	5	environmental	environmental	ADJ
fcis-1089	42	6	geometric	geometric	ADJ
fcis-1089	42	7	information	information	NOUN
fcis-1089	42	8	is	be	AUX
fcis-1089	42	9	provided	provide	VERB
fcis-1089	42	10	,	,	PUNCT
fcis-1089	42	11	which	which	PRON
fcis-1089	42	12	is	be	AUX
fcis-1089	42	13	helpful	helpful	ADJ
fcis-1089	42	14	for	for	ADP
fcis-1089	42	15	the	the	DET
fcis-1089	42	16	subsequent	subsequent	ADJ
fcis-1089	42	17	use	use	NOUN
fcis-1089	42	18	of	of	ADP
fcis-1089	42	19	the	the	DET
fcis-1089	42	20	map	map	NOUN
fcis-1089	42	21	.	.	PUNCT
fcis-1089	43	1	and	and	CCONJ
fcis-1089	43	2	it	it	PRON
fcis-1089	43	3	has	have	VERB
fcis-1089	43	4	higher	high	ADJ
fcis-1089	43	5	accuracy	accuracy	NOUN
fcis-1089	43	6	and	and	CCONJ
fcis-1089	43	7	robustness	robustness	NOUN
fcis-1089	43	8	to	to	ADP
fcis-1089	43	9	the	the	DET
fcis-1089	43	10	environment	environment	NOUN
fcis-1089	43	11	with	with	ADP
fcis-1089	43	12	fewer	few	ADJ
fcis-1089	43	13	features	feature	NOUN
fcis-1089	43	14	.	.	PUNCT
fcis-1089	44	1	in	in	ADP
fcis-1089	44	2	recent	recent	ADJ
fcis-1089	44	3	years	year	NOUN
fcis-1089	44	4	,	,	PUNCT
fcis-1089	44	5	monocular	monocular	ADJ
fcis-1089	44	6	vision	vision	NOUN
fcis-1089	44	7	mileage	mileage	NOUN
fcis-1089	44	8	calculation	calculation	NOUN
fcis-1089	44	9	method	method	NOUN
fcis-1089	44	10	based	base	VERB
fcis-1089	44	11	on	on	ADP
fcis-1089	44	12	direct	direct	ADJ
fcis-1089	44	13	method	method	NOUN
fcis-1089	44	14	has	have	AUX
fcis-1089	44	15	been	be	AUX
fcis-1089	44	16	proposed	propose	VERB
fcis-1089	44	17	.	.	PUNCT
fcis-1089	45	1	engelj	engelj	VERB
fcis-1089	46	1	[	[	X
fcis-1089	46	2	12	12	NUM
fcis-1089	46	3	]	]	PUNCT
fcis-1089	46	4	constructs	construct	VERB
fcis-1089	46	5	a	a	DET
fcis-1089	46	6	semi	semi	ADV
fcis-1089	46	7	dense	dense	ADJ
fcis-1089	46	8	inverse	inverse	NOUN
fcis-1089	46	9	depth	depth	NOUN
fcis-1089	46	10	map	map	NOUN
fcis-1089	46	11	for	for	ADP
fcis-1089	46	12	the	the	DET
fcis-1089	46	13	current	current	ADJ
fcis-1089	46	14	image	image	NOUN
fcis-1089	46	15	,	,	PUNCT
fcis-1089	46	16	and	and	CCONJ
fcis-1089	46	17	uses	use	VERB
fcis-1089	46	18	dense	dense	ADJ
fcis-1089	46	19	image	image	NOUN
fcis-1089	46	20	alignment	alignment	NOUN
fcis-1089	46	21	method	method	NOUN
fcis-1089	46	22	to	to	PART
fcis-1089	46	23	calculate	calculate	VERB
fcis-1089	46	24	camera	camera	NOUN
fcis-1089	46	25	pose	pose	VERB
fcis-1089	46	26	.	.	PUNCT
fcis-1089	47	1	building	build	VERB
fcis-1089	47	2	a	a	DET
fcis-1089	47	3	semi	semi	ADV
fcis-1089	47	4	dense	dense	ADJ
fcis-1089	47	5	map	map	NOUN
fcis-1089	47	6	is	be	AUX
fcis-1089	47	7	to	to	PART
fcis-1089	47	8	estimate	estimate	VERB
fcis-1089	47	9	the	the	DET
fcis-1089	47	10	depth	depth	NOUN
fcis-1089	47	11	values	value	NOUN
fcis-1089	47	12	of	of	ADP
fcis-1089	47	13	all	all	DET
fcis-1089	47	14	pixels	pixel	NOUN
fcis-1089	47	15	with	with	ADP
fcis-1089	47	16	large	large	ADJ
fcis-1089	47	17	gradient	gradient	NOUN
fcis-1089	47	18	in	in	ADP
fcis-1089	47	19	the	the	DET
fcis-1089	47	20	image	image	NOUN
fcis-1089	47	21	.	.	PUNCT
fcis-1089	48	1	the	the	DET
fcis-1089	48	2	depth	depth	NOUN
fcis-1089	48	3	values	value	NOUN
fcis-1089	48	4	are	be	AUX
fcis-1089	48	5	expressed	express	VERB
fcis-1089	48	6	as	as	ADP
fcis-1089	48	7	gaussian	gaussian	ADJ
fcis-1089	48	8	distribution	distribution	NOUN
fcis-1089	48	9	,	,	PUNCT
fcis-1089	48	10	and	and	CCONJ
fcis-1089	48	11	when	when	SCONJ
fcis-1089	48	12	a	a	DET
fcis-1089	48	13	new	new	ADJ
fcis-1089	48	14	image	image	NOUN
fcis-1089	48	15	arrives	arrive	VERB
fcis-1089	48	16	,	,	PUNCT
fcis-1089	48	17	the	the	DET
fcis-1089	48	18	depth	depth	NOUN
fcis-1089	48	19	values	value	NOUN
fcis-1089	48	20	are	be	AUX
fcis-1089	48	21	updated	update	VERB
fcis-1089	48	22	.	.	PUNCT
fcis-1089	49	1	kelc	kelc	PROPN
fcis-1089	49	2	proposes	propose	VERB
fcis-1089	49	3	an	an	DET
fcis-1089	49	4	rgb	rgb	PROPN
fcis-1089	49	5	-	-	PROPN
fcis-1089	49	6	dslam	dslam	PROPN
fcis-1089	50	1	[	[	X
fcis-1089	50	2	13	13	NUM
fcis-1089	50	3	]	]	SYM
fcis-1089	50	4	method	method	NOUN
fcis-1089	50	5	,	,	PUNCT
fcis-1089	50	6	which	which	PRON
fcis-1089	50	7	combines	combine	VERB
fcis-1089	50	8	the	the	DET
fcis-1089	50	9	intensity	intensity	NOUN
fcis-1089	50	10	error	error	NOUN
fcis-1089	50	11	and	and	CCONJ
fcis-1089	50	12	depth	depth	NOUN
fcis-1089	50	13	error	error	NOUN
fcis-1089	50	14	of	of	ADP
fcis-1089	50	15	pixels	pixel	NOUN
fcis-1089	50	16	as	as	ADP
fcis-1089	50	17	the	the	DET
fcis-1089	50	18	error	error	NOUN
fcis-1089	50	19	function	function	NOUN
fcis-1089	50	20	,	,	PUNCT
fcis-1089	50	21	and	and	CCONJ
fcis-1089	50	22	solves	solve	VERB
fcis-1089	50	23	the	the	DET
fcis-1089	50	24	optimal	optimal	ADJ
fcis-1089	50	25	camera	camera	NOUN
fcis-1089	50	26	pose	pose	VERB
fcis-1089	50	27	by	by	ADP
fcis-1089	50	28	minimizing	minimize	VERB
fcis-1089	50	29	the	the	DET
fcis-1089	50	30	cost	cost	NOUN
fcis-1089	50	31	function	function	NOUN
fcis-1089	50	32	.	.	PUNCT
fcis-1089	51	1	this	this	DET
fcis-1089	51	2	process	process	NOUN
fcis-1089	51	3	is	be	AUX
fcis-1089	51	4	realized	realize	VERB
fcis-1089	51	5	by	by	ADP
fcis-1089	51	6	g20	g20	NOUN
fcis-1089	51	7	,	,	PUNCT
fcis-1089	51	8	and	and	CCONJ
fcis-1089	51	9	a	a	DET
fcis-1089	51	10	key	key	ADJ
fcis-1089	51	11	frame	frame	NOUN
fcis-1089	51	12	extraction	extraction	NOUN
fcis-1089	51	13	and	and	CCONJ
fcis-1089	51	14	closed	closed	ADJ
fcis-1089	51	15	-	-	PUNCT
fcis-1089	51	16	loop	loop	NOUN
fcis-1089	51	17	detection	detection	NOUN
fcis-1089	51	18	method	method	NOUN
fcis-1089	51	19	based	base	VERB
fcis-1089	51	20	on	on	ADP
fcis-1089	51	21	is	be	AUX
fcis-1089	51	22	proposed	propose	VERB
fcis-1089	51	23	,	,	PUNCT
fcis-1089	51	24	which	which	PRON
fcis-1089	51	25	greatly	greatly	ADV
fcis-1089	51	26	reduces	reduce	VERB
fcis-1089	51	27	the	the	DET
fcis-1089	51	28	path	path	NOUN
fcis-1089	51	29	error	error	NOUN
fcis-1089	51	30	.	.	PUNCT
fcis-1089	52	1	4	4	X
fcis-1089	52	2	.	.	X
fcis-1089	52	3	core	core	NOUN
fcis-1089	52	4	issues	issue	NOUN
fcis-1089	52	5	in	in	ADP
fcis-1089	52	6	vslam	vslam	PROPN
fcis-1089	52	7	4.1	4.1	NUM
fcis-1089	52	8	.	.	PUNCT
fcis-1089	53	1	feature	feature	NOUN
fcis-1089	53	2	detection	detection	NOUN
fcis-1089	53	3	and	and	CCONJ
fcis-1089	53	4	matching	match	VERB
fcis-1089	53	5	at	at	ADP
fcis-1089	53	6	present	present	ADJ
fcis-1089	53	7	,	,	PUNCT
fcis-1089	53	8	point	point	NOUN
fcis-1089	53	9	features	feature	NOUN
fcis-1089	53	10	are	be	AUX
fcis-1089	53	11	used	use	VERB
fcis-1089	53	12	most	most	ADV
fcis-1089	53	13	frequently	frequently	ADV
fcis-1089	53	14	,	,	PUNCT
fcis-1089	53	15	and	and	CCONJ
fcis-1089	53	16	the	the	DET
fcis-1089	53	17	most	most	ADV
fcis-1089	53	18	commonly	commonly	ADV
fcis-1089	53	19	used	use	VERB
fcis-1089	53	20	point	point	NOUN
fcis-1089	53	21	features	feature	NOUN
fcis-1089	53	22	are	be	AUX
fcis-1089	53	23	sift	sift	ADJ
fcis-1089	53	24	(	(	PUNCT
fcis-1089	53	25	scale	scale	NOUN
fcis-1089	53	26	invariant	invariant	ADJ
fcis-1089	53	27	feature	feature	NOUN
fcis-1089	53	28	transform	transform	NOUN
fcis-1089	53	29	)	)	PUNCT
fcis-1089	53	30	feature	feature	NOUN
fcis-1089	53	31	[	[	X
fcis-1089	53	32	14	14	NUM
fcis-1089	53	33	]	]	PUNCT
fcis-1089	53	34	,	,	PUNCT
fcis-1089	53	35	surt	surt	PROPN
fcis-1089	53	36	(	(	PUNCT
fcis-1089	53	37	speed	speed	VERB
fcis-1089	53	38	up	up	ADP
fcis-1089	53	39	robot	robot	NOUN
fcis-1089	53	40	features	feature	NOUN
fcis-1089	53	41	)	)	PUNCT
fcis-1089	54	1	[	[	X
fcis-1089	54	2	15	15	NUM
fcis-1089	54	3	]	]	PUNCT
fcis-1089	54	4	feature	feature	NOUN
fcis-1089	54	5	and	and	CCONJ
fcis-1089	54	6	orb	orb	NOUN
fcis-1089	54	7	(	(	PUNCT
fcis-1089	54	8	oriented	orient	VERB
fcis-1089	54	9	fast	fast	ADJ
fcis-1089	54	10	and	and	CCONJ
fcis-1089	54	11	rotated	rotated	ADJ
fcis-1089	54	12	brain	brain	NOUN
fcis-1089	54	13	)	)	PUNCT
fcis-1089	54	14	feature	feature	NOUN
fcis-1089	54	15	.	.	PUNCT
fcis-1089	55	1	sift	sift	NOUN
fcis-1089	55	2	features	feature	NOUN
fcis-1089	55	3	have	have	AUX
fcis-1089	55	4	been	be	AUX
fcis-1089	55	5	developed	develop	VERB
fcis-1089	55	6	for	for	ADP
fcis-1089	55	7	more	more	ADJ
fcis-1089	55	8	than	than	ADP
fcis-1089	55	9	10	10	NUM
fcis-1089	55	10	years	year	NOUN
fcis-1089	55	11	and	and	CCONJ
fcis-1089	55	12	have	have	AUX
fcis-1089	55	13	achieved	achieve	VERB
fcis-1089	55	14	great	great	ADJ
fcis-1089	55	15	success	success	NOUN
fcis-1089	55	16	.	.	PUNCT
fcis-1089	56	1	sift	sift	PROPN
fcis-1089	56	2	features	feature	NOUN
fcis-1089	56	3	are	be	AUX
fcis-1089	56	4	distinguishable	distinguishable	ADJ
fcis-1089	56	5	.	.	PUNCT
fcis-1089	57	1	because	because	SCONJ
fcis-1089	57	2	its	its	PRON
fcis-1089	57	3	descriptor	descriptor	NOUN
fcis-1089	57	4	is	be	AUX
fcis-1089	57	5	represented	represent	VERB
fcis-1089	57	6	by	by	ADP
fcis-1089	57	7	highdimensional	highdimensional	ADJ
fcis-1089	57	8	vector	vector	NOUN
fcis-1089	57	9	(	(	PUNCT
fcis-1089	57	10	128	128	NUM
fcis-1089	57	11	dimensions	dimension	NOUN
fcis-1089	57	12	)	)	PUNCT
fcis-1089	57	13	,	,	PUNCT
fcis-1089	57	14	and	and	CCONJ
fcis-1089	57	15	it	it	PRON
fcis-1089	57	16	has	have	VERB
fcis-1089	57	17	rotation	rotation	NOUN
fcis-1089	57	18	invariance	invariance	NOUN
fcis-1089	57	19	,	,	PUNCT
fcis-1089	57	20	scale	scale	NOUN
fcis-1089	57	21	invariance	invariance	NOUN
fcis-1089	57	22	,	,	PUNCT
fcis-1089	57	23	radiation	radiation	NOUN
fcis-1089	57	24	transformation	transformation	NOUN
fcis-1089	57	25	invariance	invariance	NOUN
fcis-1089	57	26	,	,	PUNCT
fcis-1089	57	27	it	it	PRON
fcis-1089	57	28	is	be	AUX
fcis-1089	57	29	also	also	ADV
fcis-1089	57	30	robust	robust	ADJ
fcis-1089	57	31	to	to	PART
fcis-1089	57	32	noise	noise	NOUN
fcis-1089	57	33	and	and	CCONJ
fcis-1089	57	34	illumination	illumination	NOUN
fcis-1089	57	35	changes	change	NOUN
fcis-1089	57	36	.	.	PUNCT
fcis-1089	58	1	sift	sift	ADJ
fcis-1089	58	2	feature	feature	NOUN
fcis-1089	58	3	is	be	AUX
fcis-1089	58	4	used	use	VERB
fcis-1089	58	5	in	in	ADP
fcis-1089	58	6	visual	visual	ADJ
fcis-1089	58	7	slam	slam	NOUN
fcis-1089	58	8	,	,	PUNCT
fcis-1089	58	9	but	but	CCONJ
fcis-1089	58	10	the	the	DET
fcis-1089	58	11	vector	vector	NOUN
fcis-1089	58	12	dimension	dimension	NOUN
fcis-1089	58	13	of	of	ADP
fcis-1089	58	14	sift	sift	ADJ
fcis-1089	58	15	feature	feature	NOUN
fcis-1089	58	16	is	be	AUX
fcis-1089	58	17	too	too	ADV
fcis-1089	58	18	high	high	ADJ
fcis-1089	58	19	,	,	PUNCT
fcis-1089	58	20	resulting	result	VERB
fcis-1089	58	21	in	in	ADP
fcis-1089	58	22	high	high	ADJ
fcis-1089	58	23	time	time	NOUN
fcis-1089	58	24	complexity	complexity	NOUN
fcis-1089	58	25	.	.	PUNCT
fcis-1089	59	1	surf	surf	NOUN
fcis-1089	59	2	feature	feature	NOUN
fcis-1089	59	3	has	have	VERB
fcis-1089	59	4	scale	scale	NOUN
fcis-1089	59	5	invariance	invariance	NOUN
fcis-1089	59	6	and	and	CCONJ
fcis-1089	59	7	rotation	rotation	NOUN
fcis-1089	59	8	invariance	invariance	NOUN
fcis-1089	59	9	,	,	PUNCT
fcis-1089	59	10	and	and	CCONJ
fcis-1089	59	11	the	the	DET
fcis-1089	59	12	algorithm	algorithm	NOUN
fcis-1089	59	13	speed	speed	NOUN
fcis-1089	59	14	is	be	AUX
fcis-1089	59	15	3	3	NUM
fcis-1089	59	16	to	to	PART
fcis-1089	59	17	7	7	NUM
fcis-1089	59	18	times	time	NOUN
fcis-1089	59	19	higher	high	ADJ
fcis-1089	59	20	than	than	ADP
fcis-1089	59	21	that	that	PRON
fcis-1089	59	22	of	of	ADP
fcis-1089	59	23	sift	sift	ADJ
fcis-1089	59	24	feature	feature	NOUN
fcis-1089	59	25	.	.	PUNCT
fcis-1089	60	1	orb	orb	NOUN
fcis-1089	60	2	feature	feature	NOUN
fcis-1089	60	3	is	be	AUX
fcis-1089	60	4	the	the	DET
fcis-1089	60	5	combination	combination	NOUN
fcis-1089	60	6	of	of	ADP
fcis-1089	60	7	fast	fast	ADJ
fcis-1089	60	8	feature	feature	NOUN
fcis-1089	60	9	detection	detection	NOUN
fcis-1089	60	10	operator	operator	NOUN
fcis-1089	60	11	and	and	CCONJ
fcis-1089	60	12	brief	brief	ADJ
fcis-1089	60	13	descriptor	descriptor	NOUN
fcis-1089	60	14	,	,	PUNCT
fcis-1089	60	15	and	and	CCONJ
fcis-1089	60	16	some	some	DET
fcis-1089	60	17	improvements	improvement	NOUN
fcis-1089	60	18	have	have	AUX
fcis-1089	60	19	been	be	AUX
fcis-1089	60	20	made	make	VERB
fcis-1089	60	21	on	on	ADP
fcis-1089	60	22	its	its	PRON
fcis-1089	60	23	basis	basis	NOUN
fcis-1089	60	24	.	.	PUNCT
fcis-1089	61	1	the	the	DET
fcis-1089	61	2	biggest	big	ADJ
fcis-1089	61	3	advantage	advantage	NOUN
fcis-1089	61	4	of	of	ADP
fcis-1089	61	5	ob	ob	ADP
fcis-1089	61	6	feature	feature	NOUN
fcis-1089	61	7	is	be	AUX
fcis-1089	61	8	its	its	PRON
fcis-1089	61	9	fast	fast	ADJ
fcis-1089	61	10	computing	computing	NOUN
fcis-1089	61	11	speed	speed	NOUN
fcis-1089	61	12	,	,	PUNCT
fcis-1089	61	13	which	which	PRON
fcis-1089	61	14	is	be	AUX
fcis-1089	61	15	1o0	1o0	NUM
fcis-1089	61	16	times	time	NOUN
fcis-1089	61	17	that	that	PRON
fcis-1089	61	18	of	of	ADP
fcis-1089	61	19	sift	sift	ADJ
fcis-1089	61	20	feature	feature	NOUN
fcis-1089	61	21	and	and	CCONJ
fcis-1089	61	22	10	10	NUM
fcis-1089	61	23	times	time	NOUN
fcis-1089	61	24	that	that	PRON
fcis-1089	61	25	of	of	ADP
fcis-1089	61	26	surf	surf	NOUN
fcis-1089	61	27	feature	feature	NOUN
fcis-1089	61	28	.	.	PUNCT
fcis-1089	62	1	the	the	DET
fcis-1089	62	2	reason	reason	NOUN
fcis-1089	62	3	is	be	AUX
fcis-1089	62	4	that	that	SCONJ
fcis-1089	62	5	fast	fast	ADJ
fcis-1089	62	6	feature	feature	NOUN
fcis-1089	62	7	detection	detection	NOUN
fcis-1089	62	8	speed	speed	NOUN
fcis-1089	62	9	is	be	AUX
fcis-1089	62	10	very	very	ADV
fcis-1089	62	11	fast	fast	ADJ
fcis-1089	62	12	.	.	PUNCT
fcis-1089	63	1	in	in	ADP
fcis-1089	63	2	addition	addition	NOUN
fcis-1089	63	3	,	,	PUNCT
fcis-1089	63	4	the	the	DET
fcis-1089	63	5	brief	brief	ADJ
fcis-1089	63	6	descriptor	descriptor	NOUN
fcis-1089	63	7	is	be	AUX
fcis-1089	63	8	a	a	DET
fcis-1089	63	9	binary	binary	ADJ
fcis-1089	63	10	string	string	NOUN
fcis-1089	63	11	,	,	PUNCT
fcis-1089	63	12	which	which	PRON
fcis-1089	63	13	greatly	greatly	ADV
fcis-1089	63	14	reduces	reduce	VERB
fcis-1089	63	15	the	the	DET
fcis-1089	63	16	matching	matching	NOUN
fcis-1089	63	17	speed	speed	NOUN
fcis-1089	63	18	and	and	CCONJ
fcis-1089	63	19	has	have	VERB
fcis-1089	63	20	rotation	rotation	NOUN
fcis-1089	63	21	invariance	invariance	NOUN
fcis-1089	63	22	,	,	PUNCT
fcis-1089	63	23	but	but	CCONJ
fcis-1089	63	24	does	do	AUX
fcis-1089	63	25	not	not	PART
fcis-1089	63	26	have	have	VERB
fcis-1089	63	27	scale	scale	NOUN
fcis-1089	63	28	invariance	invariance	NOUN
fcis-1089	63	29	[	[	X
fcis-1089	63	30	16	16	NUM
fcis-1089	63	31	]	]	PUNCT
fcis-1089	63	32	.	.	PUNCT
fcis-1089	64	1	in	in	ADP
fcis-1089	64	2	the	the	DET
fcis-1089	64	3	environment	environment	NOUN
fcis-1089	64	4	with	with	ADP
fcis-1089	64	5	a	a	DET
fcis-1089	64	6	large	large	ADJ
fcis-1089	64	7	number	number	NOUN
fcis-1089	64	8	of	of	ADP
fcis-1089	64	9	lines	line	NOUN
fcis-1089	64	10	and	and	CCONJ
fcis-1089	64	11	curves	curve	NOUN
fcis-1089	64	12	,	,	PUNCT
fcis-1089	64	13	when	when	SCONJ
fcis-1089	64	14	using	use	VERB
fcis-1089	64	15	point	point	NOUN
fcis-1089	64	16	features	feature	NOUN
fcis-1089	64	17	,	,	PUNCT
fcis-1089	64	18	a	a	DET
fcis-1089	64	19	lot	lot	NOUN
fcis-1089	64	20	of	of	ADP
fcis-1089	64	21	information	information	NOUN
fcis-1089	64	22	in	in	ADP
fcis-1089	64	23	the	the	DET
fcis-1089	64	24	environment	environment	NOUN
fcis-1089	64	25	will	will	AUX
fcis-1089	64	26	be	be	AUX
fcis-1089	64	27	abandoned	abandon	VERB
fcis-1089	64	28	.	.	PUNCT
fcis-1089	65	1	in	in	ADP
fcis-1089	65	2	order	order	NOUN
fcis-1089	65	3	to	to	PART
fcis-1089	65	4	make	make	VERB
fcis-1089	65	5	up	up	ADP
fcis-1089	65	6	for	for	ADP
fcis-1089	65	7	this	this	DET
fcis-1089	65	8	defect	defect	NOUN
fcis-1089	65	9	,	,	PUNCT
fcis-1089	65	10	visual	visual	ADJ
fcis-1089	65	11	slam	slam	NOUN
fcis-1089	65	12	methods	method	NOUN
fcis-1089	65	13	based	base	VERB
fcis-1089	65	14	on	on	ADP
fcis-1089	65	15	edge	edge	NOUN
fcis-1089	65	16	features	feature	NOUN
fcis-1089	65	17	and	and	CCONJ
fcis-1089	65	18	visual	visual	ADJ
fcis-1089	65	19	slam	slam	NOUN
fcis-1089	65	20	methods	method	NOUN
fcis-1089	65	21	based	base	VERB
fcis-1089	65	22	on	on	ADP
fcis-1089	65	23	region	region	NOUN
fcis-1089	65	24	features	feature	NOUN
fcis-1089	65	25	are	be	AUX
fcis-1089	65	26	also	also	ADV
fcis-1089	65	27	proposed	propose	VERB
fcis-1089	65	28	.	.	PUNCT
fcis-1089	66	1	4.2	4.2	NUM
fcis-1089	66	2	.	.	PUNCT
fcis-1089	66	3	key	key	ADJ
fcis-1089	66	4	frame	frame	NOUN
fcis-1089	66	5	selection	selection	NOUN
fcis-1089	66	6	the	the	DET
fcis-1089	66	7	frame	frame	NOUN
fcis-1089	66	8	to	to	PART
fcis-1089	66	9	frame	frame	VERB
fcis-1089	66	10	alignment	alignment	NOUN
fcis-1089	66	11	method	method	NOUN
fcis-1089	66	12	will	will	AUX
fcis-1089	66	13	cause	cause	VERB
fcis-1089	66	14	large	large	ADJ
fcis-1089	66	15	cumulative	cumulative	ADJ
fcis-1089	66	16	floating	floating	NOUN
fcis-1089	66	17	,	,	PUNCT
fcis-1089	66	18	because	because	SCONJ
fcis-1089	66	19	there	there	PRON
fcis-1089	66	20	will	will	AUX
fcis-1089	66	21	always	always	ADV
fcis-1089	66	22	be	be	AUX
fcis-1089	66	23	errors	error	NOUN
fcis-1089	66	24	in	in	ADP
fcis-1089	66	25	the	the	DET
fcis-1089	66	26	process	process	NOUN
fcis-1089	66	27	of	of	ADP
fcis-1089	66	28	pose	pose	NOUN
fcis-1089	66	29	estimation	estimation	NOUN
fcis-1089	66	30	.	.	PUNCT
fcis-1089	67	1	in	in	ADP
fcis-1089	67	2	order	order	NOUN
fcis-1089	67	3	to	to	PART
fcis-1089	67	4	reduce	reduce	VERB
fcis-1089	67	5	the	the	DET
fcis-1089	67	6	error	error	NOUN
fcis-1089	67	7	caused	cause	VERB
fcis-1089	67	8	by	by	ADP
fcis-1089	67	9	the	the	DET
fcis-1089	67	10	frame	frame	NOUN
fcis-1089	67	11	to	to	PART
fcis-1089	67	12	frame	frame	VERB
fcis-1089	67	13	alignment	alignment	NOUN
fcis-1089	67	14	method	method	NOUN
fcis-1089	67	15	,	,	PUNCT
fcis-1089	67	16	a	a	DET
fcis-1089	67	17	slam	slam	NOUN
fcis-1089	67	18	method	method	NOUN
fcis-1089	67	19	based	base	VERB
fcis-1089	67	20	on	on	ADP
fcis-1089	67	21	key	key	ADJ
fcis-1089	67	22	frames	frame	NOUN
fcis-1089	67	23	is	be	AUX
fcis-1089	67	24	proposed	propose	VERB
fcis-1089	67	25	.	.	PUNCT
fcis-1089	68	1	at	at	ADP
fcis-1089	68	2	present	present	ADJ
fcis-1089	68	3	,	,	PUNCT
fcis-1089	68	4	there	there	PRON
fcis-1089	68	5	are	be	VERB
fcis-1089	68	6	several	several	ADJ
fcis-1089	68	7	methods	method	NOUN
fcis-1089	68	8	to	to	PART
fcis-1089	68	9	select	select	VERB
fcis-1089	68	10	keyframes	keyframe	NOUN
fcis-1089	68	11	.	.	PUNCT
fcis-1089	69	1	method	method	PROPN
fcis-1089	69	2	1	1	NUM
fcis-1089	69	3	:	:	PUNCT
fcis-1089	70	1	when	when	SCONJ
fcis-1089	70	2	all	all	DET
fcis-1089	70	3	the	the	DET
fcis-1089	70	4	following	follow	VERB
fcis-1089	70	5	conditions	condition	NOUN
fcis-1089	70	6	are	be	AUX
fcis-1089	70	7	met	meet	VERB
fcis-1089	70	8	,	,	PUNCT
fcis-1089	70	9	this	this	DET
fcis-1089	70	10	frame	frame	NOUN
fcis-1089	70	11	is	be	AUX
fcis-1089	70	12	inserted	insert	VERB
fcis-1089	70	13	into	into	ADP
fcis-1089	70	14	the	the	DET
fcis-1089	70	15	map	map	NOUN
fcis-1089	70	16	as	as	ADP
fcis-1089	70	17	a	a	DET
fcis-1089	70	18	key	key	ADJ
fcis-1089	70	19	frame	frame	NOUN
fcis-1089	70	20	.	.	PUNCT
fcis-1089	71	1	after	after	ADP
fcis-1089	71	2	n	n	NOUN
fcis-1089	71	3	frames	frame	NOUN
fcis-1089	71	4	from	from	ADP
fcis-1089	71	5	the	the	DET
fcis-1089	71	6	previous	previous	ADJ
fcis-1089	71	7	key	key	ADJ
fcis-1089	71	8	frame	frame	NOUN
fcis-1089	71	9	,	,	PUNCT
fcis-1089	71	10	at	at	ADP
fcis-1089	71	11	least	least	ADJ
fcis-1089	71	12	map	map	VERB
fcis-1089	71	13	points	point	NOUN
fcis-1089	71	14	can	can	AUX
fcis-1089	71	15	be	be	AUX
fcis-1089	71	16	seen	see	VERB
fcis-1089	71	17	in	in	ADP
fcis-1089	71	18	the	the	DET
fcis-1089	71	19	current	current	ADJ
fcis-1089	71	20	frame	frame	NOUN
fcis-1089	71	21	,	,	PUNCT
fcis-1089	71	22	and	and	CCONJ
fcis-1089	71	23	the	the	DET
fcis-1089	71	24	accuracy	accuracy	NOUN
fcis-1089	71	25	of	of	ADP
fcis-1089	71	26	pose	pose	NOUN
fcis-1089	71	27	estimation	estimation	NOUN
fcis-1089	71	28	is	be	AUX
fcis-1089	71	29	high	high	ADJ
fcis-1089	71	30	.	.	PUNCT
fcis-1089	72	1	the	the	DET
fcis-1089	72	2	second	second	ADJ
fcis-1089	72	3	method	method	NOUN
fcis-1089	72	4	is	be	AUX
fcis-1089	72	5	to	to	PART
fcis-1089	72	6	create	create	VERB
fcis-1089	72	7	a	a	DET
fcis-1089	72	8	new	new	ADJ
fcis-1089	72	9	key	key	ADJ
fcis-1089	72	10	frame	frame	NOUN
fcis-1089	72	11	when	when	SCONJ
fcis-1089	72	12	the	the	DET
fcis-1089	72	13	number	number	NOUN
fcis-1089	72	14	of	of	ADP
fcis-1089	72	15	common	common	ADJ
fcis-1089	72	16	feature	feature	NOUN
fcis-1089	72	17	points	point	NOUN
fcis-1089	72	18	seen	see	VERB
fcis-1089	72	19	in	in	ADP
fcis-1089	72	20	the	the	DET
fcis-1089	72	21	two	two	NUM
fcis-1089	72	22	images	image	NOUN
fcis-1089	72	23	is	be	AUX
fcis-1089	72	24	lower	low	ADJ
fcis-1089	72	25	than	than	ADP
fcis-1089	72	26	a	a	DET
fcis-1089	72	27	certain	certain	ADJ
fcis-1089	72	28	threshold	threshold	NOUN
fcis-1089	72	29	.	.	PUNCT
fcis-1089	73	1	method	method	NOUN
fcis-1089	73	2	3	3	NUM
fcis-1089	73	3	is	be	AUX
fcis-1089	73	4	a	a	DET
fcis-1089	73	5	method	method	NOUN
fcis-1089	73	6	of	of	ADP
fcis-1089	73	7	selecting	select	VERB
fcis-1089	73	8	key	key	ADJ
fcis-1089	73	9	frames	frame	NOUN
fcis-1089	73	10	based	base	VERB
fcis-1089	73	11	on	on	ADP
fcis-1089	73	12	entropy	entropy	PROPN
fcis-1089	73	13	similarity	similarity	NOUN
fcis-1089	73	14	.	.	PUNCT
fcis-1089	74	1	because	because	SCONJ
fcis-1089	74	2	the	the	DET
fcis-1089	74	3	simple	simple	ADJ
fcis-1089	74	4	threshold	threshold	NOUN
fcis-1089	74	5	is	be	AUX
fcis-1089	74	6	not	not	PART
fcis-1089	74	7	applicable	applicable	ADJ
fcis-1089	74	8	to	to	ADP
fcis-1089	74	9	different	different	ADJ
fcis-1089	74	10	scenes	scene	NOUN
fcis-1089	74	11	,	,	PUNCT
fcis-1089	74	12	calculate	calculate	VERB
fcis-1089	74	13	an	an	DET
fcis-1089	74	14	entropy	entropy	NOUN
fcis-1089	74	15	similarity	similarity	NOUN
fcis-1089	74	16	ratio	ratio	NOUN
fcis-1089	74	17	for	for	ADP
fcis-1089	74	18	each	each	DET
fcis-1089	74	19	frame	frame	NOUN
fcis-1089	74	20	.	.	PUNCT
fcis-1089	75	1	if	if	SCONJ
fcis-1089	75	2	the	the	DET
fcis-1089	75	3	value	value	NOUN
fcis-1089	75	4	is	be	AUX
fcis-1089	75	5	less	less	ADJ
fcis-1089	75	6	than	than	ADP
fcis-1089	75	7	a	a	DET
fcis-1089	75	8	predefined	predefine	VERB
fcis-1089	75	9	threshold	threshold	NOUN
fcis-1089	75	10	,	,	PUNCT
fcis-1089	75	11	the	the	DET
fcis-1089	75	12	previous	previous	ADJ
fcis-1089	75	13	frame	frame	NOUN
fcis-1089	75	14	is	be	AUX
fcis-1089	75	15	selected	select	VERB
fcis-1089	75	16	as	as	ADP
fcis-1089	75	17	a	a	DET
fcis-1089	75	18	new	new	ADJ
fcis-1089	75	19	key	key	ADJ
fcis-1089	75	20	frame	frame	NOUN
fcis-1089	75	21	and	and	CCONJ
fcis-1089	75	22	inserted	insert	VERB
fcis-1089	75	23	into	into	ADP
fcis-1089	75	24	the	the	DET
fcis-1089	75	25	map	map	NOUN
fcis-1089	75	26	.	.	PUNCT
fcis-1089	76	1	this	this	DET
fcis-1089	76	2	method	method	NOUN
fcis-1089	76	3	greatly	greatly	ADV
fcis-1089	76	4	reduces	reduce	VERB
fcis-1089	76	5	pose	pose	NOUN
fcis-1089	76	6	floating	float	VERB
fcis-1089	76	7	.	.	PUNCT
fcis-1089	77	1	4.3	4.3	NUM
fcis-1089	77	2	.	.	NUM
fcis-1089	77	3	closed	closed	ADJ
fcis-1089	77	4	loop	loop	NOUN
fcis-1089	77	5	detection	detection	NOUN
fcis-1089	77	6	closed	close	VERB
fcis-1089	77	7	loop	loop	NOUN
fcis-1089	77	8	detection	detection	NOUN
fcis-1089	77	9	and	and	CCONJ
fcis-1089	77	10	location	location	NOUN
fcis-1089	77	11	identification	identification	NOUN
fcis-1089	77	12	to	to	PART
fcis-1089	77	13	determine	determine	VERB
fcis-1089	77	14	whether	whether	SCONJ
fcis-1089	77	15	the	the	DET
fcis-1089	77	16	current	current	ADJ
fcis-1089	77	17	location	location	NOUN
fcis-1089	77	18	is	be	AUX
fcis-1089	77	19	an	an	DET
fcis-1089	77	20	environmental	environmental	ADJ
fcis-1089	77	21	area	area	NOUN
fcis-1089	77	22	that	that	PRON
fcis-1089	77	23	has	have	AUX
fcis-1089	77	24	been	be	AUX
fcis-1089	77	25	visited	visit	VERB
fcis-1089	77	26	before	before	ADV
fcis-1089	77	27	.	.	PUNCT
fcis-1089	78	1	error	error	NOUN
fcis-1089	78	2	accumulation	accumulation	NOUN
fcis-1089	78	3	will	will	AUX
fcis-1089	78	4	inevitably	inevitably	ADV
fcis-1089	78	5	occur	occur	VERB
fcis-1089	78	6	in	in	ADP
fcis-1089	78	7	the	the	DET
fcis-1089	78	8	process	process	NOUN
fcis-1089	78	9	of	of	ADP
fcis-1089	78	10	3d	3d	PROPN
fcis-1089	78	11	reconstruction	reconstruction	NOUN
fcis-1089	78	12	,	,	PUNCT
fcis-1089	78	13	and	and	CCONJ
fcis-1089	78	14	the	the	DET
fcis-1089	78	15	realization	realization	NOUN
fcis-1089	78	16	of	of	ADP
fcis-1089	78	17	closed	closed	ADJ
fcis-1089	78	18	loop	loop	NOUN
fcis-1089	78	19	is	be	AUX
fcis-1089	78	20	a	a	DET
fcis-1089	78	21	means	means	NOUN
fcis-1089	78	22	of	of	ADP
fcis-1089	78	23	elimination	elimination	NOUN
fcis-1089	78	24	.	.	PUNCT
fcis-1089	79	1	vision	vision	NOUN
fcis-1089	79	2	is	be	AUX
fcis-1089	79	3	the	the	DET
fcis-1089	79	4	main	main	ADJ
fcis-1089	79	5	sensor	sensor	NOUN
fcis-1089	79	6	in	in	ADP
fcis-1089	79	7	position	position	NOUN
fcis-1089	79	8	recognition	recognition	NOUN
fcis-1089	79	9	algorithm	algorithm	NOUN
fcis-1089	79	10	.	.	PUNCT
fcis-1089	80	1	among	among	ADP
fcis-1089	80	2	the	the	DET
fcis-1089	80	3	image	image	NOUN
fcis-1089	80	4	to	to	PART
fcis-1089	80	5	image	image	NOUN
fcis-1089	80	6	matching	matching	NOUN
fcis-1089	80	7	methods	method	NOUN
fcis-1089	80	8	,	,	PUNCT
fcis-1089	80	9	bag	bag	NOUN
fcis-1089	80	10	of	of	ADP
fcis-1089	80	11	words	word	NOUN
fcis-1089	80	12	method	method	NOUN
fcis-1089	80	13	has	have	AUX
fcis-1089	80	14	been	be	AUX
fcis-1089	80	15	widely	widely	ADV
fcis-1089	80	16	used	use	VERB
fcis-1089	80	17	because	because	SCONJ
fcis-1089	80	18	of	of	ADP
fcis-1089	80	19	its	its	PRON
fcis-1089	80	20	effectiveness	effectiveness	NOUN
fcis-1089	80	21	.	.	PUNCT
fcis-1089	81	1	word	word	NOUN
fcis-1089	81	2	bag	bag	NOUN
fcis-1089	81	3	refers	refer	VERB
fcis-1089	81	4	to	to	ADP
fcis-1089	81	5	the	the	DET
fcis-1089	81	6	technology	technology	NOUN
fcis-1089	81	7	of	of	ADP
fcis-1089	81	8	converting	convert	VERB
fcis-1089	81	9	the	the	DET
fcis-1089	81	10	content	content	NOUN
fcis-1089	81	11	of	of	ADP
fcis-1089	81	12	an	an	DET
fcis-1089	81	13	image	image	NOUN
fcis-1089	81	14	into	into	ADP
fcis-1089	81	15	digital	digital	ADJ
fcis-1089	81	16	vectors	vector	NOUN
fcis-1089	81	17	using	use	VERB
fcis-1089	81	18	visual	visual	ADJ
fcis-1089	81	19	vocabulary	vocabulary	ADJ
fcis-1089	81	20	tree	tree	NOUN
fcis-1089	81	21	.	.	PUNCT
fcis-1089	82	1	the	the	DET
fcis-1089	82	2	feature	feature	NOUN
fcis-1089	82	3	of	of	ADP
fcis-1089	82	4	the	the	DET
fcis-1089	82	5	training	training	NOUN
fcis-1089	82	6	image	image	NOUN
fcis-1089	82	7	set	set	VERB
fcis-1089	82	8	is	be	AUX
fcis-1089	82	9	extracted	extract	VERB
fcis-1089	82	10	,	,	PUNCT
fcis-1089	82	11	and	and	CCONJ
fcis-1089	82	12	its	its	PRON
fcis-1089	82	13	feature	feature	NOUN
fcis-1089	82	14	descriptor	descriptor	NOUN
fcis-1089	82	15	space	space	NOUN
fcis-1089	82	16	is	be	AUX
fcis-1089	82	17	discretized	discretize	VERB
fcis-1089	82	18	into	into	ADP
fcis-1089	82	19	clusters	cluster	NOUN
fcis-1089	82	20	by	by	ADP
fcis-1089	82	21	k	k	ADJ
fcis-1089	82	22	-	-	ADJ
fcis-1089	82	23	median	median	ADJ
fcis-1089	82	24	clustering	clustering	NOUN
fcis-1089	82	25	method	method	NOUN
fcis-1089	82	26	.	.	PUNCT
fcis-1089	83	1	therefore	therefore	ADV
fcis-1089	83	2	,	,	PUNCT
fcis-1089	83	3	the	the	DET
fcis-1089	83	4	first	first	ADJ
fcis-1089	83	5	node	node	ADJ
fcis-1089	83	6	layer	layer	NOUN
fcis-1089	83	7	of	of	ADP
fcis-1089	83	8	the	the	DET
fcis-1089	83	9	dictionary	dictionary	ADJ
fcis-1089	83	10	tree	tree	NOUN
fcis-1089	83	11	is	be	AUX
fcis-1089	83	12	created	create	VERB
fcis-1089	83	13	.	.	PUNCT
fcis-1089	84	1	the	the	DET
fcis-1089	84	2	lower	low	ADJ
fcis-1089	84	3	layer	layer	NOUN
fcis-1089	84	4	is	be	AUX
fcis-1089	84	5	obtained	obtain	VERB
fcis-1089	84	6	by	by	ADP
fcis-1089	84	7	repeating	repeat	VERB
fcis-1089	84	8	this	this	DET
fcis-1089	84	9	operation	operation	NOUN
fcis-1089	84	10	for	for	ADP
fcis-1089	84	11	each	each	DET
fcis-1089	84	12	cluster	cluster	NOUN
fcis-1089	84	13	until	until	SCONJ
fcis-1089	84	14	a	a	DET
fcis-1089	84	15	total	total	NOUN
fcis-1089	84	16	of	of	ADP
fcis-1089	84	17	layers	layer	NOUN
fcis-1089	84	18	are	be	AUX
fcis-1089	84	19	obtained	obtain	VERB
fcis-1089	84	20	.	.	PUNCT
fcis-1089	85	1	finally	finally	ADV
fcis-1089	85	2	,	,	PUNCT
fcis-1089	85	3	w	w	ADJ
fcis-1089	85	4	leaf	leaf	NOUN
fcis-1089	85	5	nodes	node	NOUN
fcis-1089	85	6	,	,	PUNCT
fcis-1089	85	7	namely	namely	ADV
fcis-1089	85	8	visual	visual	ADJ
fcis-1089	85	9	vocabulary	vocabulary	NOUN
fcis-1089	85	10	,	,	PUNCT
fcis-1089	85	11	are	be	AUX
fcis-1089	85	12	obtained	obtain	VERB
fcis-1089	85	13	.	.	PUNCT
fcis-1089	86	1	4.4	4.4	NUM
fcis-1089	86	2	.	.	PUNCT
fcis-1089	87	1	map	map	VERB
fcis-1089	87	2	optimization	optimization	NOUN
fcis-1089	87	3	for	for	ADP
fcis-1089	87	4	a	a	DET
fcis-1089	87	5	robot	robot	NOUN
fcis-1089	87	6	working	work	VERB
fcis-1089	87	7	in	in	ADP
fcis-1089	87	8	a	a	DET
fcis-1089	87	9	complex	complex	ADJ
fcis-1089	87	10	and	and	CCONJ
fcis-1089	87	11	dynamic	dynamic	ADJ
fcis-1089	87	12	environment	environment	NOUN
fcis-1089	87	13	,	,	PUNCT
fcis-1089	87	14	the	the	DET
fcis-1089	87	15	rapid	rapid	ADJ
fcis-1089	87	16	generation	generation	NOUN
fcis-1089	87	17	of	of	ADP
fcis-1089	87	18	3	3	NUM
fcis-1089	87	19	-	-	SYM
fcis-1089	87	20	d	d	NOUN
fcis-1089	87	21	map	map	NOUN
fcis-1089	87	22	is	be	AUX
fcis-1089	87	23	very	very	ADV
fcis-1089	87	24	important	important	ADJ
fcis-1089	87	25	,	,	PUNCT
fcis-1089	87	26	and	and	CCONJ
fcis-1089	87	27	the	the	DET
fcis-1089	87	28	created	create	VERB
fcis-1089	87	29	environment	environment	NOUN
fcis-1089	87	30	map	map	NOUN
fcis-1089	87	31	plays	play	VERB
fcis-1089	87	32	a	a	DET
fcis-1089	87	33	key	key	ADJ
fcis-1089	87	34	role	role	NOUN
fcis-1089	87	35	in	in	ADP
fcis-1089	87	36	the	the	DET
fcis-1089	87	37	subsequent	subsequent	ADJ
fcis-1089	87	38	positioning	positioning	NOUN
fcis-1089	87	39	,	,	PUNCT
fcis-1089	87	40	path	path	NOUN
fcis-1089	87	41	planning	planning	NOUN
fcis-1089	87	42	and	and	CCONJ
fcis-1089	87	43	barrier	barrier	NOUN
fcis-1089	87	44	performance	performance	NOUN
fcis-1089	87	45	,	,	PUNCT
fcis-1089	87	46	so	so	ADV
fcis-1089	87	47	accurate	accurate	ADJ
fcis-1089	87	48	map	map	NOUN
fcis-1089	87	49	creation	creation	NOUN
fcis-1089	87	50	is	be	AUX
fcis-1089	87	51	also	also	ADV
fcis-1089	87	52	very	very	ADV
fcis-1089	87	53	important	important	ADJ
fcis-1089	87	54	.	.	PUNCT
fcis-1089	88	1	after	after	SCONJ
fcis-1089	88	2	the	the	DET
fcis-1089	88	3	closed	closed	ADJ
fcis-1089	88	4	-	-	PUNCT
fcis-1089	88	5	loop	loop	NOUN
fcis-1089	88	6	detection	detection	NOUN
fcis-1089	88	7	is	be	AUX
fcis-1089	88	8	successful	successful	ADJ
fcis-1089	88	9	,	,	PUNCT
fcis-1089	88	10	add	add	VERB
fcis-1089	88	11	closed	closed	ADJ
fcis-1089	88	12	-	-	PUNCT
fcis-1089	88	13	loop	loop	NOUN
fcis-1089	88	14	constraints	constraint	NOUN
fcis-1089	88	15	to	to	ADP
fcis-1089	88	16	the	the	DET
fcis-1089	88	17	map	map	NOUN
fcis-1089	88	18	and	and	CCONJ
fcis-1089	88	19	perform	perform	VERB
fcis-1089	88	20	closed	closed	ADJ
fcis-1089	88	21	-	-	PUNCT
fcis-1089	88	22	loop	loop	NOUN
fcis-1089	88	23	correction	correction	NOUN
fcis-1089	88	24	.	.	PUNCT
fcis-1089	89	1	the	the	DET
fcis-1089	89	2	closed	close	VERB
fcis-1089	89	3	-	-	PUNCT
fcis-1089	89	4	loop	loop	NOUN
fcis-1089	89	5	problem	problem	NOUN
fcis-1089	89	6	can	can	AUX
fcis-1089	89	7	be	be	AUX
fcis-1089	89	8	described	describe	VERB
fcis-1089	89	9	as	as	ADP
fcis-1089	89	10	a	a	DET
fcis-1089	89	11	large	large	ADJ
fcis-1089	89	12	-	-	PUNCT
fcis-1089	89	13	scale	scale	NOUN
fcis-1089	89	14	bundle	bundle	NOUN
fcis-1089	89	15	adjustment	adjustment	NOUN
fcis-1089	89	16	problem	problem	NOUN
fcis-1089	89	17	,	,	PUNCT
fcis-1089	89	18	that	that	ADV
fcis-1089	89	19	is	is	ADV
fcis-1089	89	20	,	,	PUNCT
fcis-1089	89	21	to	to	PART
fcis-1089	89	22	optimize	optimize	VERB
fcis-1089	89	23	the	the	DET
fcis-1089	89	24	camera	camera	NOUN
fcis-1089	89	25	pose	pose	VERB
fcis-1089	89	26	and	and	CCONJ
fcis-1089	89	27	the	the	DET
fcis-1089	89	28	3	3	NUM
fcis-1089	89	29	-	-	PUNCT
fcis-1089	89	30	d	d	NOUN
fcis-1089	89	31	coordinates	coordinate	NOUN
fcis-1089	89	32	of	of	ADP
fcis-1089	89	33	all	all	DET
fcis-1089	89	34	map	map	NOUN
fcis-1089	89	35	points	point	NOUN
fcis-1089	89	36	,	,	PUNCT
fcis-1089	89	37	but	but	CCONJ
fcis-1089	89	38	the	the	DET
fcis-1089	89	39	optimization	optimization	NOUN
fcis-1089	89	40	calculation	calculation	NOUN
fcis-1089	89	41	complexity	complexity	NOUN
fcis-1089	89	42	is	be	AUX
fcis-1089	89	43	too	too	ADV
fcis-1089	89	44	high	high	ADJ
fcis-1089	89	45	,	,	PUNCT
fcis-1089	89	46	so	so	CCONJ
fcis-1089	89	47	it	it	PRON
fcis-1089	89	48	is	be	AUX
fcis-1089	89	49	difficult	difficult	ADJ
fcis-1089	89	50	to	to	PART
fcis-1089	89	51	achieve	achieve	VERB
fcis-1089	89	52	real	real	ADJ
fcis-1089	89	53	-	-	PUNCT
fcis-1089	89	54	time	time	NOUN
fcis-1089	89	55	.	.	PUNCT
fcis-1089	90	1	an	an	DET
fcis-1089	90	2	executable	executable	ADJ
fcis-1089	90	3	method	method	NOUN
fcis-1089	90	4	is	be	AUX
fcis-1089	90	5	to	to	PART
fcis-1089	90	6	optimize	optimize	VERB
fcis-1089	90	7	the	the	DET
fcis-1089	90	8	closed	closed	ADJ
fcis-1089	90	9	loop	loop	NOUN
fcis-1089	90	10	through	through	ADP
fcis-1089	90	11	the	the	DET
fcis-1089	90	12	pose	pose	NOUN
fcis-1089	90	13	graph	graph	NOUN
fcis-1089	90	14	optimization	optimization	NOUN
fcis-1089	90	15	method	method	NOUN
fcis-1089	90	16	.	.	PUNCT
fcis-1089	91	1	the	the	DET
fcis-1089	91	2	graph	graph	NOUN
fcis-1089	91	3	whose	whose	DET
fcis-1089	91	4	vertex	vertex	NOUN
fcis-1089	91	5	is	be	AUX
fcis-1089	91	6	the	the	DET
fcis-1089	91	7	camera	camera	NOUN
fcis-1089	91	8	pose	pose	VERB
fcis-1089	91	9	and	and	CCONJ
fcis-1089	91	10	the	the	DET
fcis-1089	91	11	edge	edge	NOUN
fcis-1089	91	12	represents	represent	VERB
fcis-1089	91	13	the	the	DET
fcis-1089	91	14	relative	relative	ADJ
fcis-1089	91	15	transformation	transformation	NOUN
fcis-1089	91	16	between	between	ADP
fcis-1089	91	17	the	the	DET
fcis-1089	91	18	poses	pose	NOUN
fcis-1089	91	19	is	be	AUX
fcis-1089	91	20	called	call	VERB
fcis-1089	91	21	the	the	DET
fcis-1089	91	22	pose	pose	NOUN
fcis-1089	91	23	graph	graph	NOUN
fcis-1089	91	24	.	.	PUNCT
fcis-1089	92	1	the	the	DET
fcis-1089	92	2	pose	pose	NOUN
fcis-1089	92	3	graph	graph	NOUN
fcis-1089	92	4	optimization	optimization	NOUN
fcis-1089	92	5	is	be	AUX
fcis-1089	92	6	to	to	PART
fcis-1089	92	7	distribute	distribute	VERB
fcis-1089	92	8	the	the	DET
fcis-1089	92	9	closed	closed	ADJ
fcis-1089	92	10	loop	loop	NOUN
fcis-1089	92	11	error	error	NOUN
fcis-1089	92	12	along	along	ADP
fcis-1089	92	13	the	the	DET
fcis-1089	92	14	graph	graph	NOUN
fcis-1089	92	15	,	,	PUNCT
fcis-1089	92	16	that	that	ADV
fcis-1089	92	17	is	is	ADV
fcis-1089	92	18	,	,	PUNCT
fcis-1089	92	19	evenly	evenly	ADV
fcis-1089	92	20	distribute	distribute	VERB
fcis-1089	92	21	it	it	PRON
fcis-1089	92	22	to	to	ADP
fcis-1089	92	23	all	all	DET
fcis-1089	92	24	the	the	DET
fcis-1089	92	25	poses	pose	NOUN
fcis-1089	92	26	on	on	ADP
fcis-1089	92	27	the	the	DET
fcis-1089	92	28	graph	graph	NOUN
fcis-1089	92	29	.	.	PUNCT
fcis-1089	93	1	graph	graph	NOUN
fcis-1089	93	2	optimization	optimization	NOUN
fcis-1089	93	3	is	be	AUX
fcis-1089	93	4	usually	usually	ADV
fcis-1089	93	5	implemented	implement	VERB
fcis-1089	93	6	by	by	ADP
fcis-1089	93	7	lm	lm	X
fcis-1089	94	1	algorithm	algorithm	NOUN
fcis-1089	95	1	[	[	X
fcis-1089	95	2	18	18	NUM
fcis-1089	95	3	]	]	PUNCT
fcis-1089	95	4	in	in	ADP
fcis-1089	95	5	graph	graph	NOUN
fcis-1089	95	6	optimization	optimization	NOUN
fcis-1089	95	7	framework	framework	NOUN
fcis-1089	95	8	g2o	g2o	PROPN
fcis-1089	95	9	(	(	PUNCT
fcis-1089	95	10	general	general	ADJ
fcis-1089	95	11	graph	graph	NOUN
fcis-1089	95	12	optimization	optimization	NOUN
fcis-1089	95	13	)	)	PUNCT
fcis-1089	96	1	[	[	X
fcis-1089	96	2	17	17	NUM
fcis-1089	96	3	]	]	SYM
fcis-1089	96	4	.	.	PUNCT
fcis-1089	97	1	20	20	NUM
fcis-1089	97	2	5	5	NUM
fcis-1089	97	3	.	.	PUNCT
fcis-1089	97	4	development	development	NOUN
fcis-1089	97	5	trend	trend	NOUN
fcis-1089	97	6	and	and	CCONJ
fcis-1089	97	7	research	research	NOUN
fcis-1089	97	8	hotspot	hotspot	NOUN
fcis-1089	97	9	of	of	ADP
fcis-1089	97	10	vslam	vslam	PROPN
fcis-1089	97	11	5.1	5.1	NUM
fcis-1089	97	12	.	.	PUNCT
fcis-1089	98	1	multi	multi	ADJ
fcis-1089	98	2	-	-	ADJ
fcis-1089	98	3	sensor	sensor	ADJ
fcis-1089	98	4	fusion	fusion	NOUN
fcis-1089	98	5	the	the	DET
fcis-1089	98	6	camera	camera	NOUN
fcis-1089	98	7	can	can	AUX
fcis-1089	98	8	capture	capture	VERB
fcis-1089	98	9	rich	rich	ADJ
fcis-1089	98	10	details	detail	NOUN
fcis-1089	98	11	of	of	ADP
fcis-1089	98	12	the	the	DET
fcis-1089	98	13	scene	scene	NOUN
fcis-1089	98	14	,	,	PUNCT
fcis-1089	98	15	while	while	SCONJ
fcis-1089	98	16	the	the	DET
fcis-1089	98	17	inertial	inertial	ADJ
fcis-1089	98	18	measurement	measurement	NOUN
fcis-1089	98	19	unit	unit	NOUN
fcis-1089	98	20	(	(	PUNCT
fcis-1089	98	21	imu	imu	NOUN
fcis-1089	98	22	)	)	PUNCT
fcis-1089	98	23	has	have	VERB
fcis-1089	98	24	a	a	DET
fcis-1089	98	25	high	high	ADJ
fcis-1089	98	26	frame	frame	NOUN
fcis-1089	98	27	rate	rate	NOUN
fcis-1089	98	28	and	and	CCONJ
fcis-1089	98	29	is	be	AUX
fcis-1089	98	30	relatively	relatively	ADV
fcis-1089	98	31	small	small	ADJ
fcis-1089	98	32	,	,	PUNCT
fcis-1089	98	33	so	so	SCONJ
fcis-1089	98	34	it	it	PRON
fcis-1089	98	35	can	can	AUX
fcis-1089	98	36	obtain	obtain	VERB
fcis-1089	98	37	accurate	accurate	ADJ
fcis-1089	98	38	short	short	ADJ
fcis-1089	98	39	-	-	PUNCT
fcis-1089	98	40	term	term	NOUN
fcis-1089	98	41	estimation	estimation	NOUN
fcis-1089	98	42	.	.	PUNCT
fcis-1089	99	1	the	the	DET
fcis-1089	99	2	two	two	NUM
fcis-1089	99	3	sensors	sensor	NOUN
fcis-1089	99	4	can	can	AUX
fcis-1089	99	5	complement	complement	VERB
fcis-1089	99	6	each	each	DET
fcis-1089	99	7	other	other	ADJ
fcis-1089	99	8	,	,	PUNCT
fcis-1089	99	9	so	so	SCONJ
fcis-1089	99	10	they	they	PRON
fcis-1089	99	11	can	can	AUX
fcis-1089	99	12	get	get	VERB
fcis-1089	99	13	better	well	ADJ
fcis-1089	99	14	results	result	NOUN
fcis-1089	99	15	when	when	SCONJ
fcis-1089	99	16	used	use	VERB
fcis-1089	99	17	together	together	ADV
fcis-1089	99	18	.	.	PUNCT
fcis-1089	100	1	the	the	DET
fcis-1089	100	2	initial	initial	ADJ
fcis-1089	100	3	pose	pose	NOUN
fcis-1089	100	4	estimation	estimation	NOUN
fcis-1089	100	5	based	base	VERB
fcis-1089	100	6	on	on	ADP
fcis-1089	100	7	the	the	DET
fcis-1089	100	8	combination	combination	NOUN
fcis-1089	100	9	of	of	ADP
fcis-1089	100	10	vision	vision	NOUN
fcis-1089	100	11	and	and	CCONJ
fcis-1089	100	12	imu	imu	NOUN
fcis-1089	100	13	is	be	AUX
fcis-1089	100	14	solved	solve	VERB
fcis-1089	100	15	by	by	ADP
fcis-1089	100	16	filtering	filter	VERB
fcis-1089	100	17	.	.	PUNCT
fcis-1089	101	1	the	the	DET
fcis-1089	101	2	measured	measure	VERB
fcis-1089	101	3	value	value	NOUN
fcis-1089	101	4	of	of	ADP
fcis-1089	101	5	imu	imu	NOUN
fcis-1089	101	6	is	be	AUX
fcis-1089	101	7	used	use	VERB
fcis-1089	101	8	as	as	ADP
fcis-1089	101	9	the	the	DET
fcis-1089	101	10	predicted	predict	VERB
fcis-1089	101	11	value	value	NOUN
fcis-1089	101	12	,	,	PUNCT
fcis-1089	101	13	and	and	CCONJ
fcis-1089	101	14	the	the	DET
fcis-1089	101	15	measured	measured	ADJ
fcis-1089	101	16	value	value	NOUN
fcis-1089	101	17	of	of	ADP
fcis-1089	101	18	vision	vision	NOUN
fcis-1089	101	19	is	be	AUX
fcis-1089	101	20	used	use	VERB
fcis-1089	101	21	for	for	ADP
fcis-1089	101	22	updating	update	VERB
fcis-1089	101	23	.	.	PUNCT
fcis-1089	102	1	then	then	ADV
fcis-1089	102	2	,	,	PUNCT
fcis-1089	102	3	a	a	DET
fcis-1089	102	4	real	real	ADJ
fcis-1089	102	5	-	-	PUNCT
fcis-1089	102	6	time	time	NOUN
fcis-1089	102	7	fusion	fusion	NOUN
fcis-1089	102	8	method	method	NOUN
fcis-1089	102	9	of	of	ADP
fcis-1089	102	10	imu	imu	NOUN
fcis-1089	102	11	and	and	CCONJ
fcis-1089	102	12	monocular	monocular	ADJ
fcis-1089	102	13	vision	vision	NOUN
fcis-1089	102	14	based	base	VERB
fcis-1089	102	15	on	on	ADP
fcis-1089	102	16	ekf	ekf	PROPN
fcis-1089	102	17	is	be	AUX
fcis-1089	102	18	proposed	propose	VERB
fcis-1089	102	19	.	.	PUNCT
fcis-1089	103	1	it	it	PRON
fcis-1089	103	2	is	be	AUX
fcis-1089	103	3	a	a	DET
fcis-1089	103	4	measurement	measurement	NOUN
fcis-1089	103	5	model	model	NOUN
fcis-1089	103	6	that	that	PRON
fcis-1089	103	7	can	can	AUX
fcis-1089	103	8	represent	represent	VERB
fcis-1089	103	9	the	the	DET
fcis-1089	103	10	geometric	geometric	ADJ
fcis-1089	103	11	constraints	constraint	NOUN
fcis-1089	103	12	when	when	SCONJ
fcis-1089	103	13	a	a	DET
fcis-1089	103	14	static	static	ADJ
fcis-1089	103	15	feature	feature	NOUN
fcis-1089	103	16	is	be	AUX
fcis-1089	103	17	observed	observe	VERB
fcis-1089	103	18	by	by	ADP
fcis-1089	103	19	multiple	multiple	ADJ
fcis-1089	103	20	cameras	camera	NOUN
fcis-1089	103	21	.	.	PUNCT
fcis-1089	104	1	the	the	DET
fcis-1089	104	2	measurement	measurement	NOUN
fcis-1089	104	3	model	model	NOUN
fcis-1089	104	4	is	be	AUX
fcis-1089	104	5	optimal	optimal	ADJ
fcis-1089	104	6	and	and	CCONJ
fcis-1089	104	7	does	do	AUX
fcis-1089	104	8	not	not	PART
fcis-1089	104	9	need	need	VERB
fcis-1089	104	10	to	to	PART
fcis-1089	104	11	include	include	VERB
fcis-1089	104	12	the	the	DET
fcis-1089	104	13	3	3	NUM
fcis-1089	104	14	-	-	PUNCT
fcis-1089	104	15	d	d	NOUN
fcis-1089	104	16	coordinates	coordinate	NOUN
fcis-1089	104	17	of	of	ADP
fcis-1089	104	18	the	the	DET
fcis-1089	104	19	feature	feature	NOUN
fcis-1089	104	20	in	in	ADP
fcis-1089	104	21	the	the	DET
fcis-1089	104	22	state	state	NOUN
fcis-1089	104	23	vector	vector	NOUN
fcis-1089	104	24	of	of	ADP
fcis-1089	104	25	ekf	ekf	PROPN
fcis-1089	104	26	.	.	PUNCT
fcis-1089	105	1	if	if	SCONJ
fcis-1089	105	2	the	the	DET
fcis-1089	105	3	fusion	fusion	NOUN
fcis-1089	105	4	problem	problem	NOUN
fcis-1089	105	5	is	be	AUX
fcis-1089	105	6	divided	divide	VERB
fcis-1089	105	7	into	into	ADP
fcis-1089	105	8	two	two	NUM
fcis-1089	105	9	threads	thread	NOUN
fcis-1089	105	10	for	for	ADP
fcis-1089	105	11	processing	processing	NOUN
fcis-1089	105	12	,	,	PUNCT
fcis-1089	105	13	the	the	DET
fcis-1089	105	14	inertial	inertial	ADJ
fcis-1089	105	15	measurement	measurement	NOUN
fcis-1089	105	16	and	and	CCONJ
fcis-1089	105	17	feature	feature	NOUN
fcis-1089	105	18	tracking	tracking	NOUN
fcis-1089	105	19	between	between	ADP
fcis-1089	105	20	continuous	continuous	ADJ
fcis-1089	105	21	images	image	NOUN
fcis-1089	105	22	are	be	AUX
fcis-1089	105	23	locally	locally	ADV
fcis-1089	105	24	processed	process	VERB
fcis-1089	105	25	in	in	ADP
fcis-1089	105	26	the	the	DET
fcis-1089	105	27	first	first	ADJ
fcis-1089	105	28	thread	thread	NOUN
fcis-1089	105	29	to	to	PART
fcis-1089	105	30	provide	provide	VERB
fcis-1089	105	31	high	high	ADJ
fcis-1089	105	32	-	-	PUNCT
fcis-1089	105	33	frequency	frequency	NOUN
fcis-1089	105	34	position	position	NOUN
fcis-1089	105	35	estimation	estimation	NOUN
fcis-1089	105	36	,	,	PUNCT
fcis-1089	105	37	and	and	CCONJ
fcis-1089	105	38	the	the	DET
fcis-1089	105	39	second	second	ADJ
fcis-1089	105	40	thread	thread	NOUN
fcis-1089	105	41	contains	contain	VERB
fcis-1089	105	42	an	an	DET
fcis-1089	105	43	iterative	iterative	NOUN
fcis-1089	105	44	estimation	estimation	NOUN
fcis-1089	105	45	of	of	ADP
fcis-1089	105	46	intermittent	intermittent	ADJ
fcis-1089	105	47	beam	beam	NOUN
fcis-1089	105	48	adjustment	adjustment	NOUN
fcis-1089	105	49	,	,	PUNCT
fcis-1089	105	50	which	which	PRON
fcis-1089	105	51	can	can	AUX
fcis-1089	105	52	reduce	reduce	VERB
fcis-1089	105	53	the	the	DET
fcis-1089	105	54	impact	impact	NOUN
fcis-1089	105	55	of	of	ADP
fcis-1089	105	56	linear	linear	ADJ
fcis-1089	105	57	error	error	NOUN
fcis-1089	105	58	.	.	PUNCT
fcis-1089	106	1	many	many	ADJ
fcis-1089	106	2	results	result	NOUN
fcis-1089	106	3	have	have	AUX
fcis-1089	106	4	proved	prove	VERB
fcis-1089	106	5	that	that	SCONJ
fcis-1089	106	6	the	the	DET
fcis-1089	106	7	visual	visual	ADJ
fcis-1089	106	8	slam	slam	NOUN
fcis-1089	106	9	based	base	VERB
fcis-1089	106	10	on	on	ADP
fcis-1089	106	11	optimization	optimization	NOUN
fcis-1089	106	12	is	be	AUX
fcis-1089	106	13	better	well	ADJ
fcis-1089	106	14	than	than	ADP
fcis-1089	106	15	the	the	DET
fcis-1089	106	16	slam	slam	NOUN
fcis-1089	106	17	based	base	VERB
fcis-1089	106	18	on	on	ADP
fcis-1089	106	19	filtering	filter	VERB
fcis-1089	106	20	in	in	ADP
fcis-1089	106	21	accuracy	accuracy	NOUN
fcis-1089	106	22	.	.	PUNCT
fcis-1089	107	1	if	if	SCONJ
fcis-1089	107	2	the	the	DET
fcis-1089	107	3	error	error	NOUN
fcis-1089	107	4	of	of	ADP
fcis-1089	107	5	i	i	PRON
fcis-1089	107	6	m	m	VERB
fcis-1089	107	7	is	be	AUX
fcis-1089	107	8	integrated	integrate	VERB
fcis-1089	107	9	into	into	ADP
fcis-1089	107	10	the	the	DET
fcis-1089	107	11	re	re	X
fcis-1089	107	12	projection	projection	NOUN
fcis-1089	107	13	error	error	NOUN
fcis-1089	107	14	of	of	ADP
fcis-1089	107	15	the	the	DET
fcis-1089	107	16	road	road	NOUN
fcis-1089	107	17	sign	sign	NOUN
fcis-1089	107	18	in	in	ADP
fcis-1089	107	19	the	the	DET
fcis-1089	107	20	form	form	NOUN
fcis-1089	107	21	of	of	ADP
fcis-1089	107	22	full	full	ADJ
fcis-1089	107	23	probability	probability	NOUN
fcis-1089	107	24	,	,	PUNCT
fcis-1089	107	25	a	a	DET
fcis-1089	107	26	joint	joint	ADJ
fcis-1089	107	27	nonlinear	nonlinear	ADJ
fcis-1089	107	28	error	error	NOUN
fcis-1089	107	29	function	function	NOUN
fcis-1089	107	30	will	will	AUX
fcis-1089	107	31	be	be	AUX
fcis-1089	107	32	optimized	optimize	VERB
fcis-1089	107	33	,	,	PUNCT
fcis-1089	107	34	in	in	ADP
fcis-1089	107	35	which	which	PRON
fcis-1089	107	36	the	the	DET
fcis-1089	107	37	state	state	NOUN
fcis-1089	107	38	before	before	SCONJ
fcis-1089	107	39	the	the	DET
fcis-1089	107	40	marginalization	marginalization	NOUN
fcis-1089	107	41	is	be	AUX
fcis-1089	107	42	achieved	achieve	VERB
fcis-1089	107	43	through	through	ADP
fcis-1089	107	44	the	the	DET
fcis-1089	107	45	key	key	ADJ
fcis-1089	107	46	frame	frame	NOUN
fcis-1089	107	47	to	to	PART
fcis-1089	107	48	maintain	maintain	VERB
fcis-1089	107	49	a	a	DET
fcis-1089	107	50	fixed	fix	VERB
fcis-1089	107	51	size	size	NOUN
fcis-1089	107	52	optimization	optimization	NOUN
fcis-1089	107	53	window	window	NOUN
fcis-1089	107	54	,	,	PUNCT
fcis-1089	107	55	so	so	SCONJ
fcis-1089	107	56	as	as	SCONJ
fcis-1089	107	57	to	to	PART
fcis-1089	107	58	ensure	ensure	VERB
fcis-1089	107	59	real	real	ADJ
fcis-1089	107	60	-	-	PUNCT
fcis-1089	107	61	time	time	NOUN
fcis-1089	107	62	operation	operation	NOUN
fcis-1089	107	63	[	[	X
fcis-1089	107	64	19	19	NUM
fcis-1089	107	65	]	]	PUNCT
fcis-1089	107	66	.	.	PUNCT
fcis-1089	108	1	even	even	ADV
fcis-1089	108	2	in	in	ADP
fcis-1089	108	3	the	the	DET
fcis-1089	108	4	system	system	NOUN
fcis-1089	108	5	of	of	ADP
fcis-1089	108	6	vision	vision	NOUN
fcis-1089	108	7	and	and	CCONJ
fcis-1089	108	8	m	m	NOUN
fcis-1089	108	9	-	-	PUNCT
fcis-1089	108	10	center	center	NOUN
fcis-1089	108	11	fusion	fusion	NOUN
fcis-1089	108	12	,	,	PUNCT
fcis-1089	108	13	when	when	SCONJ
fcis-1089	108	14	the	the	DET
fcis-1089	108	15	robot	robot	NOUN
fcis-1089	108	16	moves	move	VERB
fcis-1089	108	17	violently	violently	ADV
fcis-1089	108	18	,	,	PUNCT
fcis-1089	108	19	due	due	ADP
fcis-1089	108	20	to	to	ADP
fcis-1089	108	21	its	its	PRON
fcis-1089	108	22	increased	increase	VERB
fcis-1089	108	23	uncertainty	uncertainty	NOUN
fcis-1089	108	24	,	,	PUNCT
fcis-1089	108	25	it	it	PRON
fcis-1089	108	26	will	will	AUX
fcis-1089	108	27	still	still	ADV
fcis-1089	108	28	lead	lead	VERB
fcis-1089	108	29	to	to	ADP
fcis-1089	108	30	positioning	positioning	NOUN
fcis-1089	108	31	failure	failure	NOUN
fcis-1089	108	32	,	,	PUNCT
fcis-1089	108	33	so	so	CCONJ
fcis-1089	108	34	the	the	DET
fcis-1089	108	35	robustness	robustness	NOUN
fcis-1089	108	36	of	of	ADP
fcis-1089	108	37	the	the	DET
fcis-1089	108	38	system	system	NOUN
fcis-1089	108	39	needs	need	VERB
fcis-1089	108	40	to	to	PART
fcis-1089	108	41	be	be	AUX
fcis-1089	108	42	further	far	ADV
fcis-1089	108	43	improved	improve	VERB
fcis-1089	108	44	.	.	PUNCT
fcis-1089	109	1	and	and	CCONJ
fcis-1089	109	2	in	in	ADP
fcis-1089	109	3	order	order	NOUN
fcis-1089	109	4	to	to	PART
fcis-1089	109	5	achieve	achieve	VERB
fcis-1089	109	6	realtime	realtime	NOUN
fcis-1089	109	7	positioning	positioning	NOUN
fcis-1089	109	8	in	in	ADP
fcis-1089	109	9	real	real	ADJ
fcis-1089	109	10	life	life	NOUN
fcis-1089	109	11	,	,	PUNCT
fcis-1089	109	12	its	its	PRON
fcis-1089	109	13	computational	computational	ADJ
fcis-1089	109	14	complexity	complexity	NOUN
fcis-1089	109	15	also	also	ADV
fcis-1089	109	16	needs	need	VERB
fcis-1089	109	17	to	to	PART
fcis-1089	109	18	be	be	AUX
fcis-1089	109	19	improved	improve	VERB
fcis-1089	109	20	.	.	PUNCT
fcis-1089	110	1	5.2	5.2	X
fcis-1089	110	2	.	.	PUNCT
fcis-1089	110	3	integration	integration	NOUN
fcis-1089	110	4	of	of	ADP
fcis-1089	110	5	slam	slam	NOUN
fcis-1089	110	6	and	and	CCONJ
fcis-1089	110	7	deep	deep	ADJ
fcis-1089	110	8	learning	learning	NOUN
fcis-1089	110	9	with	with	ADP
fcis-1089	110	10	the	the	DET
fcis-1089	110	11	great	great	ADJ
fcis-1089	110	12	success	success	NOUN
fcis-1089	110	13	of	of	ADP
fcis-1089	110	14	deep	deep	ADJ
fcis-1089	110	15	learning	learning	NOUN
fcis-1089	110	16	in	in	ADP
fcis-1089	110	17	the	the	DET
fcis-1089	110	18	field	field	NOUN
fcis-1089	110	19	of	of	ADP
fcis-1089	110	20	computer	computer	NOUN
fcis-1089	110	21	vision	vision	NOUN
fcis-1089	110	22	,	,	PUNCT
fcis-1089	110	23	there	there	PRON
fcis-1089	110	24	is	be	VERB
fcis-1089	110	25	great	great	ADJ
fcis-1089	110	26	interest	interest	NOUN
fcis-1089	110	27	in	in	ADP
fcis-1089	110	28	the	the	DET
fcis-1089	110	29	application	application	NOUN
fcis-1089	110	30	of	of	ADP
fcis-1089	110	31	deep	deep	ADJ
fcis-1089	110	32	learning	learning	NOUN
fcis-1089	110	33	in	in	ADP
fcis-1089	110	34	the	the	DET
fcis-1089	110	35	field	field	NOUN
fcis-1089	110	36	of	of	ADP
fcis-1089	110	37	robotics	robotic	NOUN
fcis-1089	110	38	.	.	PUNCT
fcis-1089	111	1	slam	slam	PROPN
fcis-1089	111	2	is	be	AUX
fcis-1089	111	3	a	a	DET
fcis-1089	111	4	large	large	ADJ
fcis-1089	111	5	system	system	NOUN
fcis-1089	111	6	,	,	PUNCT
fcis-1089	111	7	in	in	ADP
fcis-1089	111	8	which	which	PRON
fcis-1089	111	9	there	there	PRON
fcis-1089	111	10	are	be	VERB
fcis-1089	111	11	many	many	ADJ
fcis-1089	111	12	sub	sub	NOUN
fcis-1089	111	13	modules	module	NOUN
fcis-1089	111	14	,	,	PUNCT
fcis-1089	111	15	such	such	ADJ
fcis-1089	111	16	as	as	ADP
fcis-1089	111	17	closed	closed	ADJ
fcis-1089	111	18	-	-	PUNCT
fcis-1089	111	19	loop	loop	NOUN
fcis-1089	111	20	detection	detection	NOUN
fcis-1089	111	21	,	,	PUNCT
fcis-1089	111	22	stereo	stereo	NOUN
fcis-1089	111	23	matching	matching	NOUN
fcis-1089	111	24	,	,	PUNCT
fcis-1089	111	25	etc	etc	X
fcis-1089	111	26	.	.	X
fcis-1089	111	27	,	,	PUNCT
fcis-1089	111	28	which	which	PRON
fcis-1089	111	29	can	can	AUX
fcis-1089	111	30	obtain	obtain	VERB
fcis-1089	111	31	better	well	ADJ
fcis-1089	111	32	results	result	NOUN
fcis-1089	111	33	through	through	ADP
fcis-1089	111	34	the	the	DET
fcis-1089	111	35	use	use	NOUN
fcis-1089	111	36	of	of	ADP
fcis-1089	111	37	deep	deep	ADJ
fcis-1089	111	38	learning	learning	NOUN
fcis-1089	111	39	.	.	PUNCT
fcis-1089	112	1	the	the	DET
fcis-1089	112	2	end	end	NOUN
fcis-1089	112	3	-	-	PUNCT
fcis-1089	112	4	to	to	ADP
fcis-1089	112	5	-	-	PUNCT
fcis-1089	112	6	end	end	NOUN
fcis-1089	112	7	deep	deep	ADJ
fcis-1089	112	8	neural	neural	ADJ
fcis-1089	112	9	network	network	NOUN
fcis-1089	112	10	architecture	architecture	NOUN
fcis-1089	112	11	can	can	AUX
fcis-1089	112	12	quickly	quickly	ADV
fcis-1089	112	13	extract	extract	VERB
fcis-1089	112	14	the	the	DET
fcis-1089	112	15	inter	inter	ADJ
fcis-1089	112	16	frame	frame	NOUN
fcis-1089	112	17	motion	motion	NOUN
fcis-1089	112	18	information	information	NOUN
fcis-1089	112	19	of	of	ADP
fcis-1089	112	20	image	image	NOUN
fcis-1089	112	21	sequences	sequence	NOUN
fcis-1089	112	22	.	.	PUNCT
fcis-1089	113	1	compared	compare	VERB
fcis-1089	113	2	with	with	ADP
fcis-1089	113	3	the	the	DET
fcis-1089	113	4	traditional	traditional	ADJ
fcis-1089	113	5	inter	inter	ADJ
fcis-1089	113	6	frame	frame	NOUN
fcis-1089	113	7	estimation	estimation	NOUN
fcis-1089	113	8	algorithm	algorithm	NOUN
fcis-1089	113	9	,	,	PUNCT
fcis-1089	113	10	the	the	DET
fcis-1089	113	11	learning	learning	NOUN
fcis-1089	113	12	-	-	PUNCT
fcis-1089	113	13	based	base	VERB
fcis-1089	113	14	method	method	NOUN
fcis-1089	113	15	replaces	replace	VERB
fcis-1089	113	16	the	the	DET
fcis-1089	113	17	cumbersome	cumbersome	ADJ
fcis-1089	113	18	formula	formula	NOUN
fcis-1089	113	19	calculation	calculation	NOUN
fcis-1089	113	20	,	,	PUNCT
fcis-1089	113	21	without	without	ADP
fcis-1089	113	22	manual	manual	ADJ
fcis-1089	113	23	feature	feature	NOUN
fcis-1089	113	24	extraction	extraction	NOUN
fcis-1089	113	25	and	and	CCONJ
fcis-1089	113	26	matching	matching	NOUN
fcis-1089	113	27	,	,	PUNCT
fcis-1089	113	28	which	which	PRON
fcis-1089	113	29	is	be	AUX
fcis-1089	113	30	simple	simple	ADJ
fcis-1089	113	31	and	and	CCONJ
fcis-1089	113	32	intuitive	intuitive	ADJ
fcis-1089	113	33	,	,	PUNCT
fcis-1089	113	34	and	and	CCONJ
fcis-1089	113	35	the	the	DET
fcis-1089	113	36	online	online	ADJ
fcis-1089	113	37	operation	operation	NOUN
fcis-1089	113	38	speed	speed	NOUN
fcis-1089	113	39	is	be	AUX
fcis-1089	113	40	faster	fast	ADJ
fcis-1089	113	41	.	.	PUNCT
fcis-1089	114	1	at	at	ADP
fcis-1089	114	2	the	the	DET
fcis-1089	114	3	same	same	ADJ
fcis-1089	114	4	time	time	NOUN
fcis-1089	114	5	,	,	PUNCT
fcis-1089	114	6	compared	compare	VERB
fcis-1089	114	7	with	with	ADP
fcis-1089	114	8	the	the	DET
fcis-1089	114	9	traditional	traditional	ADJ
fcis-1089	114	10	closed	closed	ADJ
fcis-1089	114	11	-	-	PUNCT
fcis-1089	114	12	loop	loop	NOUN
fcis-1089	114	13	detection	detection	NOUN
fcis-1089	114	14	(	(	PUNCT
fcis-1089	114	15	position	position	NOUN
fcis-1089	114	16	recognition	recognition	NOUN
fcis-1089	114	17	)	)	PUNCT
fcis-1089	114	18	algorithm	algorithm	NOUN
fcis-1089	114	19	,	,	PUNCT
fcis-1089	114	20	the	the	DET
fcis-1089	114	21	method	method	NOUN
fcis-1089	114	22	based	base	VERB
fcis-1089	114	23	on	on	ADP
fcis-1089	114	24	deep	deep	ADJ
fcis-1089	114	25	learning	learning	NOUN
fcis-1089	114	26	uses	use	VERB
fcis-1089	114	27	deep	deep	ADJ
fcis-1089	114	28	neural	neural	ADJ
fcis-1089	114	29	network	network	NOUN
fcis-1089	114	30	to	to	PART
fcis-1089	114	31	extract	extract	VERB
fcis-1089	114	32	image	image	NOUN
fcis-1089	114	33	features	feature	NOUN
fcis-1089	114	34	,	,	PUNCT
fcis-1089	114	35	express	express	VERB
fcis-1089	114	36	image	image	NOUN
fcis-1089	114	37	information	information	NOUN
fcis-1089	114	38	more	more	ADV
fcis-1089	114	39	fully	fully	ADV
fcis-1089	114	40	,	,	PUNCT
fcis-1089	114	41	and	and	CCONJ
fcis-1089	114	42	has	have	VERB
fcis-1089	114	43	stronger	strong	ADJ
fcis-1089	114	44	robustness	robustness	NOUN
fcis-1089	114	45	to	to	ADP
fcis-1089	114	46	environmental	environmental	ADJ
fcis-1089	114	47	changes	change	NOUN
fcis-1089	114	48	such	such	ADJ
fcis-1089	114	49	as	as	ADP
fcis-1089	114	50	light	light	NOUN
fcis-1089	114	51	and	and	CCONJ
fcis-1089	114	52	season	season	NOUN
fcis-1089	114	53	.	.	PUNCT
fcis-1089	115	1	6	6	X
fcis-1089	115	2	.	.	X
fcis-1089	115	3	conclusion	conclusion	NOUN
fcis-1089	115	4	over	over	ADP
fcis-1089	115	5	the	the	DET
fcis-1089	115	6	past	past	ADJ
fcis-1089	115	7	decade	decade	NOUN
fcis-1089	115	8	,	,	PUNCT
fcis-1089	115	9	visual	visual	ADJ
fcis-1089	115	10	slam	slam	NOUN
fcis-1089	115	11	has	have	AUX
fcis-1089	115	12	made	make	VERB
fcis-1089	115	13	amazing	amazing	ADJ
fcis-1089	115	14	development	development	NOUN
fcis-1089	115	15	,	,	PUNCT
fcis-1089	115	16	but	but	CCONJ
fcis-1089	115	17	using	use	VERB
fcis-1089	115	18	only	only	ADV
fcis-1089	115	19	the	the	DET
fcis-1089	115	20	camera	camera	NOUN
fcis-1089	115	21	as	as	ADP
fcis-1089	115	22	the	the	DET
fcis-1089	115	23	only	only	ADJ
fcis-1089	115	24	external	external	ADJ
fcis-1089	115	25	sensor	sensor	NOUN
fcis-1089	115	26	for	for	ADP
fcis-1089	115	27	simultaneous	simultaneous	ADJ
fcis-1089	115	28	positioning	positioning	NOUN
fcis-1089	115	29	and	and	CCONJ
fcis-1089	115	30	3d	3d	NUM
fcis-1089	115	31	map	map	NOUN
fcis-1089	115	32	reconstruction	reconstruction	NOUN
fcis-1089	115	33	is	be	AUX
fcis-1089	115	34	still	still	ADV
fcis-1089	115	35	a	a	DET
fcis-1089	115	36	very	very	ADV
fcis-1089	115	37	challenging	challenging	ADJ
fcis-1089	115	38	research	research	NOUN
fcis-1089	115	39	direction	direction	NOUN
fcis-1089	115	40	.	.	PUNCT
fcis-1089	116	1	there	there	PRON
fcis-1089	116	2	is	be	VERB
fcis-1089	116	3	still	still	ADV
fcis-1089	116	4	a	a	DET
fcis-1089	116	5	long	long	ADJ
fcis-1089	116	6	scientific	scientific	ADJ
fcis-1089	116	7	research	research	NOUN
fcis-1089	116	8	way	way	NOUN
fcis-1089	116	9	to	to	PART
fcis-1089	116	10	go	go	VERB
fcis-1089	116	11	if	if	SCONJ
fcis-1089	116	12	you	you	PRON
fcis-1089	116	13	want	want	VERB
fcis-1089	116	14	to	to	PART
fcis-1089	116	15	carry	carry	VERB
fcis-1089	116	16	out	out	ADP
fcis-1089	116	17	self	self	NOUN
fcis-1089	116	18	-	-	PUNCT
fcis-1089	116	19	positioning	positioning	NOUN
fcis-1089	116	20	in	in	ADP
fcis-1089	116	21	real	real	ADJ
fcis-1089	116	22	time	time	NOUN
fcis-1089	116	23	and	and	CCONJ
fcis-1089	116	24	build	build	VERB
fcis-1089	116	25	an	an	DET
fcis-1089	116	26	environmental	environmental	ADJ
fcis-1089	116	27	map	map	NOUN
fcis-1089	116	28	similar	similar	ADJ
fcis-1089	116	29	to	to	ADP
fcis-1089	116	30	that	that	PRON
fcis-1089	116	31	seen	see	VERB
fcis-1089	116	32	by	by	ADP
fcis-1089	116	33	human	human	ADJ
fcis-1089	116	34	eyes	eye	NOUN
fcis-1089	116	35	.	.	PUNCT
fcis-1089	117	1	in	in	ADP
fcis-1089	117	2	order	order	NOUN
fcis-1089	117	3	to	to	PART
fcis-1089	117	4	make	make	VERB
fcis-1089	117	5	up	up	ADP
fcis-1089	117	6	for	for	ADP
fcis-1089	117	7	the	the	DET
fcis-1089	117	8	lack	lack	NOUN
fcis-1089	117	9	of	of	ADP
fcis-1089	117	10	visual	visual	ADJ
fcis-1089	117	11	information	information	NOUN
fcis-1089	117	12	,	,	PUNCT
fcis-1089	117	13	visual	visual	ADJ
fcis-1089	117	14	sensors	sensor	NOUN
fcis-1089	117	15	can	can	AUX
fcis-1089	117	16	be	be	AUX
fcis-1089	117	17	fused	fuse	VERB
fcis-1089	117	18	with	with	ADP
fcis-1089	117	19	inertial	inertial	ADJ
fcis-1089	117	20	sensors	sensor	NOUN
fcis-1089	117	21	(	(	PUNCT
fcis-1089	117	22	i	i	NOUN
fcis-1089	117	23	-	-	PUNCT
fcis-1089	117	24	center	center	NOUN
fcis-1089	117	25	)	)	PUNCT
fcis-1089	117	26	,	,	PUNCT
fcis-1089	117	27	lasers	laser	NOUN
fcis-1089	117	28	and	and	CCONJ
fcis-1089	117	29	other	other	ADJ
fcis-1089	117	30	sensors	sensor	NOUN
fcis-1089	117	31	,	,	PUNCT
fcis-1089	117	32	and	and	CCONJ
fcis-1089	117	33	better	well	ADJ
fcis-1089	117	34	results	result	NOUN
fcis-1089	117	35	can	can	AUX
fcis-1089	117	36	be	be	AUX
fcis-1089	117	37	obtained	obtain	VERB
fcis-1089	117	38	through	through	ADP
fcis-1089	117	39	the	the	DET
fcis-1089	117	40	complementarity	complementarity	NOUN
fcis-1089	117	41	between	between	ADP
fcis-1089	117	42	sensors	sensor	NOUN
fcis-1089	117	43	.	.	PUNCT
fcis-1089	118	1	in	in	ADP
fcis-1089	118	2	addition	addition	NOUN
fcis-1089	118	3	,	,	PUNCT
fcis-1089	118	4	in	in	ADP
fcis-1089	118	5	order	order	NOUN
fcis-1089	118	6	to	to	PART
fcis-1089	118	7	be	be	AUX
fcis-1089	118	8	applied	apply	VERB
fcis-1089	118	9	in	in	ADP
fcis-1089	118	10	the	the	DET
fcis-1089	118	11	actual	actual	ADJ
fcis-1089	118	12	environment	environment	NOUN
fcis-1089	118	13	,	,	PUNCT
fcis-1089	118	14	the	the	DET
fcis-1089	118	15	robustness	robustness	NOUN
fcis-1089	118	16	of	of	ADP
fcis-1089	118	17	slam	slam	NOUN
fcis-1089	118	18	needs	need	NOUN
fcis-1089	118	19	to	to	PART
fcis-1089	118	20	be	be	AUX
fcis-1089	118	21	very	very	ADV
fcis-1089	118	22	high	high	ADJ
fcis-1089	118	23	,	,	PUNCT
fcis-1089	118	24	so	so	SCONJ
fcis-1089	118	25	that	that	SCONJ
fcis-1089	118	26	it	it	PRON
fcis-1089	118	27	can	can	AUX
fcis-1089	118	28	be	be	AUX
fcis-1089	118	29	processed	process	VERB
fcis-1089	118	30	accurately	accurately	ADV
fcis-1089	118	31	in	in	ADP
fcis-1089	118	32	various	various	ADJ
fcis-1089	118	33	complex	complex	ADJ
fcis-1089	118	34	environments	environment	NOUN
fcis-1089	118	35	,	,	PUNCT
fcis-1089	118	36	and	and	CCONJ
fcis-1089	118	37	the	the	DET
fcis-1089	118	38	computational	computational	ADJ
fcis-1089	118	39	complexity	complexity	NOUN
fcis-1089	118	40	of	of	ADP
fcis-1089	118	41	slam	slam	NOUN
fcis-1089	118	42	can	can	AUX
fcis-1089	118	43	not	not	PART
fcis-1089	118	44	be	be	AUX
fcis-1089	118	45	too	too	ADV
fcis-1089	118	46	high	high	ADJ
fcis-1089	118	47	,	,	PUNCT
fcis-1089	118	48	so	so	SCONJ
fcis-1089	118	49	as	as	SCONJ
fcis-1089	118	50	to	to	PART
fcis-1089	118	51	achieve	achieve	VERB
fcis-1089	118	52	realtime	realtime	NOUN
fcis-1089	118	53	results	result	NOUN
fcis-1089	118	54	.	.	PUNCT
fcis-1089	119	1	references	reference	NOUN
fcis-1089	119	2	[	[	X
fcis-1089	119	3	1	1	NUM
fcis-1089	119	4	]	]	X
fcis-1089	119	5	quan	quan	PROPN
fcis-1089	119	6	xiangmei	xiangmei	PROPN
fcis-1089	119	7	,	,	PUNCT
fcis-1089	119	8	park	park	NOUN
fcis-1089	119	9	songhao	songhao	ADJ
fcis-1089	119	10	overview	overview	NOUN
fcis-1089	119	11	of	of	ADP
fcis-1089	119	12	visual	visual	ADJ
fcis-1089	119	13	slam	slam	NOUN
fcis-1089	120	1	[	[	X
fcis-1089	120	2	j	j	X
fcis-1089	120	3	]	]	X
fcis-1089	120	4	journal	journal	NOUN
fcis-1089	120	5	of	of	ADP
fcis-1089	120	6	intelligent	intelligent	ADJ
fcis-1089	120	7	systems	system	NOUN
fcis-1089	120	8	,	,	PUNCT
fcis-1089	120	9	2016	2016	NUM
fcis-1089	120	10	,	,	PUNCT
fcis-1089	120	11	11	11	NUM
fcis-1089	120	12	(	(	PUNCT
fcis-1089	120	13	6	6	NUM
fcis-1089	120	14	):	):	PUNCT
fcis-1089	120	15	768	768	NUM
fcis-1089	120	16	-	-	SYM
fcis-1089	120	17	776	776	NUM
fcis-1089	121	1	[	[	X
fcis-1089	121	2	2	2	NUM
fcis-1089	121	3	]	]	X
fcis-1089	121	4	liu	liu	PROPN
fcis-1089	121	5	haomin	haomin	PROPN
fcis-1089	121	6	,	,	PUNCT
fcis-1089	121	7	zhang	zhang	PROPN
fcis-1089	121	8	guofeng	guofeng	PROPN
fcis-1089	121	9	.	.	PUNCT
fcis-1089	122	1	overview	overview	NOUN
fcis-1089	122	2	of	of	ADP
fcis-1089	122	3	simultaneous	simultaneous	ADJ
fcis-1089	122	4	localization	localization	NOUN
fcis-1089	122	5	and	and	CCONJ
fcis-1089	122	6	map	map	VERB
fcis-1089	122	7	construction	construction	NOUN
fcis-1089	122	8	methods	method	NOUN
fcis-1089	122	9	based	base	VERB
fcis-1089	122	10	on	on	ADP
fcis-1089	122	11	monocular	monocular	ADJ
fcis-1089	122	12	vision	vision	NOUN
fcis-1089	122	13	[	[	X
fcis-1089	122	14	j	j	X
fcis-1089	122	15	]	]	X
fcis-1089	122	16	journal	journal	NOUN
fcis-1089	122	17	of	of	ADP
fcis-1089	122	18	computer	computer	NOUN
fcis-1089	122	19	aided	aid	VERB
fcis-1089	122	20	design	design	NOUN
fcis-1089	122	21	and	and	CCONJ
fcis-1089	122	22	graphics	graphic	NOUN
fcis-1089	122	23	,	,	PUNCT
fcis-1089	122	24	2016	2016	NUM
fcis-1089	122	25	,	,	PUNCT
fcis-1089	122	26	28	28	NUM
fcis-1089	122	27	(	(	PUNCT
fcis-1089	122	28	6	6	NUM
fcis-1089	122	29	):	):	PUNCT
fcis-1089	122	30	35	35	NUM
fcis-1089	122	31	-	-	SYM
fcis-1089	122	32	42	42	NUM
fcis-1089	123	1	[	[	X
fcis-1089	123	2	3	3	NUM
fcis-1089	123	3	]	]	X
fcis-1089	123	4	zhao	zhao	PROPN
fcis-1089	123	5	yang	yang	PROPN
fcis-1089	123	6	,	,	PUNCT
fcis-1089	123	7	liu	liu	PROPN
fcis-1089	123	8	guoliang	guoliang	PROPN
fcis-1089	123	9	,	,	PUNCT
fcis-1089	123	10	tian	tian	PROPN
fcis-1089	123	11	guoliang	guoliang	PROPN
fcis-1089	123	12	,	,	PUNCT
fcis-1089	123	13	et	et	NOUN
fcis-1089	123	14	al	al	PROPN
fcis-1089	123	15	overview	overview	NOUN
fcis-1089	123	16	of	of	ADP
fcis-1089	123	17	visual	visual	ADJ
fcis-1089	123	18	slam	slam	NOUN
fcis-1089	123	19	based	base	VERB
fcis-1089	123	20	on	on	ADP
fcis-1089	123	21	deep	deep	ADJ
fcis-1089	123	22	learning	learning	NOUN
fcis-1089	123	23	[	[	X
fcis-1089	123	24	j	j	X
fcis-1089	123	25	]	]	X
fcis-1089	123	26	robot	robot	NOUN
fcis-1089	123	27	,	,	PUNCT
fcis-1089	123	28	2017	2017	NUM
fcis-1089	123	29	,	,	PUNCT
fcis-1089	123	30	39	39	NUM
fcis-1089	123	31	(	(	PUNCT
fcis-1089	123	32	6	6	NUM
fcis-1089	123	33	):	):	PUNCT
fcis-1089	123	34	77	77	NUM
fcis-1089	123	35	-	-	SYM
fcis-1089	123	36	85	85	NUM
fcis-1089	123	37	[	[	SYM
fcis-1089	123	38	4	4	NUM
fcis-1089	123	39	]	]	X
fcis-1089	123	40	davison	davison	PROPN
fcis-1089	123	41	a	a	DET
fcis-1089	123	42	j	j	PROPN
fcis-1089	123	43	,	,	PUNCT
fcis-1089	123	44	reid	reid	PROPN
fcis-1089	123	45	i	i	PROPN
fcis-1089	123	46	d	d	PROPN
fcis-1089	123	47	,	,	PUNCT
fcis-1089	123	48	molton	molton	PROPN
fcis-1089	123	49	n	n	PROPN
fcis-1089	123	50	d	d	PROPN
fcis-1089	123	51	,	,	PUNCT
fcis-1089	123	52	et	et	PROPN
fcis-1089	123	53	al	al	PROPN
fcis-1089	123	54	.	.	PUNCT
fcis-1089	124	1	mono	mono	PROPN
fcis-1089	124	2	-	-	PUNCT
fcis-1089	124	3	slam	slam	NOUN
fcis-1089	124	4	:	:	PUNCT
fcis-1089	124	5	real	real	ADJ
fcis-1089	124	6	-	-	PUNCT
fcis-1089	124	7	time	time	NOUN
fcis-1089	124	8	single	single	ADJ
fcis-1089	124	9	camera	camera	NOUN
fcis-1089	124	10	slam[j	slam[j	PROPN
fcis-1089	124	11	]	]	PUNCT
fcis-1089	124	12	.	.	PUNCT
fcis-1089	125	1	ieee	ieee	NOUN
fcis-1089	125	2	transactions	transaction	NOUN
fcis-1089	125	3	on	on	ADP
fcis-1089	125	4	pattern	pattern	NOUN
fcis-1089	125	5	analysis	analysis	NOUN
fcis-1089	125	6	and	and	CCONJ
fcis-1089	125	7	machine	machine	NOUN
fcis-1089	125	8	intelligence	intelligence	NOUN
fcis-1089	125	9	,	,	PUNCT
fcis-1089	125	10	2007	2007	NUM
fcis-1089	125	11	,	,	PUNCT
fcis-1089	125	12	29(6):10521067	29(6):10521067	NUM
fcis-1089	125	13	[	[	X
fcis-1089	125	14	5	5	NUM
fcis-1089	125	15	]	]	PUNCT
fcis-1089	125	16	newcombe	newcombe	PROPN
fcis-1089	125	17	r	r	PROPN
fcis-1089	125	18	a	a	PROPN
fcis-1089	125	19	,	,	PUNCT
fcis-1089	125	20	lovegrove	lovegrove	PROPN
fcis-1089	125	21	s	s	PROPN
fcis-1089	125	22	j.	j.	PROPN
fcis-1089	125	23	davison	davison	PROPN
fcis-1089	125	24	a	a	DET
fcis-1089	125	25	j.	j.	PROPN
fcis-1089	125	26	dtam	dtam	PROPN
fcis-1089	125	27	:	:	PUNCT
fcis-1089	125	28	dense	dense	ADJ
fcis-1089	125	29	tracking	tracking	NOUN
fcis-1089	125	30	and	and	CCONJ
fcis-1089	125	31	mapping	mapping	NOUN
fcis-1089	125	32	in	in	ADP
fcis-1089	125	33	real	real	ADJ
fcis-1089	125	34	-	-	PUNCT
fcis-1089	125	35	time[c]//	time[c]//	ADJ
fcis-1089	125	36	international	international	ADJ
fcis-1089	125	37	conference	conference	NOUN
fcis-1089	125	38	on	on	ADP
fcis-1089	125	39	computer	computer	NOUN
fcis-1089	125	40	version	version	NOUN
fcis-1089	125	41	.	.	PUNCT
fcis-1089	126	1	bacelona	bacelona	PROPN
fcis-1089	126	2	,	,	PUNCT
fcis-1089	126	3	spain	spain	PROPN
fcis-1089	126	4	,	,	PUNCT
fcis-1089	126	5	2011	2011	NUM
fcis-1089	126	6	:	:	PUNCT
fcis-1089	126	7	2320	2320	NUM
fcis-1089	126	8	-	-	SYM
fcis-1089	126	9	2327	2327	NUM
fcis-1089	126	10	.	.	PUNCT
fcis-1089	127	1	[	[	X
fcis-1089	127	2	6	6	NUM
fcis-1089	127	3	]	]	X
fcis-1089	127	4	li	li	PROPN
fcis-1089	127	5	m	m	PROPN
fcis-1089	127	6	,	,	PUNCT
fcis-1089	127	7	mourikis	mouriki	VERB
fcis-1089	127	8	a	a	DET
fcis-1089	127	9	i.	i.	NOUN
fcis-1089	127	10	high	high	ADJ
fcis-1089	127	11	-	-	PUNCT
fcis-1089	127	12	precision	precision	NOUN
fcis-1089	127	13	,	,	PUNCT
fcis-1089	127	14	consistent	consistent	ADJ
fcis-1089	127	15	ekf	ekf	PROPN
fcis-1089	127	16	-	-	PUNCT
fcis-1089	127	17	based	base	VERB
fcis-1089	127	18	visual	visual	ADJ
fcis-1089	127	19	-	-	PUNCT
fcis-1089	127	20	inertial	inertial	NOUN
fcis-1089	127	21	odometry[j	odometry[j	NOUN
fcis-1089	127	22	]	]	X
fcis-1089	127	23	.	.	PUNCT
fcis-1089	128	1	the	the	DET
fcis-1089	128	2	international	international	ADJ
fcis-1089	128	3	journal	journal	NOUN
fcis-1089	128	4	of	of	ADP
fcis-1089	128	5	robotics	robotic	NOUN
fcis-1089	128	6	research	research	NOUN
fcis-1089	128	7	,	,	PUNCT
fcis-1089	128	8	2013	2013	NUM
fcis-1089	128	9	,	,	PUNCT
fcis-1089	128	10	32(6	32(6	NUM
fcis-1089	128	11	):	):	PUNCT
fcis-1089	128	12	690	690	NUM
fcis-1089	128	13	-	-	SYM
fcis-1089	128	14	711	711	NUM
fcis-1089	128	15	.	.	PUNCT
fcis-1089	129	1	[	[	X
fcis-1089	129	2	7	7	X
fcis-1089	129	3	]	]	X
fcis-1089	129	4	newcombe	newcombe	NOUN
fcis-1089	129	5	r	r	PROPN
fcis-1089	129	6	a	a	PROPN
fcis-1089	129	7	,	,	PUNCT
fcis-1089	129	8	lovegrove	lovegrove	PROPN
fcis-1089	129	9	s	s	PROPN
fcis-1089	129	10	j	j	PROPN
fcis-1089	129	11	,	,	PUNCT
fcis-1089	129	12	davison	davison	PROPN
fcis-1089	129	13	a	a	DET
fcis-1089	129	14	j.	j.	PROPN
fcis-1089	129	15	dtam	dtam	PROPN
fcis-1089	129	16	:	:	PUNCT
fcis-1089	129	17	dense	dense	ADJ
fcis-1089	129	18	tracking	tracking	NOUN
fcis-1089	129	19	and	and	CCONJ
fcis-1089	129	20	mapping	mapping	NOUN
fcis-1089	129	21	in	in	ADP
fcis-1089	129	22	real	real	ADJ
fcis-1089	129	23	-	-	PUNCT
fcis-1089	129	24	time[c]//2011	time[c]//2011	PROPN
fcis-1089	129	25	international	international	ADJ
fcis-1089	129	26	conference	conference	NOUN
fcis-1089	129	27	on	on	ADP
fcis-1089	129	28	computer	computer	NOUN
fcis-1089	129	29	vision	vision	NOUN
fcis-1089	129	30	.	.	PUNCT
fcis-1089	130	1	ieee	ieee	PROPN
fcis-1089	130	2	,	,	PUNCT
fcis-1089	130	3	2011	2011	NUM
fcis-1089	130	4	:	:	PUNCT
fcis-1089	130	5	2320	2320	NUM
fcis-1089	130	6	-	-	SYM
fcis-1089	130	7	2327	2327	NUM
fcis-1089	130	8	.	.	PUNCT
fcis-1089	131	1	[	[	X
fcis-1089	131	2	8	8	NUM
fcis-1089	131	3	]	]	X
fcis-1089	131	4	izadi	izadi	NOUN
fcis-1089	131	5	s	s	PROPN
fcis-1089	131	6	,	,	PUNCT
fcis-1089	131	7	kim	kim	PROPN
fcis-1089	131	8	d	d	PROPN
fcis-1089	131	9	,	,	PUNCT
fcis-1089	131	10	hilliges	hillige	NOUN
fcis-1089	131	11	o	o	NOUN
fcis-1089	131	12	,	,	PUNCT
fcis-1089	131	13	et	et	PROPN
fcis-1089	131	14	al	al	PROPN
fcis-1089	131	15	.	.	PUNCT
fcis-1089	131	16	kinectfusion	kinectfusion	PROPN
fcis-1089	131	17	:	:	PUNCT
fcis-1089	131	18	real	real	ADJ
fcis-1089	131	19	-	-	PUNCT
fcis-1089	131	20	time	time	NOUN
fcis-1089	131	21	3d	3d	NOUN
fcis-1089	131	22	reconstruction	reconstruction	NOUN
fcis-1089	131	23	and	and	CCONJ
fcis-1089	131	24	interaction	interaction	NOUN
fcis-1089	131	25	using	use	VERB
fcis-1089	131	26	a	a	DET
fcis-1089	131	27	moving	move	VERB
fcis-1089	131	28	depth	depth	NOUN
fcis-1089	131	29	camera[c]//proceedings	camera[c]//proceeding	NOUN
fcis-1089	131	30	of	of	ADP
fcis-1089	131	31	the	the	DET
fcis-1089	131	32	24th	24th	ADJ
fcis-1089	131	33	annual	annual	ADJ
fcis-1089	131	34	acm	acm	NOUN
fcis-1089	131	35	symposium	symposium	NOUN
fcis-1089	131	36	on	on	ADP
fcis-1089	131	37	user	user	NOUN
fcis-1089	131	38	interface	interface	NOUN
fcis-1089	131	39	software	software	NOUN
fcis-1089	131	40	and	and	CCONJ
fcis-1089	131	41	technology	technology	NOUN
fcis-1089	131	42	.	.	PUNCT
fcis-1089	132	1	2011	2011	NUM
fcis-1089	132	2	:	:	PUNCT
fcis-1089	132	3	559	559	NUM
fcis-1089	132	4	-	-	SYM
fcis-1089	132	5	568	568	NUM
fcis-1089	132	6	.	.	PUNCT
fcis-1089	133	1	[	[	X
fcis-1089	133	2	9	9	NUM
fcis-1089	133	3	]	]	X
fcis-1089	133	4	engel	engel	PROPN
fcis-1089	133	5	j	j	PROPN
fcis-1089	133	6	,	,	PUNCT
fcis-1089	133	7	schöps	schöps	PROPN
fcis-1089	133	8	t	t	PROPN
fcis-1089	133	9	,	,	PUNCT
fcis-1089	133	10	cremers	cremers	PROPN
fcis-1089	133	11	d.	d.	PROPN
fcis-1089	133	12	lsd	lsd	PROPN
fcis-1089	133	13	-	-	PUNCT
fcis-1089	133	14	slam	slam	NOUN
fcis-1089	133	15	:	:	PUNCT
fcis-1089	133	16	large	large	ADJ
fcis-1089	133	17	-	-	PUNCT
fcis-1089	133	18	scale	scale	NOUN
fcis-1089	133	19	direct	direct	ADJ
fcis-1089	133	20	monocular	monocular	ADJ
fcis-1089	133	21	slam[c]//european	slam[c]//european	ADJ
fcis-1089	133	22	conference	conference	NOUN
fcis-1089	133	23	on	on	ADP
fcis-1089	133	24	computer	computer	NOUN
fcis-1089	133	25	vision	vision	NOUN
fcis-1089	133	26	.	.	PUNCT
fcis-1089	134	1	springer	springer	NOUN
fcis-1089	134	2	,	,	PUNCT
fcis-1089	134	3	cham	cham	PROPN
fcis-1089	134	4	,	,	PUNCT
fcis-1089	134	5	2014	2014	NUM
fcis-1089	134	6	:	:	PUNCT
fcis-1089	134	7	834	834	NUM
fcis-1089	134	8	-	-	SYM
fcis-1089	134	9	849	849	NUM
fcis-1089	134	10	.	.	PUNCT
fcis-1089	135	1	[	[	X
fcis-1089	135	2	10	10	NUM
fcis-1089	135	3	]	]	X
fcis-1089	135	4	klein	klein	PROPN
fcis-1089	135	5	g	g	PROPN
fcis-1089	135	6	,	,	PUNCT
fcis-1089	135	7	murray	murray	PROPN
fcis-1089	135	8	d.	d.	PROPN
fcis-1089	135	9	parallel	parallel	PROPN
fcis-1089	135	10	tracking	tracking	NOUN
fcis-1089	135	11	and	and	CCONJ
fcis-1089	135	12	mapping	mapping	NOUN
fcis-1089	135	13	foe	foe	VERB
fcis-1089	135	14	small	small	ADJ
fcis-1089	135	15	ar	ar	PROPN
fcis-1089	135	16	workspaces[c]//	workspaces[c]//	PROPN
fcis-1089	135	17	ieee	ieee	NOUN
fcis-1089	135	18	and	and	CCONJ
fcis-1089	135	19	acm	acm	PROPN
fcis-1089	135	20	international	international	ADJ
fcis-1089	135	21	symposium	symposium	NOUN
fcis-1089	135	22	on	on	ADP
fcis-1089	135	23	mixed	mixed	ADJ
fcis-1089	135	24	and	and	CCONJ
fcis-1089	135	25	augmented	augment	VERB
fcis-1089	135	26	reality	reality	NOUN
fcis-1089	135	27	.	.	PUNCT
fcis-1089	136	1	nara	nara	PROPN
fcis-1089	136	2	,	,	PUNCT
fcis-1089	136	3	japan	japan	PROPN
fcis-1089	136	4	,	,	PUNCT
fcis-1089	136	5	2007	2007	NUM
fcis-1089	136	6	:	:	PUNCT
fcis-1089	136	7	225	225	NUM
fcis-1089	136	8	-	-	SYM
fcis-1089	136	9	234	234	NUM
fcis-1089	136	10	.	.	PUNCT
fcis-1089	137	1	[	[	X
fcis-1089	137	2	11	11	NUM
fcis-1089	137	3	]	]	PUNCT
fcis-1089	137	4	pire	pire	PROPN
fcis-1089	137	5	t	t	PROPN
fcis-1089	137	6	,	,	PUNCT
fcis-1089	137	7	fischer	fischer	PROPN
fcis-1089	137	8	t	t	PROPN
fcis-1089	137	9	,	,	PUNCT
fcis-1089	137	10	castro	castro	VERB
fcis-1089	137	11	g	g	PROPN
fcis-1089	137	12	,	,	PUNCT
fcis-1089	137	13	et	et	PROPN
fcis-1089	137	14	al	al	PROPN
fcis-1089	137	15	.	.	PUNCT
fcis-1089	138	1	s	s	X
fcis-1089	138	2	-	-	PUNCT
fcis-1089	138	3	ptam	ptam	NOUN
fcis-1089	138	4	:	:	PUNCT
fcis-1089	138	5	stereo	stereo	PROPN
fcis-1089	138	6	parallel	parallel	ADJ
fcis-1089	138	7	tracking	tracking	NOUN
fcis-1089	138	8	and	and	CCONJ
fcis-1089	138	9	mapping[j	mapping[j	NOUN
fcis-1089	138	10	]	]	PUNCT
fcis-1089	138	11	.	.	PUNCT
fcis-1089	139	1	robotics	robotic	NOUN
fcis-1089	139	2	and	and	CCONJ
fcis-1089	139	3	autonomous	autonomous	ADJ
fcis-1089	139	4	systems	system	NOUN
fcis-1089	139	5	,	,	PUNCT
fcis-1089	139	6	2017	2017	NUM
fcis-1089	139	7	,	,	PUNCT
fcis-1089	139	8	93	93	NUM
fcis-1089	139	9	:	:	PUNCT
fcis-1089	139	10	27	27	NUM
fcis-1089	139	11	-	-	SYM
fcis-1089	139	12	42	42	NUM
fcis-1089	139	13	.	.	PUNCT
fcis-1089	140	1	[	[	X
fcis-1089	140	2	12	12	NUM
fcis-1089	140	3	]	]	PUNCT
fcis-1089	140	4	avignone	avignone	PUNCT
fcis-1089	140	5	iii	iii	X
fcis-1089	140	6	f	f	PROPN
fcis-1089	140	7	t	t	PROPN
fcis-1089	140	8	,	,	PUNCT
fcis-1089	140	9	elliott	elliott	PROPN
fcis-1089	140	10	s	s	PROPN
fcis-1089	140	11	r	r	PROPN
fcis-1089	140	12	,	,	PUNCT
fcis-1089	140	13	engel	engel	PROPN
fcis-1089	140	14	j.	j.	PROPN
fcis-1089	140	15	double	double	PROPN
fcis-1089	140	16	beta	beta	NOUN
fcis-1089	140	17	decay	decay	NOUN
fcis-1089	140	18	,	,	PUNCT
fcis-1089	140	19	majorana	majorana	PROPN
fcis-1089	140	20	neutrinos	neutrino	NOUN
fcis-1089	140	21	,	,	PUNCT
fcis-1089	140	22	and	and	CCONJ
fcis-1089	140	23	neutrino	neutrino	NOUN
fcis-1089	140	24	mass[j	mass[j	NOUN
fcis-1089	140	25	]	]	PUNCT
fcis-1089	140	26	.	.	PUNCT
fcis-1089	141	1	reviews	review	NOUN
fcis-1089	141	2	of	of	ADP
fcis-1089	141	3	modern	modern	ADJ
fcis-1089	141	4	physics	physic	NOUN
fcis-1089	141	5	,	,	PUNCT
fcis-1089	141	6	2008	2008	NUM
fcis-1089	141	7	,	,	PUNCT
fcis-1089	141	8	80(2	80(2	NUM
fcis-1089	141	9	):	):	PUNCT
fcis-1089	141	10	481	481	NUM
fcis-1089	141	11	.	.	PUNCT
fcis-1089	142	1	[	[	X
fcis-1089	142	2	13	13	NUM
fcis-1089	142	3	]	]	X
fcis-1089	142	4	scherer	scherer	PROPN
fcis-1089	142	5	s	s	PROPN
fcis-1089	142	6	a	a	PRON
fcis-1089	142	7	,	,	PUNCT
fcis-1089	142	8	zell	zell	PROPN
fcis-1089	142	9	a.	a.	PROPN
fcis-1089	142	10	efficient	efficient	PROPN
fcis-1089	142	11	onbard	onbard	ADJ
fcis-1089	142	12	rgbd	rgbd	NOUN
fcis-1089	142	13	-	-	PUNCT
fcis-1089	142	14	slam	slam	NOUN
fcis-1089	142	15	for	for	ADP
fcis-1089	142	16	autonomous	autonomous	ADJ
fcis-1089	142	17	mavs[c]//2013	mavs[c]//2013	PROPN
fcis-1089	142	18	ieee	ieee	NOUN
fcis-1089	142	19	/	/	SYM
fcis-1089	142	20	rsj	rsj	NOUN
fcis-1089	142	21	international	international	ADJ
fcis-1089	142	22	conference	conference	NOUN
fcis-1089	142	23	on	on	ADP
fcis-1089	142	24	intelligent	intelligent	ADJ
fcis-1089	142	25	robots	robot	NOUN
fcis-1089	142	26	and	and	CCONJ
fcis-1089	142	27	systems	system	NOUN
fcis-1089	142	28	.	.	PUNCT
fcis-1089	143	1	ieee	ieee	PROPN
fcis-1089	143	2	,	,	PUNCT
fcis-1089	143	3	2013	2013	NUM
fcis-1089	143	4	:	:	PUNCT
fcis-1089	143	5	1062	1062	NUM
fcis-1089	143	6	-	-	SYM
fcis-1089	143	7	1068	1068	NUM
fcis-1089	143	8	.	.	PUNCT
fcis-1089	144	1	[	[	X
fcis-1089	144	2	14	14	NUM
fcis-1089	144	3	]	]	X
fcis-1089	144	4	ng	ng	PROPN
fcis-1089	144	5	p	p	PROPN
fcis-1089	144	6	c	c	PROPN
fcis-1089	144	7	,	,	PUNCT
fcis-1089	144	8	henikoff	henikoff	NOUN
fcis-1089	144	9	s.	s.	PROPN
fcis-1089	144	10	sift	sift	PROPN
fcis-1089	144	11	:	:	PUNCT
fcis-1089	144	12	predicting	predict	VERB
fcis-1089	144	13	amino	amino	NOUN
fcis-1089	144	14	acid	acid	NOUN
fcis-1089	144	15	changes	change	NOUN
fcis-1089	144	16	that	that	PRON
fcis-1089	144	17	affect	affect	VERB
fcis-1089	144	18	protein	protein	NOUN
fcis-1089	144	19	function[j	function[j	PROPN
fcis-1089	144	20	]	]	PUNCT
fcis-1089	144	21	.	.	PUNCT
fcis-1089	145	1	nucleic	nucleic	ADJ
fcis-1089	145	2	acids	acid	NOUN
fcis-1089	145	3	research	research	NOUN
fcis-1089	145	4	,	,	PUNCT
fcis-1089	145	5	2003	2003	NUM
fcis-1089	145	6	,	,	PUNCT
fcis-1089	145	7	31(13	31(13	NUM
fcis-1089	145	8	):	):	PUNCT
fcis-1089	145	9	3812	3812	NUM
fcis-1089	145	10	-	-	SYM
fcis-1089	145	11	3814	3814	NUM
fcis-1089	145	12	.	.	PUNCT
fcis-1089	146	1	21	21	NUM
fcis-1089	147	1	[	[	SYM
fcis-1089	147	2	15	15	NUM
fcis-1089	147	3	]	]	X
fcis-1089	147	4	baughman	baughman	NOUN
fcis-1089	147	5	r	r	PROPN
fcis-1089	147	6	p	p	NOUN
fcis-1089	147	7	,	,	PUNCT
fcis-1089	147	8	lower	low	ADJ
fcis-1089	147	9	e	e	NOUN
fcis-1089	147	10	e	e	NOUN
fcis-1089	147	11	,	,	PUNCT
fcis-1089	147	12	tami	tami	PROPN
fcis-1089	147	13	t.	t.	PROPN
fcis-1089	147	14	upper	upper	ADJ
fcis-1089	147	15	airway	airway	NOUN
fcis-1089	147	16	.	.	PUNCT
fcis-1089	148	1	4	4	NUM
fcis-1089	148	2	:	:	PUNCT
fcis-1089	148	3	sarcoidosis	sarcoidosis	NOUN
fcis-1089	148	4	of	of	ADP
fcis-1089	148	5	the	the	DET
fcis-1089	148	6	upper	upper	ADJ
fcis-1089	148	7	respiratory	respiratory	ADJ
fcis-1089	148	8	tract	tract	NOUN
fcis-1089	148	9	(	(	PUNCT
fcis-1089	148	10	surt)[j	surt)[j	NOUN
fcis-1089	148	11	]	]	PUNCT
fcis-1089	148	12	.	.	PUNCT
fcis-1089	149	1	thorax	thorax	NOUN
fcis-1089	149	2	,	,	PUNCT
fcis-1089	149	3	2010	2010	NUM
fcis-1089	149	4	,	,	PUNCT
fcis-1089	149	5	65(2	65(2	NUM
fcis-1089	149	6	):	):	PUNCT
fcis-1089	149	7	181	181	NUM
fcis-1089	149	8	-	-	SYM
fcis-1089	149	9	186	186	NUM
fcis-1089	149	10	.	.	PUNCT
fcis-1089	150	1	[	[	X
fcis-1089	150	2	16	16	NUM
fcis-1089	150	3	]	]	X
fcis-1089	150	4	chen	chen	PROPN
fcis-1089	150	5	weidong	weidong	PROPN
fcis-1089	150	6	,	,	PUNCT
fcis-1089	150	7	zhang	zhang	PROPN
fcis-1089	150	8	fei	fei	PROPN
fcis-1089	150	9	research	research	PROPN
fcis-1089	150	10	progress	progress	NOUN
fcis-1089	150	11	on	on	ADP
fcis-1089	150	12	synchronous	synchronous	ADJ
fcis-1089	150	13	self	self	NOUN
fcis-1089	150	14	localization	localization	NOUN
fcis-1089	150	15	and	and	CCONJ
fcis-1089	150	16	map	map	VERB
fcis-1089	150	17	creation	creation	NOUN
fcis-1089	150	18	of	of	ADP
fcis-1089	150	19	mobile	mobile	ADJ
fcis-1089	150	20	and	and	CCONJ
fcis-1089	150	21	robot	robot	NOUN
fcis-1089	150	22	[	[	X
fcis-1089	150	23	j	j	X
fcis-1089	150	24	]	]	X
fcis-1089	150	25	control	control	NOUN
fcis-1089	150	26	theory	theory	NOUN
fcis-1089	150	27	and	and	CCONJ
fcis-1089	150	28	application	application	NOUN
fcis-1089	150	29	,	,	PUNCT
fcis-1089	150	30	2005	2005	NUM
fcis-1089	150	31	(	(	PUNCT
fcis-1089	150	32	3	3	NUM
fcis-1089	150	33	):	):	PUNCT
fcis-1089	150	34	455	455	NUM
fcis-1089	150	35	-	-	SYM
fcis-1089	150	36	460	460	NUM
fcis-1089	150	37	[	[	X
fcis-1089	150	38	17	17	NUM
fcis-1089	150	39	]	]	PUNCT
fcis-1089	150	40	grisetti	grisetti	NOUN
fcis-1089	150	41	g	g	NOUN
fcis-1089	150	42	,	,	PUNCT
fcis-1089	150	43	kümmerle	kümmerle	PROPN
fcis-1089	150	44	r	r	NOUN
fcis-1089	150	45	,	,	PUNCT
fcis-1089	150	46	strasdat	strasdat	PROPN
fcis-1089	150	47	h	h	PROPN
fcis-1089	150	48	,	,	PUNCT
fcis-1089	150	49	et	et	PROPN
fcis-1089	150	50	al	al	PROPN
fcis-1089	150	51	.	.	PUNCT
fcis-1089	151	1	g2o	g2o	PROPN
fcis-1089	151	2	:	:	PUNCT
fcis-1089	151	3	a	a	DET
fcis-1089	151	4	general	general	ADJ
fcis-1089	151	5	framework	framework	NOUN
fcis-1089	151	6	for	for	ADP
fcis-1089	151	7	(	(	PUNCT
fcis-1089	151	8	hyper	hyper	NOUN
fcis-1089	151	9	)	)	PUNCT
fcis-1089	151	10	graph	graph	NOUN
fcis-1089	151	11	optimization[c]//proceedings	optimization[c]//proceeding	NOUN
fcis-1089	151	12	of	of	ADP
fcis-1089	151	13	the	the	DET
fcis-1089	151	14	ieee	ieee	NOUN
fcis-1089	151	15	international	international	PROPN
fcis-1089	151	16	conference	conference	NOUN
fcis-1089	151	17	on	on	ADP
fcis-1089	151	18	robotics	robotic	NOUN
fcis-1089	151	19	and	and	CCONJ
fcis-1089	151	20	automation	automation	NOUN
fcis-1089	151	21	(	(	PUNCT
fcis-1089	151	22	icra	icra	PROPN
fcis-1089	151	23	)	)	PUNCT
fcis-1089	151	24	,	,	PUNCT
fcis-1089	151	25	shanghai	shanghai	PROPN
fcis-1089	151	26	,	,	PUNCT
fcis-1089	151	27	china	china	PROPN
fcis-1089	151	28	.	.	PUNCT
fcis-1089	152	1	2011	2011	NUM
fcis-1089	152	2	:	:	PUNCT
fcis-1089	152	3	9	9	NUM
fcis-1089	152	4	-	-	SYM
fcis-1089	152	5	13	13	NUM
fcis-1089	152	6	.	.	PUNCT
fcis-1089	153	1	[	[	X
fcis-1089	153	2	18	18	NUM
fcis-1089	153	3	]	]	PUNCT
fcis-1089	153	4	moré	moré	PROPN
fcis-1089	153	5	j	j	PROPN
fcis-1089	153	6	j.	j.	PROPN
fcis-1089	153	7	the	the	DET
fcis-1089	153	8	levenberg	levenberg	PROPN
fcis-1089	153	9	-	-	PUNCT
fcis-1089	153	10	marquardt	marquardt	PROPN
fcis-1089	153	11	algorithm	algorithm	PROPN
fcis-1089	153	12	:	:	PUNCT
fcis-1089	153	13	implementation	implementation	NOUN
fcis-1089	153	14	and	and	CCONJ
fcis-1089	153	15	theory[m]//numerical	theory[m]//numerical	PROPN
fcis-1089	153	16	analysis	analysis	NOUN
fcis-1089	153	17	.	.	PUNCT
fcis-1089	154	1	springer	springer	NOUN
fcis-1089	154	2	,	,	PUNCT
fcis-1089	154	3	berlin	berlin	PROPN
fcis-1089	154	4	,	,	PUNCT
fcis-1089	154	5	heidelberg	heidelberg	PROPN
fcis-1089	154	6	,	,	PUNCT
fcis-1089	154	7	1978	1978	NUM
fcis-1089	154	8	:	:	PUNCT
fcis-1089	154	9	105	105	NUM
fcis-1089	154	10	-	-	SYM
fcis-1089	154	11	116	116	NUM
fcis-1089	154	12	.	.	PUNCT
fcis-1089	155	1	[	[	X
fcis-1089	155	2	19	19	NUM
fcis-1089	155	3	]	]	X
fcis-1089	155	4	jixiucai	jixiucai	PROPN
fcis-1089	155	5	,	,	PUNCT
fcis-1089	155	6	zheng	zheng	PROPN
fcis-1089	155	7	zhiqiang	zhiqiang	PROPN
fcis-1089	155	8	,	,	PUNCT
fcis-1089	155	9	zhang	zhang	PROPN
fcis-1089	155	10	hui	hui	PROPN
fcis-1089	155	11	analysis	analysis	NOUN
fcis-1089	155	12	and	and	CCONJ
fcis-1089	155	13	control	control	NOUN
fcis-1089	155	14	of	of	ADP
fcis-1089	155	15	robot	robot	NOUN
fcis-1089	155	16	positioning	positioning	NOUN
fcis-1089	155	17	error	error	NOUN
fcis-1089	155	18	in	in	ADP
fcis-1089	155	19	slam	slam	NOUN
fcis-1089	155	20	problem	problem	NOUN
fcis-1089	155	21	[	[	X
fcis-1089	155	22	j	j	X
fcis-1089	155	23	]	]	X
fcis-1089	155	24	journal	journal	PROPN
fcis-1089	155	25	of	of	ADP
fcis-1089	155	26	automation	automation	NOUN
fcis-1089	155	27	,	,	PUNCT
fcis-1089	155	28	2008	2008	NUM
fcis-1089	155	29	(	(	PUNCT
fcis-1089	155	30	3	3	NUM
fcis-1089	155	31	):	):	PUNCT
fcis-1089	155	32	323	323	NUM
fcis-1089	155	33	-	-	SYM
fcis-1089	155	34	33	33	NUM