id	sid	tid	token	lemma	pos
fcis-11156	1	1	frontiers	frontier	NOUN
fcis-11156	1	2	in	in	ADP
fcis-11156	1	3	computing	computing	NOUN
fcis-11156	1	4	and	and	CCONJ
fcis-11156	1	5	intelligent	intelligent	ADJ
fcis-11156	1	6	systems	system	NOUN
fcis-11156	1	7	issn	issn	VERB
fcis-11156	1	8	:	:	PUNCT
fcis-11156	1	9	2832	2832	NUM
fcis-11156	1	10	-	-	SYM
fcis-11156	1	11	6024	6024	NUM
fcis-11156	1	12	|	|	NOUN
fcis-11156	1	13	vol	vol	NOUN
fcis-11156	1	14	.	.	PROPN
fcis-11156	2	1	4	4	NUM
fcis-11156	2	2	,	,	PUNCT
fcis-11156	2	3	no	no	INTJ
fcis-11156	2	4	.	.	NOUN
fcis-11156	2	5	3	3	NUM
fcis-11156	2	6	,	,	PUNCT
fcis-11156	2	7	2023	2023	NUM
fcis-11156	2	8	109	109	NUM
fcis-11156	2	9	design	design	NOUN
fcis-11156	2	10	of	of	ADP
fcis-11156	2	11	real‐time	real‐time	NOUN
fcis-11156	2	12	pedestrian	pedestrian	NOUN
fcis-11156	2	13	trajectory	trajectory	NOUN
fcis-11156	2	14	prediction	prediction	NOUN
fcis-11156	2	15	system	system	NOUN
fcis-11156	2	16	based	base	VERB
fcis-11156	2	17	on	on	ADP
fcis-11156	2	18	jetson	jetson	PROPN
fcis-11156	2	19	xavier	xavier	PROPN
fcis-11156	2	20	quankai	quankai	VERB
fcis-11156	2	21	liu	liu	PROPN
fcis-11156	2	22	*	*	PROPN
fcis-11156	2	23	,	,	PUNCT
fcis-11156	2	24	haifeng	haifeng	PROPN
fcis-11156	2	25	sang	sing	VERB
fcis-11156	2	26	school	school	NOUN
fcis-11156	2	27	of	of	ADP
fcis-11156	2	28	information	information	NOUN
fcis-11156	2	29	science	science	NOUN
fcis-11156	2	30	and	and	CCONJ
fcis-11156	2	31	engineering	engineering	PROPN
fcis-11156	2	32	,	,	PUNCT
fcis-11156	2	33	shenyang	shenyang	PROPN
fcis-11156	2	34	university	university	PROPN
fcis-11156	2	35	of	of	ADP
fcis-11156	2	36	technology	technology	PROPN
fcis-11156	2	37	,	,	PUNCT
fcis-11156	2	38	shenyang	shenyang	PROPN
fcis-11156	2	39	,	,	PUNCT
fcis-11156	2	40	liaoning	liaoning	PROPN
fcis-11156	2	41	110870	110870	NUM
fcis-11156	2	42	,	,	PUNCT
fcis-11156	2	43	china	china	PROPN
fcis-11156	2	44	*	*	PUNCT
fcis-11156	2	45	corresponding	correspond	VERB
fcis-11156	2	46	author	author	NOUN
fcis-11156	2	47	:	:	PUNCT
fcis-11156	2	48	quankai	quankai	PROPN
fcis-11156	2	49	liu	liu	PROPN
fcis-11156	2	50	(	(	PUNCT
fcis-11156	2	51	email	email	NOUN
fcis-11156	2	52	:	:	PUNCT
fcis-11156	2	53	liuqk_sut@163.com	liuqk_sut@163.com	NOUN
fcis-11156	2	54	)	)	PUNCT
fcis-11156	2	55	abstract	abstract	NOUN
fcis-11156	2	56	:	:	PUNCT
fcis-11156	2	57	this	this	DET
fcis-11156	2	58	paper	paper	NOUN
fcis-11156	2	59	presents	present	VERB
fcis-11156	2	60	a	a	DET
fcis-11156	2	61	vehicle	vehicle	NOUN
fcis-11156	2	62	-	-	PUNCT
fcis-11156	2	63	mounted	mount	VERB
fcis-11156	2	64	real	real	ADJ
fcis-11156	2	65	-	-	PUNCT
fcis-11156	2	66	time	time	NOUN
fcis-11156	2	67	pedestrian	pedestrian	NOUN
fcis-11156	2	68	trajectory	trajectory	NOUN
fcis-11156	2	69	prediction	prediction	NOUN
fcis-11156	2	70	system	system	NOUN
fcis-11156	2	71	based	base	VERB
fcis-11156	2	72	on	on	ADP
fcis-11156	2	73	the	the	DET
fcis-11156	2	74	embedded	embed	VERB
fcis-11156	2	75	device	device	NOUN
fcis-11156	2	76	jetson	jetson	PROPN
fcis-11156	2	77	xavier	xavier	PROPN
fcis-11156	2	78	.	.	PUNCT
fcis-11156	3	1	it	it	PRON
fcis-11156	3	2	achieves	achieve	VERB
fcis-11156	3	3	low	low	ADJ
fcis-11156	3	4	-	-	PUNCT
fcis-11156	3	5	cost	cost	NOUN
fcis-11156	3	6	real	real	ADJ
fcis-11156	3	7	-	-	PUNCT
fcis-11156	3	8	time	time	NOUN
fcis-11156	3	9	pedestrian	pedestrian	NOUN
fcis-11156	3	10	trajectory	trajectory	NOUN
fcis-11156	3	11	prediction	prediction	NOUN
fcis-11156	3	12	using	use	VERB
fcis-11156	3	13	only	only	ADV
fcis-11156	3	14	the	the	DET
fcis-11156	3	15	front	front	ADJ
fcis-11156	3	16	camera	camera	NOUN
fcis-11156	3	17	of	of	ADP
fcis-11156	3	18	the	the	DET
fcis-11156	3	19	vehicle	vehicle	NOUN
fcis-11156	3	20	.	.	PUNCT
fcis-11156	4	1	firstly	firstly	ADV
fcis-11156	4	2	,	,	PUNCT
fcis-11156	4	3	pedestrian	pedestrian	NOUN
fcis-11156	4	4	detection	detection	NOUN
fcis-11156	4	5	and	and	CCONJ
fcis-11156	4	6	tracking	tracking	NOUN
fcis-11156	4	7	are	be	AUX
fcis-11156	4	8	implemented	implement	VERB
fcis-11156	4	9	based	base	VERB
fcis-11156	4	10	on	on	ADP
fcis-11156	4	11	yolov7	yolov7	NOUN
fcis-11156	4	12	,	,	PUNCT
fcis-11156	4	13	while	while	SCONJ
fcis-11156	4	14	also	also	ADV
fcis-11156	4	15	estimating	estimate	VERB
fcis-11156	4	16	pedestrian	pedestrian	NOUN
fcis-11156	4	17	poses	pose	NOUN
fcis-11156	4	18	and	and	CCONJ
fcis-11156	4	19	optical	optical	ADJ
fcis-11156	4	20	flow	flow	NOUN
fcis-11156	4	21	to	to	PART
fcis-11156	4	22	provide	provide	VERB
fcis-11156	4	23	multiple	multiple	ADJ
fcis-11156	4	24	information	information	NOUN
fcis-11156	4	25	sequences	sequence	NOUN
fcis-11156	4	26	for	for	ADP
fcis-11156	4	27	the	the	DET
fcis-11156	4	28	trajectory	trajectory	NOUN
fcis-11156	4	29	prediction	prediction	NOUN
fcis-11156	4	30	network	network	NOUN
fcis-11156	4	31	.	.	PUNCT
fcis-11156	5	1	secondly	secondly	ADV
fcis-11156	5	2	,	,	PUNCT
fcis-11156	5	3	the	the	DET
fcis-11156	5	4	pedestrian	pedestrian	NOUN
fcis-11156	5	5	trajectory	trajectory	NOUN
fcis-11156	5	6	algorithm	algorithm	NOUN
fcis-11156	5	7	from	from	ADP
fcis-11156	5	8	a	a	DET
fcis-11156	5	9	driver	driver	NOUN
fcis-11156	5	10	's	's	PART
fcis-11156	5	11	perspective	perspective	NOUN
fcis-11156	5	12	is	be	AUX
fcis-11156	5	13	studied	study	VERB
fcis-11156	5	14	,	,	PUNCT
fcis-11156	5	15	and	and	CCONJ
fcis-11156	5	16	a	a	DET
fcis-11156	5	17	trajectory	trajectory	NOUN
fcis-11156	5	18	prediction	prediction	NOUN
fcis-11156	5	19	algorithm	algorithm	NOUN
fcis-11156	5	20	that	that	PRON
fcis-11156	5	21	considers	consider	VERB
fcis-11156	5	22	pedestrian	pedestrian	NOUN
fcis-11156	5	23	pose	pose	VERB
fcis-11156	5	24	,	,	PUNCT
fcis-11156	5	25	optical	optical	ADJ
fcis-11156	5	26	flow	flow	NOUN
fcis-11156	5	27	,	,	PUNCT
fcis-11156	5	28	and	and	CCONJ
fcis-11156	5	29	trajectory	trajectory	NOUN
fcis-11156	5	30	information	information	NOUN
fcis-11156	5	31	is	be	AUX
fcis-11156	5	32	proposed	propose	VERB
fcis-11156	5	33	.	.	PUNCT
fcis-11156	6	1	a	a	DET
fcis-11156	6	2	novel	novel	ADJ
fcis-11156	6	3	multi	multi	ADJ
fcis-11156	6	4	-	-	ADJ
fcis-11156	6	5	information	information	ADJ
fcis-11156	6	6	fusion	fusion	NOUN
fcis-11156	6	7	network	network	NOUN
fcis-11156	6	8	is	be	AUX
fcis-11156	6	9	designed	design	VERB
fcis-11156	6	10	to	to	PART
fcis-11156	6	11	better	well	ADV
fcis-11156	6	12	integrate	integrate	VERB
fcis-11156	6	13	multiple	multiple	ADJ
fcis-11156	6	14	features	feature	NOUN
fcis-11156	6	15	.	.	PUNCT
fcis-11156	7	1	the	the	DET
fcis-11156	7	2	algorithm	algorithm	NOUN
fcis-11156	7	3	is	be	AUX
fcis-11156	7	4	tested	test	VERB
fcis-11156	7	5	on	on	ADP
fcis-11156	7	6	the	the	DET
fcis-11156	7	7	jaad	jaad	NOUN
fcis-11156	7	8	and	and	CCONJ
fcis-11156	7	9	pie	pie	NOUN
fcis-11156	7	10	datasets	dataset	NOUN
fcis-11156	7	11	,	,	PUNCT
fcis-11156	7	12	and	and	CCONJ
fcis-11156	7	13	the	the	DET
fcis-11156	7	14	displacement	displacement	ADJ
fcis-11156	7	15	errors	error	NOUN
fcis-11156	7	16	are	be	AUX
fcis-11156	7	17	reduced	reduce	VERB
fcis-11156	7	18	by	by	ADP
fcis-11156	7	19	6.35	6.35	NUM
fcis-11156	7	20	%	%	NOUN
fcis-11156	7	21	and	and	CCONJ
fcis-11156	7	22	3.28	3.28	NUM
fcis-11156	7	23	%	%	NOUN
fcis-11156	7	24	,	,	PUNCT
fcis-11156	7	25	respectively	respectively	ADV
fcis-11156	7	26	,	,	PUNCT
fcis-11156	7	27	compared	compare	VERB
fcis-11156	7	28	to	to	ADP
fcis-11156	7	29	bitrap	bitrap	NOUN
fcis-11156	7	30	.	.	PUNCT
fcis-11156	8	1	finally	finally	ADV
fcis-11156	8	2	,	,	PUNCT
fcis-11156	8	3	the	the	DET
fcis-11156	8	4	algorithm	algorithm	NOUN
fcis-11156	8	5	is	be	AUX
fcis-11156	8	6	ported	port	VERB
fcis-11156	8	7	to	to	ADP
fcis-11156	8	8	the	the	DET
fcis-11156	8	9	embedded	embed	VERB
fcis-11156	8	10	device	device	NOUN
fcis-11156	8	11	xavier	xavier	NOUN
fcis-11156	8	12	and	and	CCONJ
fcis-11156	8	13	installed	instal	VERB
fcis-11156	8	14	on	on	ADP
fcis-11156	8	15	a	a	DET
fcis-11156	8	16	simulated	simulate	VERB
fcis-11156	8	17	vehicle	vehicle	NOUN
fcis-11156	8	18	for	for	ADP
fcis-11156	8	19	testing	testing	NOUN
fcis-11156	8	20	.	.	PUNCT
fcis-11156	9	1	by	by	ADP
fcis-11156	9	2	predicting	predict	VERB
fcis-11156	9	3	pedestrian	pedestrian	NOUN
fcis-11156	9	4	future	future	ADJ
fcis-11156	9	5	trajectories	trajectory	NOUN
fcis-11156	9	6	based	base	VERB
fcis-11156	9	7	on	on	ADP
fcis-11156	9	8	pedestrian	pedestrian	NOUN
fcis-11156	9	9	detection	detection	NOUN
fcis-11156	9	10	,	,	PUNCT
fcis-11156	9	11	collisions	collision	NOUN
fcis-11156	9	12	can	can	AUX
fcis-11156	9	13	be	be	AUX
fcis-11156	9	14	avoided	avoid	VERB
fcis-11156	9	15	in	in	ADP
fcis-11156	9	16	advance	advance	NOUN
fcis-11156	9	17	,	,	PUNCT
fcis-11156	9	18	improving	improve	VERB
fcis-11156	9	19	the	the	DET
fcis-11156	9	20	safety	safety	NOUN
fcis-11156	9	21	of	of	ADP
fcis-11156	9	22	autonomous	autonomous	ADJ
fcis-11156	9	23	driving	driving	NOUN
fcis-11156	9	24	.	.	PUNCT
fcis-11156	10	1	the	the	DET
fcis-11156	10	2	proposed	propose	VERB
fcis-11156	10	3	system	system	NOUN
fcis-11156	10	4	has	have	VERB
fcis-11156	10	5	significant	significant	ADJ
fcis-11156	10	6	practical	practical	ADJ
fcis-11156	10	7	value	value	NOUN
fcis-11156	10	8	.	.	PUNCT
fcis-11156	11	1	keywords	keyword	NOUN
fcis-11156	11	2	:	:	PUNCT
fcis-11156	11	3	pedestrian	pedestrian	NOUN
fcis-11156	11	4	trajectory	trajectory	NOUN
fcis-11156	11	5	prediction	prediction	NOUN
fcis-11156	11	6	;	;	PUNCT
fcis-11156	11	7	attention	attention	NOUN
fcis-11156	11	8	mechanism	mechanism	NOUN
fcis-11156	11	9	;	;	PUNCT
fcis-11156	11	10	embedded	embed	VERB
fcis-11156	11	11	deployment	deployment	NOUN
fcis-11156	11	12	;	;	PUNCT
fcis-11156	11	13	automatic	automatic	ADJ
fcis-11156	11	14	driving	driving	NOUN
fcis-11156	11	15	.	.	PUNCT
fcis-11156	12	1	1	1	X
fcis-11156	12	2	.	.	X
fcis-11156	12	3	introduction	introduction	NOUN
fcis-11156	12	4	in	in	ADP
fcis-11156	12	5	recent	recent	ADJ
fcis-11156	12	6	years	year	NOUN
fcis-11156	12	7	,	,	PUNCT
fcis-11156	12	8	with	with	ADP
fcis-11156	12	9	the	the	DET
fcis-11156	12	10	development	development	NOUN
fcis-11156	12	11	of	of	ADP
fcis-11156	12	12	the	the	DET
fcis-11156	12	13	new	new	ADJ
fcis-11156	12	14	energy	energy	NOUN
fcis-11156	12	15	vehicle	vehicle	NOUN
fcis-11156	12	16	industry	industry	NOUN
fcis-11156	12	17	,	,	PUNCT
fcis-11156	12	18	an	an	DET
fcis-11156	12	19	increasing	increase	VERB
fcis-11156	12	20	number	number	NOUN
fcis-11156	12	21	of	of	ADP
fcis-11156	12	22	intelligent	intelligent	ADJ
fcis-11156	12	23	cars	car	NOUN
fcis-11156	12	24	are	be	AUX
fcis-11156	12	25	equipped	equip	VERB
fcis-11156	12	26	with	with	ADP
fcis-11156	12	27	autonomous	autonomous	ADJ
fcis-11156	12	28	driving	driving	NOUN
fcis-11156	12	29	technology	technology	NOUN
fcis-11156	12	30	.	.	PUNCT
fcis-11156	13	1	however	however	ADV
fcis-11156	13	2	,	,	PUNCT
fcis-11156	13	3	the	the	DET
fcis-11156	13	4	safety	safety	NOUN
fcis-11156	13	5	of	of	ADP
fcis-11156	13	6	existing	exist	VERB
fcis-11156	13	7	autonomous	autonomous	ADJ
fcis-11156	13	8	driving	drive	VERB
fcis-11156	13	9	algorithms	algorithm	NOUN
fcis-11156	13	10	still	still	ADV
fcis-11156	13	11	lags	lag	VERB
fcis-11156	13	12	behind	behind	ADP
fcis-11156	13	13	fully	fully	ADV
fcis-11156	13	14	autonomous	autonomous	ADJ
fcis-11156	13	15	driving	driving	NOUN
fcis-11156	13	16	.	.	PUNCT
fcis-11156	14	1	the	the	DET
fcis-11156	14	2	currently	currently	ADV
fcis-11156	14	3	massproduced	massproduce	VERB
fcis-11156	14	4	autonomous	autonomous	ADJ
fcis-11156	14	5	vehicles	vehicle	NOUN
fcis-11156	14	6	are	be	AUX
fcis-11156	14	7	mainly	mainly	ADV
fcis-11156	14	8	used	use	VERB
fcis-11156	14	9	in	in	ADP
fcis-11156	14	10	traffic	traffic	NOUN
fcis-11156	14	11	scenarios	scenario	NOUN
fcis-11156	14	12	with	with	ADP
fcis-11156	14	13	simple	simple	ADJ
fcis-11156	14	14	road	road	NOUN
fcis-11156	14	15	elements	element	NOUN
fcis-11156	14	16	and	and	CCONJ
fcis-11156	14	17	few	few	ADJ
fcis-11156	14	18	pedestrians	pedestrian	NOUN
fcis-11156	14	19	.	.	PUNCT
fcis-11156	15	1	there	there	PRON
fcis-11156	15	2	is	be	VERB
fcis-11156	15	3	still	still	ADV
fcis-11156	15	4	a	a	DET
fcis-11156	15	5	need	need	NOUN
fcis-11156	15	6	for	for	ADP
fcis-11156	15	7	extensive	extensive	ADJ
fcis-11156	15	8	real	real	ADJ
fcis-11156	15	9	-	-	PUNCT
fcis-11156	15	10	world	world	NOUN
fcis-11156	15	11	testing	testing	NOUN
fcis-11156	15	12	in	in	ADP
fcis-11156	15	13	crowded	crowded	ADJ
fcis-11156	15	14	pedestrian	pedestrian	NOUN
fcis-11156	15	15	and	and	CCONJ
fcis-11156	15	16	complex	complex	ADJ
fcis-11156	15	17	traffic	traffic	NOUN
fcis-11156	15	18	scenarios	scenario	NOUN
fcis-11156	15	19	.	.	PUNCT
fcis-11156	16	1	pedestrian	pedestrian	NOUN
fcis-11156	16	2	trajectory	trajectory	NOUN
fcis-11156	16	3	prediction	prediction	NOUN
fcis-11156	16	4	is	be	AUX
fcis-11156	16	5	crucial	crucial	ADJ
fcis-11156	16	6	for	for	ADP
fcis-11156	16	7	collision	collision	NOUN
fcis-11156	16	8	avoidance	avoidance	NOUN
fcis-11156	16	9	and	and	CCONJ
fcis-11156	16	10	improving	improve	VERB
fcis-11156	16	11	the	the	DET
fcis-11156	16	12	safety	safety	NOUN
fcis-11156	16	13	of	of	ADP
fcis-11156	16	14	autonomous	autonomous	ADJ
fcis-11156	16	15	driving	driving	NOUN
fcis-11156	16	16	.	.	PUNCT
fcis-11156	17	1	existing	exist	VERB
fcis-11156	17	2	autonomous	autonomous	ADJ
fcis-11156	17	3	driving	drive	VERB
fcis-11156	17	4	systems	system	NOUN
fcis-11156	17	5	mostly	mostly	ADV
fcis-11156	17	6	detect	detect	VERB
fcis-11156	17	7	pedestrians	pedestrian	NOUN
fcis-11156	17	8	,	,	PUNCT
fcis-11156	17	9	but	but	CCONJ
fcis-11156	17	10	autonomous	autonomous	ADJ
fcis-11156	17	11	vehicles	vehicle	NOUN
fcis-11156	17	12	equipped	equip	VERB
fcis-11156	17	13	with	with	ADP
fcis-11156	17	14	pedestrian	pedestrian	NOUN
fcis-11156	17	15	trajectory	trajectory	NOUN
fcis-11156	17	16	prediction	prediction	NOUN
fcis-11156	17	17	systems	system	NOUN
fcis-11156	17	18	can	can	AUX
fcis-11156	17	19	not	not	PART
fcis-11156	17	20	only	only	ADV
fcis-11156	17	21	detect	detect	VERB
fcis-11156	17	22	pedestrians	pedestrian	NOUN
fcis-11156	17	23	but	but	CCONJ
fcis-11156	17	24	also	also	ADV
fcis-11156	17	25	predict	predict	VERB
fcis-11156	17	26	their	their	PRON
fcis-11156	17	27	future	future	ADJ
fcis-11156	17	28	positions	position	NOUN
fcis-11156	17	29	based	base	VERB
fcis-11156	17	30	on	on	ADP
fcis-11156	17	31	pedestrian	pedestrian	NOUN
fcis-11156	17	32	detection	detection	NOUN
fcis-11156	17	33	,	,	PUNCT
fcis-11156	17	34	thereby	thereby	ADV
fcis-11156	17	35	avoiding	avoid	VERB
fcis-11156	17	36	collisions	collision	NOUN
fcis-11156	17	37	in	in	ADP
fcis-11156	17	38	advance	advance	NOUN
fcis-11156	17	39	and	and	CCONJ
fcis-11156	17	40	planning	plan	VERB
fcis-11156	17	41	safer	safe	ADJ
fcis-11156	17	42	and	and	CCONJ
fcis-11156	17	43	more	more	ADV
fcis-11156	17	44	robust	robust	ADJ
fcis-11156	17	45	driving	driving	NOUN
fcis-11156	17	46	paths	path	NOUN
fcis-11156	17	47	[	[	X
fcis-11156	17	48	1	1	NUM
fcis-11156	17	49	]	]	PUNCT
fcis-11156	17	50	.	.	PUNCT
fcis-11156	18	1	since	since	SCONJ
fcis-11156	18	2	helbing	helbe	VERB
fcis-11156	18	3	[	[	X
fcis-11156	18	4	2	2	NUM
fcis-11156	18	5	]	]	PUNCT
fcis-11156	18	6	proposed	propose	VERB
fcis-11156	18	7	the	the	DET
fcis-11156	18	8	use	use	NOUN
fcis-11156	18	9	of	of	ADP
fcis-11156	18	10	manually	manually	ADV
fcis-11156	18	11	crafted	craft	VERB
fcis-11156	18	12	energy	energy	NOUN
fcis-11156	18	13	functions	function	NOUN
fcis-11156	18	14	to	to	PART
fcis-11156	18	15	guide	guide	VERB
fcis-11156	18	16	pedestrians	pedestrian	NOUN
fcis-11156	18	17	towards	towards	ADP
fcis-11156	18	18	their	their	PRON
fcis-11156	18	19	respective	respective	ADJ
fcis-11156	18	20	destinations	destination	NOUN
fcis-11156	18	21	using	use	VERB
fcis-11156	18	22	attractive	attractive	ADJ
fcis-11156	18	23	forces	force	NOUN
fcis-11156	18	24	and	and	CCONJ
fcis-11156	18	25	avoid	avoid	VERB
fcis-11156	18	26	collisions	collision	NOUN
fcis-11156	18	27	using	use	VERB
fcis-11156	18	28	repulsive	repulsive	ADJ
fcis-11156	18	29	forces	force	NOUN
fcis-11156	18	30	,	,	PUNCT
fcis-11156	18	31	this	this	DET
fcis-11156	18	32	approach	approach	NOUN
fcis-11156	18	33	has	have	AUX
fcis-11156	18	34	been	be	AUX
fcis-11156	18	35	widely	widely	ADV
fcis-11156	18	36	developed	develop	VERB
fcis-11156	18	37	and	and	CCONJ
fcis-11156	18	38	used	use	VERB
fcis-11156	18	39	[	[	PUNCT
fcis-11156	18	40	3	3	NUM
fcis-11156	18	41	,	,	PUNCT
fcis-11156	18	42	4	4	NUM
fcis-11156	18	43	,	,	PUNCT
fcis-11156	18	44	5	5	NUM
fcis-11156	18	45	]	]	PUNCT
fcis-11156	18	46	.	.	PUNCT
fcis-11156	19	1	compared	compare	VERB
fcis-11156	19	2	to	to	ADP
fcis-11156	19	3	previous	previous	ADJ
fcis-11156	19	4	methods	method	NOUN
fcis-11156	19	5	for	for	ADP
fcis-11156	19	6	capturing	capture	VERB
fcis-11156	19	7	pedestrian	pedestrian	NOUN
fcis-11156	19	8	interactions	interaction	NOUN
fcis-11156	19	9	using	use	VERB
fcis-11156	19	10	manually	manually	ADV
fcis-11156	19	11	crafted	craft	VERB
fcis-11156	19	12	functions	function	NOUN
fcis-11156	19	13	,	,	PUNCT
fcis-11156	19	14	deep	deep	ADJ
fcis-11156	19	15	learning	learning	NOUN
fcis-11156	19	16	-	-	PUNCT
fcis-11156	19	17	based	base	VERB
fcis-11156	19	18	methods	method	NOUN
fcis-11156	19	19	typically	typically	ADV
fcis-11156	19	20	employ	employ	VERB
fcis-11156	19	21	pooling	pool	VERB
fcis-11156	19	22	mechanisms	mechanism	NOUN
fcis-11156	19	23	[	[	X
fcis-11156	19	24	6	6	NUM
fcis-11156	19	25	,	,	PUNCT
fcis-11156	19	26	7	7	NUM
fcis-11156	19	27	]	]	PUNCT
fcis-11156	19	28	,	,	PUNCT
fcis-11156	19	29	attention	attention	NOUN
fcis-11156	19	30	mechanisms	mechanism	NOUN
fcis-11156	19	31	[	[	X
fcis-11156	19	32	8	8	NUM
fcis-11156	19	33	,	,	PUNCT
fcis-11156	19	34	9	9	NUM
fcis-11156	19	35	]	]	PUNCT
fcis-11156	19	36	,	,	PUNCT
fcis-11156	19	37	and	and	CCONJ
fcis-11156	19	38	graph	graph	VERB
fcis-11156	19	39	neural	neural	ADJ
fcis-11156	19	40	networks	network	NOUN
fcis-11156	19	41	[	[	X
fcis-11156	19	42	10	10	NUM
fcis-11156	19	43	,	,	PUNCT
fcis-11156	19	44	11	11	NUM
fcis-11156	19	45	]	]	PUNCT
fcis-11156	19	46	to	to	PART
fcis-11156	19	47	capture	capture	VERB
fcis-11156	19	48	complex	complex	ADJ
fcis-11156	19	49	pedestrian	pedestrian	NOUN
fcis-11156	19	50	interaction	interaction	NOUN
fcis-11156	19	51	features	feature	VERB
fcis-11156	19	52	.	.	PUNCT
fcis-11156	20	1	the	the	DET
fcis-11156	20	2	aforementioned	aforementioned	ADJ
fcis-11156	20	3	methods	method	NOUN
fcis-11156	20	4	for	for	ADP
fcis-11156	20	5	studying	study	VERB
fcis-11156	20	6	pedestrian	pedestrian	NOUN
fcis-11156	20	7	interactions	interaction	NOUN
fcis-11156	20	8	are	be	AUX
fcis-11156	20	9	based	base	VERB
fcis-11156	20	10	on	on	ADP
fcis-11156	20	11	a	a	DET
fcis-11156	20	12	top	top	ADJ
fcis-11156	20	13	-	-	PUNCT
fcis-11156	20	14	down	down	ADP
fcis-11156	20	15	bird's	bird's	NOUN
fcis-11156	20	16	-	-	PUNCT
fcis-11156	20	17	eye	eye	NOUN
fcis-11156	20	18	view	view	NOUN
fcis-11156	20	19	perspective	perspective	NOUN
fcis-11156	20	20	.	.	PUNCT
fcis-11156	21	1	however	however	ADV
fcis-11156	21	2	,	,	PUNCT
fcis-11156	21	3	from	from	ADP
fcis-11156	21	4	the	the	DET
fcis-11156	21	5	driver	driver	NOUN
fcis-11156	21	6	's	's	PART
fcis-11156	21	7	perspective	perspective	NOUN
fcis-11156	21	8	,	,	PUNCT
fcis-11156	21	9	onboard	onboard	ADP
fcis-11156	21	10	cameras	camera	NOUN
fcis-11156	21	11	can	can	AUX
fcis-11156	21	12	not	not	PART
fcis-11156	21	13	provide	provide	VERB
fcis-11156	21	14	a	a	DET
fcis-11156	21	15	top	top	ADJ
fcis-11156	21	16	-	-	PUNCT
fcis-11156	21	17	down	down	ADP
fcis-11156	21	18	scene	scene	NOUN
fcis-11156	21	19	view	view	NOUN
fcis-11156	21	20	,	,	PUNCT
fcis-11156	21	21	making	make	VERB
fcis-11156	21	22	it	it	PRON
fcis-11156	21	23	difficult	difficult	ADJ
fcis-11156	21	24	to	to	PART
fcis-11156	21	25	infer	infer	VERB
fcis-11156	21	26	social	social	ADJ
fcis-11156	21	27	interactions	interaction	NOUN
fcis-11156	21	28	between	between	ADP
fcis-11156	21	29	pedestrians	pedestrian	NOUN
fcis-11156	21	30	[	[	X
fcis-11156	21	31	12	12	NUM
fcis-11156	21	32	]	]	PUNCT
fcis-11156	21	33	.	.	PUNCT
fcis-11156	22	1	from	from	ADP
fcis-11156	22	2	a	a	DET
fcis-11156	22	3	human	human	ADJ
fcis-11156	22	4	eye	eye	NOUN
fcis-11156	22	5	viewpoint	viewpoint	NOUN
fcis-11156	22	6	,	,	PUNCT
fcis-11156	22	7	drivers	driver	NOUN
fcis-11156	22	8	can	can	AUX
fcis-11156	22	9	easily	easily	ADV
fcis-11156	22	10	discern	discern	VERB
fcis-11156	22	11	pedestrian	pedestrian	NOUN
fcis-11156	22	12	intentions	intention	NOUN
fcis-11156	22	13	,	,	PUNCT
fcis-11156	22	14	but	but	CCONJ
fcis-11156	22	15	this	this	DET
fcis-11156	22	16	judgment	judgment	NOUN
fcis-11156	22	17	is	be	AUX
fcis-11156	22	18	not	not	PART
fcis-11156	22	19	easily	easily	ADV
fcis-11156	22	20	achievable	achievable	ADJ
fcis-11156	22	21	using	use	VERB
fcis-11156	22	22	sensors	sensor	NOUN
fcis-11156	22	23	such	such	ADJ
fcis-11156	22	24	as	as	ADP
fcis-11156	22	25	cameras	camera	NOUN
fcis-11156	22	26	.	.	PUNCT
fcis-11156	23	1	by	by	ADP
fcis-11156	23	2	predicting	predict	VERB
fcis-11156	23	3	pedestrian	pedestrian	NOUN
fcis-11156	23	4	intentions	intention	NOUN
fcis-11156	23	5	,	,	PUNCT
fcis-11156	23	6	we	we	PRON
fcis-11156	23	7	can	can	AUX
fcis-11156	23	8	further	far	ADV
fcis-11156	23	9	estimate	estimate	VERB
fcis-11156	23	10	pedestrian	pedestrian	NOUN
fcis-11156	23	11	trajectories	trajectory	NOUN
fcis-11156	23	12	and	and	CCONJ
fcis-11156	23	13	understand	understand	VERB
fcis-11156	23	14	their	their	PRON
fcis-11156	23	15	next	next	ADJ
fcis-11156	23	16	actions	action	NOUN
fcis-11156	23	17	,	,	PUNCT
fcis-11156	23	18	thereby	thereby	ADV
fcis-11156	23	19	significantly	significantly	ADV
fcis-11156	23	20	reducing	reduce	VERB
fcis-11156	23	21	the	the	DET
fcis-11156	23	22	risk	risk	NOUN
fcis-11156	23	23	of	of	ADP
fcis-11156	23	24	accidents	accident	NOUN
fcis-11156	23	25	.	.	PUNCT
fcis-11156	24	1	the	the	DET
fcis-11156	24	2	size	size	NOUN
fcis-11156	24	3	of	of	ADP
fcis-11156	24	4	pedestrians	pedestrian	NOUN
fcis-11156	24	5	from	from	ADP
fcis-11156	24	6	a	a	DET
fcis-11156	24	7	driver	driver	NOUN
fcis-11156	24	8	's	's	PART
fcis-11156	24	9	perspective	perspective	NOUN
fcis-11156	24	10	can	can	AUX
fcis-11156	24	11	not	not	PART
fcis-11156	24	12	be	be	AUX
fcis-11156	24	13	ignored	ignore	VERB
fcis-11156	24	14	,	,	PUNCT
fcis-11156	24	15	and	and	CCONJ
fcis-11156	24	16	simplifying	simplify	VERB
fcis-11156	24	17	them	they	PRON
fcis-11156	24	18	as	as	ADP
fcis-11156	24	19	a	a	DET
fcis-11156	24	20	point	point	NOUN
fcis-11156	24	21	in	in	ADP
fcis-11156	24	22	space	space	NOUN
fcis-11156	24	23	and	and	CCONJ
fcis-11156	24	24	considering	consider	VERB
fcis-11156	24	25	only	only	ADV
fcis-11156	24	26	their	their	PRON
fcis-11156	24	27	historical	historical	ADJ
fcis-11156	24	28	trajectory	trajectory	NOUN
fcis-11156	24	29	information	information	NOUN
fcis-11156	24	30	can	can	AUX
fcis-11156	24	31	lead	lead	VERB
fcis-11156	24	32	to	to	ADP
fcis-11156	24	33	significant	significant	ADJ
fcis-11156	24	34	prediction	prediction	NOUN
fcis-11156	24	35	errors	error	NOUN
fcis-11156	24	36	.	.	PUNCT
fcis-11156	25	1	therefore	therefore	ADV
fcis-11156	25	2	,	,	PUNCT
fcis-11156	25	3	we	we	PRON
fcis-11156	25	4	introduce	introduce	VERB
fcis-11156	25	5	pedestrian	pedestrian	NOUN
fcis-11156	25	6	pose	pose	VERB
fcis-11156	25	7	information	information	NOUN
fcis-11156	25	8	to	to	PART
fcis-11156	25	9	represent	represent	VERB
fcis-11156	25	10	pedestrian	pedestrian	NOUN
fcis-11156	25	11	intentions	intention	NOUN
fcis-11156	25	12	.	.	PUNCT
fcis-11156	26	1	in	in	ADP
fcis-11156	26	2	the	the	DET
fcis-11156	26	3	first	first	ADJ
fcis-11156	26	4	-	-	PUNCT
fcis-11156	26	5	person	person	NOUN
fcis-11156	26	6	view	view	NOUN
fcis-11156	26	7	,	,	PUNCT
fcis-11156	26	8	the	the	DET
fcis-11156	26	9	camera	camera	NOUN
fcis-11156	26	10	moves	move	VERB
fcis-11156	26	11	with	with	ADP
fcis-11156	26	12	the	the	DET
fcis-11156	26	13	vehicle	vehicle	NOUN
fcis-11156	26	14	,	,	PUNCT
fcis-11156	26	15	so	so	CCONJ
fcis-11156	26	16	the	the	DET
fcis-11156	26	17	vehicle	vehicle	NOUN
fcis-11156	26	18	's	's	PART
fcis-11156	26	19	own	own	ADJ
fcis-11156	26	20	motion	motion	NOUN
fcis-11156	26	21	is	be	AUX
fcis-11156	26	22	crucial	crucial	ADJ
fcis-11156	26	23	for	for	ADP
fcis-11156	26	24	improving	improve	VERB
fcis-11156	26	25	the	the	DET
fcis-11156	26	26	accuracy	accuracy	NOUN
fcis-11156	26	27	of	of	ADP
fcis-11156	26	28	pedestrian	pedestrian	NOUN
fcis-11156	26	29	trajectory	trajectory	NOUN
fcis-11156	26	30	prediction	prediction	NOUN
fcis-11156	26	31	.	.	PUNCT
fcis-11156	27	1	optical	optical	ADJ
fcis-11156	27	2	flow	flow	NOUN
fcis-11156	27	3	refers	refer	VERB
fcis-11156	27	4	to	to	ADP
fcis-11156	27	5	the	the	DET
fcis-11156	27	6	movement	movement	NOUN
fcis-11156	27	7	of	of	ADP
fcis-11156	27	8	the	the	DET
fcis-11156	27	9	target	target	NOUN
fcis-11156	27	10	pixel	pixel	NOUN
fcis-11156	27	11	in	in	ADP
fcis-11156	27	12	the	the	DET
fcis-11156	27	13	image	image	NOUN
fcis-11156	27	14	caused	cause	VERB
fcis-11156	27	15	by	by	ADP
fcis-11156	27	16	the	the	DET
fcis-11156	27	17	movement	movement	NOUN
fcis-11156	27	18	of	of	ADP
fcis-11156	27	19	the	the	DET
fcis-11156	27	20	object	object	NOUN
fcis-11156	27	21	in	in	ADP
fcis-11156	27	22	the	the	DET
fcis-11156	27	23	image	image	NOUN
fcis-11156	27	24	or	or	CCONJ
fcis-11156	27	25	the	the	DET
fcis-11156	27	26	movement	movement	NOUN
fcis-11156	27	27	of	of	ADP
fcis-11156	27	28	the	the	DET
fcis-11156	27	29	camera	camera	NOUN
fcis-11156	27	30	in	in	ADP
fcis-11156	27	31	two	two	NUM
fcis-11156	27	32	consecutive	consecutive	ADJ
fcis-11156	27	33	frames	frame	NOUN
fcis-11156	27	34	of	of	ADP
fcis-11156	27	35	image	image	NOUN
fcis-11156	27	36	.	.	PUNCT
fcis-11156	28	1	to	to	ADP
fcis-11156	28	2	this	this	DET
fcis-11156	28	3	end	end	NOUN
fcis-11156	28	4	,	,	PUNCT
fcis-11156	28	5	we	we	PRON
fcis-11156	28	6	introduce	introduce	VERB
fcis-11156	28	7	optical	optical	ADJ
fcis-11156	28	8	flow	flow	NOUN
fcis-11156	28	9	estimation	estimation	NOUN
fcis-11156	28	10	to	to	PART
fcis-11156	28	11	model	model	VERB
fcis-11156	28	12	the	the	DET
fcis-11156	28	13	vehicle	vehicle	NOUN
fcis-11156	28	14	's	's	PART
fcis-11156	28	15	motion	motion	NOUN
fcis-11156	28	16	.	.	PUNCT
fcis-11156	29	1	existing	exist	VERB
fcis-11156	29	2	pedestrian	pedestrian	NOUN
fcis-11156	29	3	trajectory	trajectory	NOUN
fcis-11156	29	4	prediction	prediction	NOUN
fcis-11156	29	5	algorithms	algorithm	NOUN
fcis-11156	29	6	are	be	AUX
fcis-11156	29	7	mostly	mostly	ADV
fcis-11156	29	8	trained	train	VERB
fcis-11156	29	9	and	and	CCONJ
fcis-11156	29	10	tested	test	VERB
fcis-11156	29	11	on	on	ADP
fcis-11156	29	12	datasets	dataset	NOUN
fcis-11156	29	13	,	,	PUNCT
fcis-11156	29	14	requiring	require	VERB
fcis-11156	29	15	manual	manual	ADJ
fcis-11156	29	16	annotation	annotation	NOUN
fcis-11156	29	17	of	of	ADP
fcis-11156	29	18	the	the	DET
fcis-11156	29	19	datasets	dataset	NOUN
fcis-11156	29	20	.	.	PUNCT
fcis-11156	30	1	there	there	PRON
fcis-11156	30	2	is	be	VERB
fcis-11156	30	3	currently	currently	ADV
fcis-11156	30	4	no	no	DET
fcis-11156	30	5	complete	complete	ADJ
fcis-11156	30	6	trajectory	trajectory	NOUN
fcis-11156	30	7	prediction	prediction	NOUN
fcis-11156	30	8	system	system	NOUN
fcis-11156	30	9	that	that	PRON
fcis-11156	30	10	can	can	AUX
fcis-11156	30	11	perform	perform	VERB
fcis-11156	30	12	real	real	ADJ
fcis-11156	30	13	-	-	PUNCT
fcis-11156	30	14	time	time	NOUN
fcis-11156	30	15	pedestrian	pedestrian	NOUN
fcis-11156	30	16	trajectory	trajectory	NOUN
fcis-11156	30	17	prediction	prediction	NOUN
fcis-11156	30	18	in	in	ADP
fcis-11156	30	19	any	any	DET
fcis-11156	30	20	traffic	traffic	NOUN
fcis-11156	30	21	scenario	scenario	NOUN
fcis-11156	30	22	,	,	PUNCT
fcis-11156	30	23	rather	rather	ADV
fcis-11156	30	24	than	than	ADP
fcis-11156	30	25	just	just	ADV
fcis-11156	30	26	testing	test	VERB
fcis-11156	30	27	on	on	ADP
fcis-11156	30	28	datasets	dataset	NOUN
fcis-11156	30	29	.	.	PUNCT
fcis-11156	31	1	therefore	therefore	ADV
fcis-11156	31	2	,	,	PUNCT
fcis-11156	31	3	the	the	DET
fcis-11156	31	4	main	main	ADJ
fcis-11156	31	5	contributions	contribution	NOUN
fcis-11156	31	6	of	of	ADP
fcis-11156	31	7	this	this	DET
fcis-11156	31	8	paper	paper	NOUN
fcis-11156	31	9	are	be	AUX
fcis-11156	31	10	as	as	SCONJ
fcis-11156	31	11	follows	follow	VERB
fcis-11156	31	12	:	:	PUNCT
fcis-11156	31	13	(	(	PUNCT
fcis-11156	31	14	1	1	X
fcis-11156	31	15	)	)	PUNCT
fcis-11156	31	16	we	we	PRON
fcis-11156	31	17	have	have	AUX
fcis-11156	31	18	designed	design	VERB
fcis-11156	31	19	an	an	DET
fcis-11156	31	20	onboard	onboard	ADJ
fcis-11156	31	21	pedestrian	pedestrian	NOUN
fcis-11156	31	22	trajectory	trajectory	NOUN
fcis-11156	31	23	prediction	prediction	NOUN
fcis-11156	31	24	system	system	NOUN
fcis-11156	31	25	that	that	PRON
fcis-11156	31	26	can	can	AUX
fcis-11156	31	27	predict	predict	VERB
fcis-11156	31	28	pedestrian	pedestrian	NOUN
fcis-11156	31	29	future	future	ADJ
fcis-11156	31	30	trajectories	trajectory	NOUN
fcis-11156	31	31	in	in	ADP
fcis-11156	31	32	real	real	ADJ
fcis-11156	31	33	-	-	PUNCT
fcis-11156	31	34	time	time	NOUN
fcis-11156	31	35	end	end	NOUN
fcis-11156	31	36	-	-	PUNCT
fcis-11156	31	37	to	to	ADP
fcis-11156	31	38	-	-	PUNCT
fcis-11156	31	39	end	end	NOUN
fcis-11156	31	40	.	.	PUNCT
fcis-11156	32	1	all	all	DET
fcis-11156	32	2	algorithms	algorithm	NOUN
fcis-11156	32	3	are	be	AUX
fcis-11156	32	4	deployed	deploy	VERB
fcis-11156	32	5	on	on	ADP
fcis-11156	32	6	xavier	xavier	PROPN
fcis-11156	32	7	for	for	ADP
fcis-11156	32	8	independent	independent	ADJ
fcis-11156	32	9	operation	operation	NOUN
fcis-11156	32	10	and	and	CCONJ
fcis-11156	32	11	mounted	mount	VERB
fcis-11156	32	12	on	on	ADP
fcis-11156	32	13	a	a	DET
fcis-11156	32	14	simulated	simulate	VERB
fcis-11156	32	15	vehicle	vehicle	NOUN
fcis-11156	32	16	.	.	PUNCT
fcis-11156	33	1	the	the	DET
fcis-11156	33	2	downstream	downstream	PROPN
fcis-11156	33	3	motors	motor	NOUN
fcis-11156	33	4	,	,	PUNCT
fcis-11156	33	5	servos	servo	NOUN
fcis-11156	33	6	,	,	PUNCT
fcis-11156	33	7	and	and	CCONJ
fcis-11156	33	8	traffic	traffic	NOUN
fcis-11156	33	9	lights	light	NOUN
fcis-11156	33	10	are	be	AUX
fcis-11156	33	11	controlled	control	VERB
fcis-11156	33	12	through	through	ADP
fcis-11156	33	13	xavier	xavier	PROPN
fcis-11156	33	14	's	's	PART
fcis-11156	33	15	gpio	gpio	NOUN
fcis-11156	33	16	to	to	PART
fcis-11156	33	17	simulate	simulate	VERB
fcis-11156	33	18	control	control	NOUN
fcis-11156	33	19	over	over	ADP
fcis-11156	33	20	the	the	DET
fcis-11156	33	21	vehicle	vehicle	NOUN
fcis-11156	33	22	.	.	PUNCT
fcis-11156	34	1	(	(	PUNCT
fcis-11156	34	2	2	2	X
fcis-11156	34	3	)	)	PUNCT
fcis-11156	34	4	we	we	PRON
fcis-11156	34	5	introduce	introduce	VERB
fcis-11156	34	6	pose	pose	VERB
fcis-11156	34	7	information	information	NOUN
fcis-11156	34	8	to	to	PART
fcis-11156	34	9	model	model	VERB
fcis-11156	34	10	pedestrian	pedestrian	NOUN
fcis-11156	34	11	intentions	intention	NOUN
fcis-11156	34	12	based	base	VERB
fcis-11156	34	13	on	on	ADP
fcis-11156	34	14	single	single	ADJ
fcis-11156	34	15	trajectory	trajectory	NOUN
fcis-11156	34	16	information	information	NOUN
fcis-11156	34	17	and	and	CCONJ
fcis-11156	34	18	introduce	introduce	VERB
fcis-11156	34	19	optical	optical	ADJ
fcis-11156	34	20	flow	flow	NOUN
fcis-11156	34	21	information	information	NOUN
fcis-11156	34	22	to	to	PART
fcis-11156	34	23	model	model	VERB
fcis-11156	34	24	the	the	DET
fcis-11156	34	25	vehicle	vehicle	NOUN
fcis-11156	34	26	's	's	PART
fcis-11156	34	27	own	own	ADJ
fcis-11156	34	28	motion	motion	NOUN
fcis-11156	34	29	.	.	PUNCT
fcis-11156	35	1	a	a	DET
fcis-11156	35	2	multi	multi	ADJ
fcis-11156	35	3	-	-	ADJ
fcis-11156	35	4	information	information	ADJ
fcis-11156	35	5	feature	feature	NOUN
fcis-11156	35	6	extraction	extraction	NOUN
fcis-11156	35	7	module	module	NOUN
fcis-11156	35	8	is	be	AUX
fcis-11156	35	9	used	use	VERB
fcis-11156	35	10	to	to	PART
fcis-11156	35	11	extract	extract	VERB
fcis-11156	35	12	pedestrian	pedestrian	NOUN
fcis-11156	35	13	trajectory	trajectory	NOUN
fcis-11156	35	14	,	,	PUNCT
fcis-11156	35	15	pose	pose	VERB
fcis-11156	35	16	,	,	PUNCT
fcis-11156	35	17	and	and	CCONJ
fcis-11156	35	18	optical	optical	ADJ
fcis-11156	35	19	flow	flow	NOUN
fcis-11156	35	20	information	information	NOUN
fcis-11156	35	21	from	from	ADP
fcis-11156	35	22	the	the	DET
fcis-11156	35	23	monocular	monocular	ADJ
fcis-11156	35	24	camera	camera	NOUN
fcis-11156	35	25	's	's	PART
fcis-11156	35	26	video	video	NOUN
fcis-11156	35	27	feed	feed	NOUN
fcis-11156	35	28	.	.	PUNCT
fcis-11156	36	1	(	(	PUNCT
fcis-11156	36	2	3	3	X
fcis-11156	36	3	)	)	PUNCT
fcis-11156	36	4	we	we	PRON
fcis-11156	36	5	have	have	AUX
fcis-11156	36	6	also	also	ADV
fcis-11156	36	7	designed	design	VERB
fcis-11156	36	8	a	a	DET
fcis-11156	36	9	novel	novel	ADJ
fcis-11156	36	10	multi	multi	ADJ
fcis-11156	36	11	-	-	ADJ
fcis-11156	36	12	information	information	ADJ
fcis-11156	36	13	fusion	fusion	NOUN
fcis-11156	36	14	network	network	NOUN
fcis-11156	36	15	that	that	PRON
fcis-11156	36	16	efficiently	efficiently	ADV
fcis-11156	36	17	combines	combine	VERB
fcis-11156	36	18	multiple	multiple	ADJ
fcis-11156	36	19	information	information	NOUN
fcis-11156	36	20	features	feature	NOUN
fcis-11156	36	21	.	.	PUNCT
fcis-11156	37	1	the	the	DET
fcis-11156	37	2	pedestrian	pedestrian	NOUN
fcis-11156	37	3	trajectory	trajectory	NOUN
fcis-11156	37	4	prediction	prediction	NOUN
fcis-11156	37	5	module	module	NOUN
fcis-11156	37	6	outputs	output	VERB
fcis-11156	37	7	the	the	DET
fcis-11156	37	8	pedestrian	pedestrian	NOUN
fcis-11156	37	9	's	's	PART
fcis-11156	37	10	future	future	ADJ
fcis-11156	37	11	trajectory	trajectory	NOUN
fcis-11156	37	12	.	.	PUNCT
fcis-11156	38	1	the	the	DET
fcis-11156	38	2	proposed	propose	VERB
fcis-11156	38	3	model	model	NOUN
fcis-11156	38	4	shows	show	VERB
fcis-11156	38	5	110	110	NUM
fcis-11156	38	6	significant	significant	ADJ
fcis-11156	38	7	improvements	improvement	NOUN
fcis-11156	38	8	in	in	ADP
fcis-11156	38	9	prediction	prediction	NOUN
fcis-11156	38	10	accuracy	accuracy	NOUN
fcis-11156	38	11	compared	compare	VERB
fcis-11156	38	12	to	to	ADP
fcis-11156	38	13	the	the	DET
fcis-11156	38	14	bitrap	bitrap	NOUN
fcis-11156	38	15	model	model	NOUN
fcis-11156	38	16	on	on	ADP
fcis-11156	38	17	the	the	DET
fcis-11156	38	18	jaad	jaad	NOUN
fcis-11156	38	19	and	and	CCONJ
fcis-11156	38	20	pie	pie	NOUN
fcis-11156	38	21	datasets	dataset	NOUN
fcis-11156	38	22	.	.	PUNCT
fcis-11156	39	1	2	2	X
fcis-11156	39	2	.	.	X
fcis-11156	39	3	design	design	NOUN
fcis-11156	39	4	of	of	ADP
fcis-11156	39	5	the	the	DET
fcis-11156	39	6	pedestrian	pedestrian	NOUN
fcis-11156	39	7	trajectory	trajectory	NOUN
fcis-11156	39	8	prediction	prediction	NOUN
fcis-11156	39	9	system	system	NOUN
fcis-11156	39	10	2.1	2.1	NUM
fcis-11156	39	11	.	.	PUNCT
fcis-11156	40	1	the	the	DET
fcis-11156	40	2	overall	overall	ADJ
fcis-11156	40	3	framework	framework	NOUN
fcis-11156	40	4	of	of	ADP
fcis-11156	40	5	pedestrian	pedestrian	NOUN
fcis-11156	40	6	trajectory	trajectory	NOUN
fcis-11156	40	7	prediction	prediction	NOUN
fcis-11156	40	8	system	system	NOUN
fcis-11156	40	9	the	the	DET
fcis-11156	40	10	vehicle	vehicle	NOUN
fcis-11156	40	11	-	-	PUNCT
fcis-11156	40	12	mounted	mount	VERB
fcis-11156	40	13	pedestrian	pedestrian	NOUN
fcis-11156	40	14	trajectory	trajectory	NOUN
fcis-11156	40	15	prediction	prediction	NOUN
fcis-11156	40	16	system	system	NOUN
fcis-11156	40	17	designed	design	VERB
fcis-11156	40	18	in	in	ADP
fcis-11156	40	19	this	this	DET
fcis-11156	40	20	paper	paper	NOUN
fcis-11156	40	21	runs	run	VERB
fcis-11156	40	22	on	on	ADP
fcis-11156	40	23	jetson	jetson	PROPN
fcis-11156	40	24	xavier	xavier	PROPN
fcis-11156	40	25	,	,	PUNCT
fcis-11156	40	26	utilizing	utilize	VERB
fcis-11156	40	27	the	the	DET
fcis-11156	40	28	onboard	onboard	ADJ
fcis-11156	40	29	camera	camera	NOUN
fcis-11156	40	30	for	for	ADP
fcis-11156	40	31	visual	visual	ADJ
fcis-11156	40	32	information	information	NOUN
fcis-11156	40	33	acquisition	acquisition	NOUN
fcis-11156	40	34	.	.	PUNCT
fcis-11156	41	1	the	the	DET
fcis-11156	41	2	trajectory	trajectory	NOUN
fcis-11156	41	3	prediction	prediction	NOUN
fcis-11156	41	4	module	module	NOUN
fcis-11156	41	5	extracts	extract	NOUN
fcis-11156	41	6	multiple	multiple	ADJ
fcis-11156	41	7	information	information	NOUN
fcis-11156	41	8	features	feature	VERB
fcis-11156	41	9	from	from	ADP
fcis-11156	41	10	the	the	DET
fcis-11156	41	11	visual	visual	ADJ
fcis-11156	41	12	information	information	NOUN
fcis-11156	41	13	and	and	CCONJ
fcis-11156	41	14	predicts	predict	VERB
fcis-11156	41	15	pedestrian	pedestrian	NOUN
fcis-11156	41	16	trajectories	trajectory	NOUN
fcis-11156	41	17	.	.	PUNCT
fcis-11156	42	1	the	the	DET
fcis-11156	42	2	onboard	onboard	ADJ
fcis-11156	42	3	hardware	hardware	NOUN
fcis-11156	42	4	resources	resource	NOUN
fcis-11156	42	5	of	of	ADP
fcis-11156	42	6	xavier	xavier	PROPN
fcis-11156	42	7	are	be	AUX
fcis-11156	42	8	utilized	utilize	VERB
fcis-11156	42	9	to	to	PART
fcis-11156	42	10	control	control	VERB
fcis-11156	42	11	hardware	hardware	NOUN
fcis-11156	42	12	components	component	NOUN
fcis-11156	42	13	such	such	ADJ
fcis-11156	42	14	as	as	ADP
fcis-11156	42	15	motors	motor	NOUN
fcis-11156	42	16	,	,	PUNCT
fcis-11156	42	17	steering	steering	NOUN
fcis-11156	42	18	gears	gear	NOUN
fcis-11156	42	19	,	,	PUNCT
fcis-11156	42	20	and	and	CCONJ
fcis-11156	42	21	indicators	indicator	NOUN
fcis-11156	42	22	.	.	PUNCT
fcis-11156	43	1	the	the	DET
fcis-11156	43	2	entire	entire	ADJ
fcis-11156	43	3	system	system	NOUN
fcis-11156	43	4	is	be	AUX
fcis-11156	43	5	based	base	VERB
fcis-11156	43	6	on	on	ADP
fcis-11156	43	7	the	the	DET
fcis-11156	43	8	pytorch	pytorch	NOUN
fcis-11156	43	9	framework	framework	NOUN
fcis-11156	43	10	under	under	ADP
fcis-11156	43	11	the	the	DET
fcis-11156	43	12	linux	linux	PROPN
fcis-11156	43	13	system	system	NOUN
fcis-11156	43	14	and	and	CCONJ
fcis-11156	43	15	utilizes	utilize	VERB
fcis-11156	43	16	opensource	opensource	NOUN
fcis-11156	43	17	algorithm	algorithm	NOUN
fcis-11156	43	18	libraries	library	NOUN
fcis-11156	43	19	such	such	ADJ
fcis-11156	43	20	as	as	ADP
fcis-11156	43	21	opencv	opencv	PROPN
fcis-11156	43	22	.	.	PUNCT
fcis-11156	44	1	the	the	DET
fcis-11156	44	2	software	software	NOUN
fcis-11156	44	3	architecture	architecture	NOUN
fcis-11156	44	4	follows	follow	VERB
fcis-11156	44	5	a	a	DET
fcis-11156	44	6	layered	layer	VERB
fcis-11156	44	7	,	,	PUNCT
fcis-11156	44	8	multi	multi	ADJ
fcis-11156	44	9	-	-	ADJ
fcis-11156	44	10	threaded	threaded	ADJ
fcis-11156	44	11	,	,	PUNCT
fcis-11156	44	12	and	and	CCONJ
fcis-11156	44	13	modular	modular	ADJ
fcis-11156	44	14	structure	structure	NOUN
fcis-11156	44	15	,	,	PUNCT
fcis-11156	44	16	and	and	CCONJ
fcis-11156	44	17	a	a	DET
fcis-11156	44	18	ui	ui	NOUN
fcis-11156	44	19	interface	interface	NOUN
fcis-11156	44	20	is	be	AUX
fcis-11156	44	21	designed	design	VERB
fcis-11156	44	22	using	use	VERB
fcis-11156	44	23	pyqt	pyqt	PROPN
fcis-11156	44	24	.	.	PUNCT
fcis-11156	45	1	figure	figure	NOUN
fcis-11156	45	2	1	1	NUM
fcis-11156	45	3	.	.	PUNCT
fcis-11156	46	1	the	the	DET
fcis-11156	46	2	overall	overall	ADJ
fcis-11156	46	3	structure	structure	NOUN
fcis-11156	46	4	of	of	ADP
fcis-11156	46	5	pedestrian	pedestrian	NOUN
fcis-11156	46	6	trajectory	trajectory	NOUN
fcis-11156	46	7	prediction	prediction	NOUN
fcis-11156	46	8	system	system	NOUN
fcis-11156	46	9	2.2	2.2	NUM
fcis-11156	46	10	.	.	PUNCT
fcis-11156	47	1	multi	multi	ADJ
fcis-11156	47	2	-	-	ADJ
fcis-11156	47	3	information	information	ADJ
fcis-11156	47	4	feature	feature	NOUN
fcis-11156	47	5	extraction	extraction	NOUN
fcis-11156	47	6	network	network	NOUN
fcis-11156	47	7	the	the	DET
fcis-11156	47	8	multi	multi	ADJ
fcis-11156	47	9	-	-	ADJ
fcis-11156	47	10	information	information	ADJ
fcis-11156	47	11	feature	feature	NOUN
fcis-11156	47	12	extraction	extraction	NOUN
fcis-11156	47	13	network	network	NOUN
fcis-11156	47	14	mainly	mainly	ADV
fcis-11156	47	15	extracts	extract	VERB
fcis-11156	47	16	pedestrian	pedestrian	NOUN
fcis-11156	47	17	observation	observation	NOUN
fcis-11156	47	18	trajectory	trajectory	NOUN
fcis-11156	47	19	information	information	NOUN
fcis-11156	47	20	,	,	PUNCT
fcis-11156	47	21	pedestrian	pedestrian	NOUN
fcis-11156	47	22	skeleton	skeleton	NOUN
fcis-11156	47	23	pose	pose	VERB
fcis-11156	47	24	information	information	NOUN
fcis-11156	47	25	and	and	CCONJ
fcis-11156	47	26	pedestrian	pedestrian	NOUN
fcis-11156	47	27	optical	optical	ADJ
fcis-11156	47	28	flow	flow	NOUN
fcis-11156	47	29	information	information	NOUN
fcis-11156	47	30	from	from	ADP
fcis-11156	47	31	the	the	DET
fcis-11156	47	32	images	image	NOUN
fcis-11156	47	33	collected	collect	VERB
fcis-11156	47	34	by	by	ADP
fcis-11156	47	35	the	the	DET
fcis-11156	47	36	camera	camera	NOUN
fcis-11156	47	37	.	.	PUNCT
fcis-11156	48	1	the	the	DET
fcis-11156	48	2	whole	whole	ADJ
fcis-11156	48	3	network	network	NOUN
fcis-11156	48	4	is	be	AUX
fcis-11156	48	5	divided	divide	VERB
fcis-11156	48	6	into	into	ADP
fcis-11156	48	7	two	two	NUM
fcis-11156	48	8	parts	part	NOUN
fcis-11156	48	9	:	:	PUNCT
fcis-11156	48	10	multiinformation	multiinformation	NOUN
fcis-11156	48	11	collection	collection	NOUN
fcis-11156	48	12	and	and	CCONJ
fcis-11156	48	13	multi	multi	ADJ
fcis-11156	48	14	-	-	ADJ
fcis-11156	48	15	information	information	ADJ
fcis-11156	48	16	coding	code	VERB
fcis-11156	48	17	features	feature	NOUN
fcis-11156	48	18	.	.	PUNCT
fcis-11156	49	1	2.2.1	2.2.1	NUM
fcis-11156	49	2	.	.	PUNCT
fcis-11156	50	1	pedestrian	pedestrian	NOUN
fcis-11156	50	2	multi	multi	ADJ
fcis-11156	50	3	-	-	ADJ
fcis-11156	50	4	information	information	ADJ
fcis-11156	50	5	collection	collection	NOUN
fcis-11156	50	6	in	in	ADP
fcis-11156	50	7	this	this	DET
fcis-11156	50	8	paper	paper	NOUN
fcis-11156	50	9	,	,	PUNCT
fcis-11156	50	10	the	the	DET
fcis-11156	50	11	prediction	prediction	NOUN
fcis-11156	50	12	of	of	ADP
fcis-11156	50	13	pedestrian	pedestrian	NOUN
fcis-11156	50	14	trajectory	trajectory	NOUN
fcis-11156	50	15	is	be	AUX
fcis-11156	50	16	to	to	PART
fcis-11156	50	17	predict	predict	VERB
fcis-11156	50	18	the	the	DET
fcis-11156	50	19	trajectory	trajectory	NOUN
fcis-11156	50	20	of	of	ADP
fcis-11156	50	21	up	up	ADP
fcis-11156	50	22	to	to	PART
fcis-11156	50	23	45	45	NUM
fcis-11156	50	24	(	(	PUNCT
fcis-11156	50	25	1.5s	1.5s	NUM
fcis-11156	50	26	)	)	PUNCT
fcis-11156	50	27	frames	frame	NOUN
fcis-11156	50	28	in	in	ADP
fcis-11156	50	29	the	the	DET
fcis-11156	50	30	future	future	NOUN
fcis-11156	50	31	by	by	ADP
fcis-11156	50	32	observing	observe	VERB
fcis-11156	50	33	the	the	DET
fcis-11156	50	34	historical	historical	ADJ
fcis-11156	50	35	information	information	NOUN
fcis-11156	50	36	of	of	ADP
fcis-11156	50	37	15	15	NUM
fcis-11156	50	38	(	(	PUNCT
fcis-11156	50	39	0.5s	0.5s	NOUN
fcis-11156	50	40	)	)	PUNCT
fcis-11156	50	41	frames	frame	NOUN
fcis-11156	50	42	of	of	ADP
fcis-11156	50	43	pedestrians	pedestrian	NOUN
fcis-11156	50	44	.	.	PUNCT
fcis-11156	51	1	therefore	therefore	ADV
fcis-11156	51	2	,	,	PUNCT
fcis-11156	51	3	this	this	DET
fcis-11156	51	4	paper	paper	NOUN
fcis-11156	51	5	needs	need	VERB
fcis-11156	51	6	to	to	PART
fcis-11156	51	7	collect	collect	VERB
fcis-11156	51	8	15	15	NUM
fcis-11156	51	9	frames	frame	NOUN
fcis-11156	51	10	of	of	ADP
fcis-11156	51	11	historical	historical	ADJ
fcis-11156	51	12	trajectory	trajectory	NOUN
fcis-11156	51	13	information	information	NOUN
fcis-11156	51	14	,	,	PUNCT
fcis-11156	51	15	attitude	attitude	NOUN
fcis-11156	51	16	information	information	NOUN
fcis-11156	51	17	,	,	PUNCT
fcis-11156	51	18	and	and	CCONJ
fcis-11156	51	19	optical	optical	ADJ
fcis-11156	51	20	flow	flow	NOUN
fcis-11156	51	21	information	information	NOUN
fcis-11156	51	22	containing	contain	VERB
fcis-11156	51	23	pedestrian	pedestrian	NOUN
fcis-11156	51	24	size	size	NOUN
fcis-11156	51	25	.	.	PUNCT
fcis-11156	52	1	therefore	therefore	ADV
fcis-11156	52	2	,	,	PUNCT
fcis-11156	52	3	based	base	VERB
fcis-11156	52	4	on	on	ADP
fcis-11156	52	5	the	the	DET
fcis-11156	52	6	target	target	NOUN
fcis-11156	52	7	detection	detection	NOUN
fcis-11156	52	8	algorithm	algorithm	NOUN
fcis-11156	52	9	yolov7	yolov7	NOUN
fcis-11156	53	1	[	[	X
fcis-11156	53	2	13	13	NUM
fcis-11156	53	3	]	]	PUNCT
fcis-11156	53	4	,	,	PUNCT
fcis-11156	53	5	combined	combine	VERB
fcis-11156	53	6	with	with	ADP
fcis-11156	53	7	the	the	DET
fcis-11156	53	8	pose	pose	NOUN
fcis-11156	53	9	estimation	estimation	NOUN
fcis-11156	53	10	algorithm	algorithm	NOUN
fcis-11156	53	11	openpose	openpose	NOUN
fcis-11156	54	1	[	[	X
fcis-11156	54	2	14	14	NUM
fcis-11156	54	3	]	]	PUNCT
fcis-11156	54	4	and	and	CCONJ
fcis-11156	54	5	the	the	DET
fcis-11156	54	6	optical	optical	ADJ
fcis-11156	54	7	flow	flow	NOUN
fcis-11156	54	8	estimation	estimation	NOUN
fcis-11156	54	9	algorithm	algorithm	NOUN
fcis-11156	54	10	gmflow	gmflow	NOUN
fcis-11156	54	11	[	[	X
fcis-11156	54	12	15	15	NUM
fcis-11156	54	13	]	]	PUNCT
fcis-11156	54	14	,	,	PUNCT
fcis-11156	54	15	this	this	DET
fcis-11156	54	16	paper	paper	NOUN
fcis-11156	54	17	designs	design	VERB
fcis-11156	54	18	the	the	DET
fcis-11156	54	19	y	y	PROPN
fcis-11156	54	20	-	-	PUNCT
fcis-11156	54	21	pose	pose	NOUN
fcis-11156	54	22	algorithm	algorithm	NOUN
fcis-11156	54	23	and	and	CCONJ
fcis-11156	54	24	y	y	NOUN
fcis-11156	54	25	-	-	PUNCT
fcis-11156	54	26	flow	flow	NOUN
fcis-11156	54	27	algorithm	algorithm	NOUN
fcis-11156	54	28	based	base	VERB
fcis-11156	54	29	on	on	ADP
fcis-11156	54	30	the	the	DET
fcis-11156	54	31	improved	improved	ADJ
fcis-11156	54	32	yolov7	yolov7	NOUN
fcis-11156	54	33	,	,	PUNCT
fcis-11156	54	34	so	so	SCONJ
fcis-11156	54	35	as	as	SCONJ
fcis-11156	54	36	to	to	PART
fcis-11156	54	37	realize	realize	VERB
fcis-11156	54	38	the	the	DET
fcis-11156	54	39	real	real	ADJ
fcis-11156	54	40	-	-	PUNCT
fcis-11156	54	41	time	time	NOUN
fcis-11156	54	42	acquisition	acquisition	NOUN
fcis-11156	54	43	of	of	ADP
fcis-11156	54	44	pedestrian	pedestrian	NOUN
fcis-11156	54	45	pose	pose	VERB
fcis-11156	54	46	information	information	NOUN
fcis-11156	54	47	,	,	PUNCT
fcis-11156	54	48	optical	optical	ADJ
fcis-11156	54	49	flow	flow	NOUN
fcis-11156	54	50	information	information	NOUN
fcis-11156	54	51	and	and	CCONJ
fcis-11156	54	52	trajectory	trajectory	NOUN
fcis-11156	54	53	information	information	NOUN
fcis-11156	54	54	by	by	ADP
fcis-11156	54	55	using	use	VERB
fcis-11156	54	56	the	the	DET
fcis-11156	54	57	camera	camera	NOUN
fcis-11156	54	58	.	.	PUNCT
fcis-11156	55	1	2.2.2	2.2.2	X
fcis-11156	55	2	.	.	NUM
fcis-11156	55	3	pose	pose	NOUN
fcis-11156	55	4	encoder	encoder	NOUN
fcis-11156	55	5	for	for	ADP
fcis-11156	55	6	pedestrians	pedestrian	NOUN
fcis-11156	55	7	i	i	PRON
fcis-11156	55	8	,	,	PUNCT
fcis-11156	55	9	let	let	VERB
fcis-11156	55	10	's	us	PRON
fcis-11156	55	11	assume	assume	VERB
fcis-11156	55	12	that	that	SCONJ
fcis-11156	55	13	their	their	PRON
fcis-11156	55	14	skeleton	skeleton	NOUN
fcis-11156	55	15	vector	vector	NOUN
fcis-11156	55	16	at	at	ADP
fcis-11156	55	17	a	a	DET
fcis-11156	55	18	certain	certain	ADJ
fcis-11156	55	19	moment	moment	NOUN
fcis-11156	55	20	is	be	AUX
fcis-11156	55	21	i	i	PRON
fcis-11156	55	22	tp	tp	NOUN
fcis-11156	55	23	.	.	PUNCT
fcis-11156	56	1	the	the	DET
fcis-11156	56	2	observed	observe	VERB
fcis-11156	56	3	skeleton	skeleton	NOUN
fcis-11156	56	4	information	information	NOUN
fcis-11156	56	5	can	can	AUX
fcis-11156	56	6	be	be	AUX
fcis-11156	56	7	represented	represent	VERB
fcis-11156	56	8	as	as	ADP
fcis-11156	56	9	1	1	NUM
fcis-11156	56	10	[	[	PUNCT
fcis-11156	56	11	,	,	PUNCT
fcis-11156	56	12	,	,	PUNCT
fcis-11156	56	13	]	]	PUNCT
fcis-11156	56	14	obs	obs	PROPN
fcis-11156	57	1	i	i	PRON
fcis-11156	58	1	i	i	PRON
fcis-11156	58	2	obs	obs	PROPN
fcis-11156	58	3	t	t	PROPN
fcis-11156	58	4	t	t	PROPN
fcis-11156	58	5	tp	tp	ADP
fcis-11156	58	6	p	p	PROPN
fcis-11156	58	7	p	p	NOUN
fcis-11156	58	8			ADV
fcis-11156	59	1			NUM
fcis-11156	59	2	,	,	PUNCT
fcis-11156	59	3	where	where	SCONJ
fcis-11156	59	4	obst	obst	PROPN
fcis-11156	59	5	represents	represent	VERB
fcis-11156	59	6	the	the	DET
fcis-11156	59	7	observation	observation	NOUN
fcis-11156	59	8	time	time	NOUN
fcis-11156	59	9	.	.	PUNCT
fcis-11156	60	1	the	the	DET
fcis-11156	60	2	pedestrian	pedestrian	NOUN
fcis-11156	60	3	's	's	PART
fcis-11156	60	4	pose	pose	NOUN
fcis-11156	60	5	can	can	AUX
fcis-11156	60	6	be	be	AUX
fcis-11156	60	7	represented	represent	VERB
fcis-11156	60	8	by	by	ADP
fcis-11156	60	9	the	the	DET
fcis-11156	60	10	skeleton	skeleton	NOUN
fcis-11156	60	11	information	information	NOUN
fcis-11156	60	12	.	.	PUNCT
fcis-11156	61	1	to	to	PART
fcis-11156	61	2	encode	encode	VERB
fcis-11156	61	3	the	the	DET
fcis-11156	61	4	pedestrian	pedestrian	NOUN
fcis-11156	61	5	's	's	PART
fcis-11156	61	6	pose	pose	NOUN
fcis-11156	61	7	information	information	NOUN
fcis-11156	61	8	,	,	PUNCT
fcis-11156	61	9	a	a	DET
fcis-11156	61	10	gated	gate	VERB
fcis-11156	61	11	recurrent	recurrent	ADJ
fcis-11156	61	12	unit	unit	NOUN
fcis-11156	61	13	(	(	PUNCT
fcis-11156	61	14	gru	gru	PROPN
fcis-11156	61	15	)	)	PUNCT
fcis-11156	61	16	is	be	AUX
fcis-11156	61	17	used	use	VERB
fcis-11156	61	18	,	,	PUNCT
fcis-11156	61	19	resulting	result	VERB
fcis-11156	61	20	in	in	ADP
fcis-11156	61	21	encoded	encode	VERB
fcis-11156	61	22	features	feature	VERB
fcis-11156	61	23	ep	ep	PROPN
fcis-11156	61	24	.	.	PUNCT
fcis-11156	62	1	(	(	PUNCT
fcis-11156	62	2	,	,	PUNCT
fcis-11156	62	3	)	)	PUNCT
fcis-11156	62	4	i	i	PRON
fcis-11156	63	1	i	i	PROPN
fcis-11156	64	1	e	e	VERB
fcis-11156	64	2	gru	gru	PROPN
fcis-11156	64	3	obs	obs	PROPN
fcis-11156	65	1	pp	pp	ADP
fcis-11156	65	2	f	f	PROPN
fcis-11156	66	1	p	p	NOUN
fcis-11156	66	2	w	w	ADJ
fcis-11156	66	3	(	(	PUNCT
fcis-11156	66	4	1	1	NUM
fcis-11156	66	5	)	)	PUNCT
fcis-11156	66	6	where	where	SCONJ
fcis-11156	66	7	i	i	PRON
fcis-11156	66	8	obsp	obsp	VERB
fcis-11156	67	1	and	and	CCONJ
fcis-11156	67	2	i	i	PRON
fcis-11156	67	3	ep	ep	PROPN
fcis-11156	67	4	are	be	AUX
fcis-11156	67	5	the	the	DET
fcis-11156	67	6	observed	observe	VERB
fcis-11156	67	7	pose	pose	NOUN
fcis-11156	67	8	sequence	sequence	NOUN
fcis-11156	67	9	and	and	CCONJ
fcis-11156	67	10	pose	pose	VERB
fcis-11156	67	11	encoding	encode	VERB
fcis-11156	67	12	features	feature	NOUN
fcis-11156	67	13	of	of	ADP
fcis-11156	67	14	the	the	DET
fcis-11156	67	15	pedestrian	pedestrian	NOUN
fcis-11156	67	16	,	,	PUNCT
fcis-11156	67	17	respectively	respectively	ADV
fcis-11156	67	18	.	.	PUNCT
fcis-11156	68	1	gruf	gruf	PROPN
fcis-11156	68	2	is	be	AUX
fcis-11156	68	3	the	the	DET
fcis-11156	68	4	gru	gru	NOUN
fcis-11156	68	5	function	function	NOUN
fcis-11156	68	6	,	,	PUNCT
fcis-11156	68	7	pw	pw	PROPN
fcis-11156	68	8	is	be	AUX
fcis-11156	68	9	learnable	learnable	ADJ
fcis-11156	68	10	parameter	parameter	NOUN
fcis-11156	68	11	matrix	matrix	NOUN
fcis-11156	68	12	.	.	PUNCT
fcis-11156	69	1	2.2.3	2.2.3	X
fcis-11156	69	2	.	.	PUNCT
fcis-11156	69	3	optical	optical	ADJ
fcis-11156	69	4	flow	flow	NOUN
fcis-11156	69	5	encoder	encoder	NOUN
fcis-11156	69	6	for	for	ADP
fcis-11156	69	7	pedestrians	pedestrian	NOUN
fcis-11156	69	8	i	i	PRON
fcis-11156	69	9	,	,	PUNCT
fcis-11156	69	10	let	let	VERB
fcis-11156	69	11	's	us	PRON
fcis-11156	69	12	assume	assume	VERB
fcis-11156	69	13	that	that	SCONJ
fcis-11156	69	14	their	their	PRON
fcis-11156	69	15	optical	optical	ADJ
fcis-11156	69	16	flow	flow	NOUN
fcis-11156	69	17	vectors	vector	NOUN
fcis-11156	69	18	at	at	ADP
fcis-11156	69	19	a	a	DET
fcis-11156	69	20	certain	certain	ADJ
fcis-11156	69	21	moment	moment	NOUN
fcis-11156	69	22	and	and	CCONJ
fcis-11156	69	23	the	the	DET
fcis-11156	69	24	previous	previous	ADJ
fcis-11156	69	25	moment	moment	NOUN
fcis-11156	69	26	are	be	AUX
fcis-11156	69	27	i	i	PRON
fcis-11156	69	28	tf	tf	INTJ
fcis-11156	69	29	.	.	PUNCT
fcis-11156	70	1	the	the	DET
fcis-11156	70	2	observed	observe	VERB
fcis-11156	70	3	optical	optical	ADJ
fcis-11156	70	4	flow	flow	NOUN
fcis-11156	70	5	sequence	sequence	NOUN
fcis-11156	70	6	can	can	AUX
fcis-11156	70	7	be	be	AUX
fcis-11156	70	8	represented	represent	VERB
fcis-11156	70	9	as	as	ADP
fcis-11156	70	10	[	[	PUNCT
fcis-11156	70	11	,	,	PUNCT
fcis-11156	70	12	,	,	PUNCT
fcis-11156	70	13	]	]	PUNCT
fcis-11156	70	14	obs	obs	PROPN
fcis-11156	71	1	i	i	PRON
fcis-11156	72	1	i	i	PRON
fcis-11156	72	2	obs	obs	VERB
fcis-11156	72	3	t	t	PROPN
fcis-11156	73	1	t	t	PROPN
fcis-11156	74	1	tf	tf	INTJ
fcis-11156	74	2	f	f	PROPN
fcis-11156	75	1	f	f	PROPN
fcis-11156	76	1			INTJ
fcis-11156	76	2	.	.	PUNCT
fcis-11156	77	1	the	the	DET
fcis-11156	77	2	optical	optical	ADJ
fcis-11156	77	3	flow	flow	NOUN
fcis-11156	77	4	estimation	estimation	NOUN
fcis-11156	77	5	produces	produce	VERB
fcis-11156	77	6	a	a	DET
fcis-11156	77	7	three	three	NUM
fcis-11156	77	8	-	-	PUNCT
fcis-11156	77	9	dimensional	dimensional	ADJ
fcis-11156	77	10	flow	flow	NOUN
fcis-11156	77	11	matrix	matrix	NOUN
fcis-11156	77	12	[	[	X
fcis-11156	77	13	height	height	NOUN
fcis-11156	77	14	,	,	PUNCT
fcis-11156	77	15	width	width	ADJ
fcis-11156	77	16	,	,	PUNCT
fcis-11156	77	17	2	2	NUM
fcis-11156	77	18	]	]	PUNCT
fcis-11156	77	19	,	,	PUNCT
fcis-11156	77	20	where	where	SCONJ
fcis-11156	77	21	height	height	NOUN
fcis-11156	77	22	and	and	CCONJ
fcis-11156	77	23	width	width	NOUN
fcis-11156	77	24	represent	represent	VERB
fcis-11156	77	25	the	the	DET
fcis-11156	77	26	height	height	NOUN
fcis-11156	77	27	and	and	CCONJ
fcis-11156	77	28	width	width	NOUN
fcis-11156	77	29	of	of	ADP
fcis-11156	77	30	the	the	DET
fcis-11156	77	31	image	image	NOUN
fcis-11156	77	32	,	,	PUNCT
fcis-11156	77	33	and	and	CCONJ
fcis-11156	77	34	the	the	DET
fcis-11156	77	35	third	third	ADJ
fcis-11156	77	36	dimension	dimension	NOUN
fcis-11156	77	37	represents	represent	VERB
fcis-11156	77	38	the	the	DET
fcis-11156	77	39	displacement	displacement	NOUN
fcis-11156	77	40	of	of	ADP
fcis-11156	77	41	the	the	DET
fcis-11156	77	42	corresponding	corresponding	ADJ
fcis-11156	77	43	pixel	pixel	NOUN
fcis-11156	77	44	in	in	ADP
fcis-11156	77	45	the	the	DET
fcis-11156	77	46	x	x	NOUN
fcis-11156	77	47	and	and	CCONJ
fcis-11156	77	48	y	y	PROPN
fcis-11156	77	49	directions	direction	NOUN
fcis-11156	77	50	,	,	PUNCT
fcis-11156	77	51	with	with	ADP
fcis-11156	77	52	positive	positive	ADJ
fcis-11156	77	53	and	and	CCONJ
fcis-11156	77	54	negative	negative	ADJ
fcis-11156	77	55	values	value	NOUN
fcis-11156	77	56	indicating	indicate	VERB
fcis-11156	77	57	the	the	DET
fcis-11156	77	58	direction	direction	NOUN
fcis-11156	77	59	.	.	PUNCT
fcis-11156	78	1	since	since	SCONJ
fcis-11156	78	2	the	the	DET
fcis-11156	78	3	direction	direction	NOUN
fcis-11156	78	4	of	of	ADP
fcis-11156	78	5	pedestrian	pedestrian	NOUN
fcis-11156	78	6	movement	movement	NOUN
fcis-11156	78	7	is	be	AUX
fcis-11156	78	8	uncertain	uncertain	ADJ
fcis-11156	78	9	,	,	PUNCT
fcis-11156	78	10	negative	negative	ADJ
fcis-11156	78	11	values	value	NOUN
fcis-11156	78	12	may	may	AUX
fcis-11156	78	13	appear	appear	VERB
fcis-11156	78	14	in	in	ADP
fcis-11156	78	15	the	the	DET
fcis-11156	78	16	flow	flow	NOUN
fcis-11156	78	17	matrix	matrix	NOUN
fcis-11156	78	18	.	.	PUNCT
fcis-11156	79	1	the	the	DET
fcis-11156	79	2	information	information	NOUN
fcis-11156	79	3	encoding	encode	VERB
fcis-11156	79	4	network	network	NOUN
fcis-11156	79	5	adopts	adopt	VERB
fcis-11156	79	6	the	the	DET
fcis-11156	79	7	relu	relu	NOUN
fcis-11156	79	8	activation	activation	NOUN
fcis-11156	79	9	function	function	NOUN
fcis-11156	79	10	,	,	PUNCT
fcis-11156	79	11	which	which	PRON
fcis-11156	79	12	filters	filter	VERB
fcis-11156	79	13	out	out	ADP
fcis-11156	79	14	negative	negative	ADJ
fcis-11156	79	15	values	value	NOUN
fcis-11156	79	16	,	,	PUNCT
fcis-11156	79	17	leading	lead	VERB
fcis-11156	79	18	to	to	ADP
fcis-11156	79	19	distortion	distortion	NOUN
fcis-11156	79	20	of	of	ADP
fcis-11156	79	21	the	the	DET
fcis-11156	79	22	optical	optical	ADJ
fcis-11156	79	23	flow	flow	NOUN
fcis-11156	79	24	information	information	NOUN
fcis-11156	79	25	.	.	PUNCT
fcis-11156	80	1	therefore	therefore	ADV
fcis-11156	80	2	,	,	PUNCT
fcis-11156	80	3	a	a	DET
fcis-11156	80	4	polar	polar	ADJ
fcis-11156	80	5	coordinate	coordinate	NOUN
fcis-11156	80	6	mapping	mapping	NOUN
fcis-11156	80	7	method	method	NOUN
fcis-11156	80	8	is	be	AUX
fcis-11156	80	9	used	use	VERB
fcis-11156	80	10	to	to	PART
fcis-11156	80	11	map	map	VERB
fcis-11156	80	12	the	the	DET
fcis-11156	80	13	optical	optical	ADJ
fcis-11156	80	14	flow	flow	NOUN
fcis-11156	80	15	information	information	NOUN
fcis-11156	80	16	from	from	ADP
fcis-11156	80	17	the	the	DET
fcis-11156	80	18	cartesian	cartesian	ADJ
fcis-11156	80	19	coordinate	coordinate	NOUN
fcis-11156	80	20	system	system	NOUN
fcis-11156	80	21	to	to	ADP
fcis-11156	80	22	the	the	DET
fcis-11156	80	23	polar	polar	ADJ
fcis-11156	80	24	coordinate	coordinate	NOUN
fcis-11156	80	25	system	system	NOUN
fcis-11156	80	26	.	.	PUNCT
fcis-11156	81	1	a	a	DET
fcis-11156	81	2	convolutional	convolutional	ADJ
fcis-11156	81	3	neural	neural	ADJ
fcis-11156	81	4	network	network	NOUN
fcis-11156	81	5	(	(	PUNCT
fcis-11156	81	6	cnn	cnn	PROPN
fcis-11156	81	7	)	)	PUNCT
fcis-11156	81	8	is	be	AUX
fcis-11156	81	9	used	use	VERB
fcis-11156	81	10	to	to	PART
fcis-11156	81	11	extract	extract	VERB
fcis-11156	81	12	features	feature	NOUN
fcis-11156	81	13	from	from	ADP
fcis-11156	81	14	the	the	DET
fcis-11156	81	15	optical	optical	ADJ
fcis-11156	81	16	flow	flow	NOUN
fcis-11156	81	17	sequence	sequence	NOUN
fcis-11156	81	18	,	,	PUNCT
fcis-11156	81	19	and	and	CCONJ
fcis-11156	81	20	the	the	DET
fcis-11156	81	21	obtained	obtain	VERB
fcis-11156	81	22	features	feature	NOUN
fcis-11156	81	23	are	be	AUX
fcis-11156	81	24	encoded	encode	VERB
fcis-11156	81	25	by	by	ADP
fcis-11156	81	26	a	a	DET
fcis-11156	81	27	gru	gru	NOUN
fcis-11156	81	28	network	network	NOUN
fcis-11156	81	29	,	,	PUNCT
fcis-11156	81	30	resulting	result	VERB
fcis-11156	81	31	in	in	ADP
fcis-11156	81	32	the	the	DET
fcis-11156	81	33	final	final	ADJ
fcis-11156	81	34	local	local	ADJ
fcis-11156	81	35	flow	flow	NOUN
fcis-11156	81	36	encoding	encode	VERB
fcis-11156	81	37	ef	ef	NOUN
fcis-11156	81	38	.	.	PUNCT
fcis-11156	82	1	(	(	PUNCT
fcis-11156	82	2	(	(	PUNCT
fcis-11156	82	3	,	,	PUNCT
fcis-11156	82	4	)	)	PUNCT
fcis-11156	82	5	,	,	PUNCT
fcis-11156	82	6	)	)	PUNCT
fcis-11156	83	1	i	i	PRON
fcis-11156	83	2	i	i	PROPN
fcis-11156	83	3	e	e	PROPN
fcis-11156	83	4	gru	gru	PROPN
fcis-11156	83	5	cnn	cnn	PROPN
fcis-11156	83	6	obs	obs	PROPN
fcis-11156	83	7	c	c	PROPN
fcis-11156	84	1	ff	ff	INTJ
fcis-11156	84	2	f	f	PROPN
fcis-11156	85	1	f	f	PROPN
fcis-11156	85	2	f	f	PROPN
fcis-11156	85	3	w	w	PROPN
fcis-11156	85	4	w	w	ADJ
fcis-11156	85	5	(	(	PUNCT
fcis-11156	85	6	2	2	NUM
fcis-11156	85	7	)	)	PUNCT
fcis-11156	86	1	where	where	SCONJ
fcis-11156	86	2	i	i	PRON
fcis-11156	86	3	obsf	obsf	ADV
fcis-11156	86	4	and	and	CCONJ
fcis-11156	86	5	i	i	PRON
fcis-11156	86	6	ef	ef	VERB
fcis-11156	86	7	are	be	AUX
fcis-11156	86	8	observed	observe	VERB
fcis-11156	86	9	optical	optical	ADJ
fcis-11156	86	10	flow	flow	NOUN
fcis-11156	86	11	sequence	sequence	NOUN
fcis-11156	86	12	and	and	CCONJ
fcis-11156	86	13	optical	optical	ADJ
fcis-11156	86	14	flow	flow	NOUN
fcis-11156	86	15	encoding	encode	VERB
fcis-11156	86	16	features	feature	NOUN
fcis-11156	86	17	of	of	ADP
fcis-11156	86	18	the	the	DET
fcis-11156	86	19	pedestrian	pedestrian	NOUN
fcis-11156	86	20	;	;	PUNCT
fcis-11156	86	21	cnnf	cnnf	PROPN
fcis-11156	86	22	is	be	AUX
fcis-11156	86	23	convolution	convolution	NOUN
fcis-11156	86	24	function	function	NOUN
fcis-11156	86	25	,	,	PUNCT
fcis-11156	86	26	cw	cw	NOUN
fcis-11156	86	27	is	be	AUX
fcis-11156	86	28	learnable	learnable	ADJ
fcis-11156	86	29	parameter	parameter	NOUN
fcis-11156	86	30	matrix	matrix	NOUN
fcis-11156	86	31	;	;	PUNCT
fcis-11156	86	32	gruf	gruf	NOUN
fcis-11156	86	33	is	be	AUX
fcis-11156	86	34	the	the	DET
fcis-11156	86	35	gru	gru	NOUN
fcis-11156	86	36	function	function	NOUN
fcis-11156	86	37	,	,	PUNCT
fcis-11156	86	38	fw	fw	PROPN
fcis-11156	86	39	is	be	AUX
fcis-11156	86	40	learnable	learnable	ADJ
fcis-11156	86	41	parameter	parameter	NOUN
fcis-11156	86	42	matrix	matrix	NOUN
fcis-11156	86	43	.	.	PUNCT
fcis-11156	87	1	2.2.4	2.2.4	NUM
fcis-11156	87	2	.	.	PUNCT
fcis-11156	87	3	trajectory	trajectory	NOUN
fcis-11156	87	4	encoder	encoder	NOUN
fcis-11156	87	5	for	for	ADP
fcis-11156	87	6	pedestrians	pedestrian	NOUN
fcis-11156	87	7	i	i	PRON
fcis-11156	87	8	,	,	PUNCT
fcis-11156	87	9	let	let	VERB
fcis-11156	87	10	's	us	PRON
fcis-11156	87	11	assume	assume	VERB
fcis-11156	87	12	that	that	SCONJ
fcis-11156	87	13	their	their	PRON
fcis-11156	87	14	position	position	NOUN
fcis-11156	87	15	vector	vector	NOUN
fcis-11156	87	16	at	at	ADP
fcis-11156	87	17	a	a	DET
fcis-11156	87	18	certain	certain	ADJ
fcis-11156	87	19	moment	moment	NOUN
fcis-11156	87	20	is	be	AUX
fcis-11156	87	21	i	i	PRON
fcis-11156	87	22	tt	tt	PROPN
fcis-11156	87	23	,	,	PUNCT
fcis-11156	87	24	which	which	PRON
fcis-11156	87	25	includes	include	VERB
fcis-11156	87	26	the	the	DET
fcis-11156	87	27	coordinates	coordinate	NOUN
fcis-11156	87	28	of	of	ADP
fcis-11156	87	29	the	the	DET
fcis-11156	87	30	pedestrian	pedestrian	NOUN
fcis-11156	87	31	's	's	PART
fcis-11156	87	32	center	center	NOUN
fcis-11156	87	33	point	point	NOUN
fcis-11156	87	34	and	and	CCONJ
fcis-11156	87	35	the	the	DET
fcis-11156	87	36	length	length	NOUN
fcis-11156	87	37	and	and	CCONJ
fcis-11156	87	38	width	width	NOUN
fcis-11156	87	39	of	of	ADP
fcis-11156	87	40	the	the	DET
fcis-11156	87	41	bounding	bounding	NOUN
fcis-11156	87	42	box	box	NOUN
fcis-11156	87	43	.	.	PUNCT
fcis-11156	88	1	the	the	DET
fcis-11156	88	2	observed	observe	VERB
fcis-11156	88	3	trajectory	trajectory	NOUN
fcis-11156	88	4	sequence	sequence	NOUN
fcis-11156	88	5	can	can	AUX
fcis-11156	88	6	be	be	AUX
fcis-11156	88	7	represented	represent	VERB
fcis-11156	88	8	as	as	ADP
fcis-11156	88	9	1	1	NUM
fcis-11156	88	10	[	[	PUNCT
fcis-11156	88	11	,	,	PUNCT
fcis-11156	88	12	,	,	PUNCT
fcis-11156	88	13	]	]	PUNCT
fcis-11156	88	14	obs	obs	PROPN
fcis-11156	89	1	i	i	PRON
fcis-11156	90	1	i	i	PRON
fcis-11156	90	2	obs	obs	PROPN
fcis-11156	90	3	t	t	PROPN
fcis-11156	90	4	t	t	PROPN
fcis-11156	90	5	tt	tt	PROPN
fcis-11156	90	6	t	t	PROPN
fcis-11156	90	7	t	t	VERB
fcis-11156	90	8			ADV
fcis-11156	90	9			INTJ
fcis-11156	90	10	.	.	PUNCT
fcis-11156	91	1	by	by	ADP
fcis-11156	91	2	using	use	VERB
fcis-11156	91	3	a	a	DET
fcis-11156	91	4	gru	gru	NOUN
fcis-11156	91	5	network	network	NOUN
fcis-11156	91	6	,	,	PUNCT
fcis-11156	91	7	the	the	DET
fcis-11156	91	8	pedestrian	pedestrian	NOUN
fcis-11156	91	9	's	's	PART
fcis-11156	91	10	pose	pose	NOUN
fcis-11156	91	11	information	information	NOUN
fcis-11156	91	12	is	be	AUX
fcis-11156	91	13	encoded	encode	VERB
fcis-11156	91	14	,	,	PUNCT
fcis-11156	91	15	resulting	result	VERB
fcis-11156	91	16	in	in	ADP
fcis-11156	91	17	encoded	encode	VERB
fcis-11156	91	18	features	feature	NOUN
fcis-11156	91	19	et	et	PRON
fcis-11156	91	20	.	.	PUNCT
fcis-11156	92	1	(	(	PUNCT
fcis-11156	92	2	,	,	PUNCT
fcis-11156	92	3	)	)	PUNCT
fcis-11156	93	1	i	i	PRON
fcis-11156	94	1	i	i	PROPN
fcis-11156	94	2	e	e	PROPN
fcis-11156	94	3	gru	gru	PROPN
fcis-11156	94	4	obs	obs	PROPN
fcis-11156	94	5	tt	tt	PROPN
fcis-11156	94	6	f	f	PROPN
fcis-11156	94	7	t	t	PROPN
fcis-11156	94	8	w	w	VERB
fcis-11156	94	9	(	(	PUNCT
fcis-11156	94	10	3	3	NUM
fcis-11156	94	11	)	)	PUNCT
fcis-11156	94	12	where	where	SCONJ
fcis-11156	94	13	i	i	PRON
fcis-11156	94	14	obst	obst	PROPN
fcis-11156	94	15	and	and	CCONJ
fcis-11156	94	16	i	i	PRON
fcis-11156	94	17	et	et	NOUN
fcis-11156	94	18	is	be	AUX
fcis-11156	94	19	the	the	DET
fcis-11156	94	20	observation	observation	NOUN
fcis-11156	94	21	pose	pose	NOUN
fcis-11156	94	22	sequence	sequence	NOUN
fcis-11156	94	23	and	and	CCONJ
fcis-11156	94	24	pose	pose	VERB
fcis-11156	94	25	coding	code	VERB
fcis-11156	94	26	feature	feature	NOUN
fcis-11156	94	27	of	of	ADP
fcis-11156	94	28	pedestrians	pedestrian	NOUN
fcis-11156	94	29	,	,	PUNCT
fcis-11156	94	30	gruf	gruf	NOUN
fcis-11156	94	31	is	be	AUX
fcis-11156	94	32	the	the	DET
fcis-11156	94	33	gru	gru	NOUN
fcis-11156	94	34	function	function	NOUN
fcis-11156	94	35	,	,	PUNCT
fcis-11156	94	36	tw	tw	PROPN
fcis-11156	94	37	is	be	AUX
fcis-11156	94	38	learnable	learnable	ADJ
fcis-11156	94	39	parameter	parameter	NOUN
fcis-11156	94	40	matrix	matrix	NOUN
fcis-11156	94	41	.	.	PUNCT
fcis-11156	95	1	2.3	2.3	NUM
fcis-11156	95	2	.	.	PUNCT
fcis-11156	96	1	multi	multi	ADJ
fcis-11156	96	2	-	-	ADJ
fcis-11156	96	3	information	information	ADJ
fcis-11156	96	4	fusion	fusion	NOUN
fcis-11156	96	5	network	network	NOUN
fcis-11156	96	6	to	to	AUX
fcis-11156	96	7	more	more	ADV
fcis-11156	96	8	effectively	effectively	ADV
fcis-11156	96	9	integrate	integrate	VERB
fcis-11156	96	10	multiple	multiple	ADJ
fcis-11156	96	11	types	type	NOUN
fcis-11156	96	12	of	of	ADP
fcis-11156	96	13	information	information	NOUN
fcis-11156	96	14	,	,	PUNCT
fcis-11156	96	15	this	this	DET
fcis-11156	96	16	paper	paper	NOUN
fcis-11156	96	17	adopts	adopt	VERB
fcis-11156	96	18	a	a	DET
fcis-11156	96	19	cross	cross	ADJ
fcis-11156	96	20	-	-	ADJ
fcis-11156	96	21	modal	modal	ADJ
fcis-11156	96	22	fusion	fusion	NOUN
fcis-11156	96	23	attention	attention	NOUN
fcis-11156	96	24	mechanism	mechanism	NOUN
fcis-11156	96	25	based	base	VERB
fcis-11156	96	26	on	on	ADP
fcis-11156	96	27	the	the	DET
fcis-11156	96	28	scaled	scale	VERB
fcis-11156	96	29	dot	dot	NOUN
fcis-11156	96	30	-	-	PUNCT
fcis-11156	96	31	product	product	NOUN
fcis-11156	96	32	attention	attention	NOUN
fcis-11156	96	33	mechanism	mechanism	NOUN
fcis-11156	96	34	improved	improve	VERB
fcis-11156	96	35	by	by	ADP
fcis-11156	96	36	transformer	transformer	NOUN
fcis-11156	96	37	[	[	X
fcis-11156	96	38	16	16	NUM
fcis-11156	96	39	]	]	PUNCT
fcis-11156	96	40	.	.	PUNCT
fcis-11156	97	1	it	it	PRON
fcis-11156	97	2	performs	perform	VERB
fcis-11156	97	3	hierarchical	hierarchical	ADJ
fcis-11156	97	4	fusion	fusion	NOUN
fcis-11156	97	5	of	of	ADP
fcis-11156	97	6	pose	pose	NOUN
fcis-11156	97	7	features	feature	NOUN
fcis-11156	97	8	,	,	PUNCT
fcis-11156	97	9	optical	optical	ADJ
fcis-11156	97	10	flow	flow	NOUN
fcis-11156	97	11	features	feature	NOUN
fcis-11156	97	12	,	,	PUNCT
fcis-11156	97	13	and	and	CCONJ
fcis-11156	97	14	trajectory	trajectory	NOUN
fcis-11156	97	15	111	111	NUM
fcis-11156	97	16	features	feature	NOUN
fcis-11156	97	17	.	.	PUNCT
fcis-11156	98	1	the	the	DET
fcis-11156	98	2	network	network	NOUN
fcis-11156	98	3	architecture	architecture	NOUN
fcis-11156	98	4	is	be	AUX
fcis-11156	98	5	shown	show	VERB
fcis-11156	98	6	below	below	ADP
fcis-11156	98	7	:	:	PUNCT
fcis-11156	98	8	figure	figure	NOUN
fcis-11156	98	9	2	2	NUM
fcis-11156	98	10	.	.	PUNCT
fcis-11156	99	1	the	the	DET
fcis-11156	99	2	overall	overall	ADJ
fcis-11156	99	3	structure	structure	NOUN
fcis-11156	99	4	of	of	ADP
fcis-11156	99	5	multi	multi	ADJ
fcis-11156	99	6	-	-	ADJ
fcis-11156	99	7	information	information	ADJ
fcis-11156	99	8	fusion	fusion	NOUN
fcis-11156	99	9	network	network	NOUN
fcis-11156	99	10	based	base	VERB
fcis-11156	99	11	on	on	ADP
fcis-11156	99	12	attention	attention	NOUN
fcis-11156	99	13	mechanism	mechanism	NOUN
fcis-11156	99	14	when	when	SCONJ
fcis-11156	99	15	performing	perform	VERB
fcis-11156	99	16	multi	multi	ADJ
fcis-11156	99	17	-	-	ADJ
fcis-11156	99	18	information	information	ADJ
fcis-11156	99	19	fusion	fusion	NOUN
fcis-11156	99	20	,	,	PUNCT
fcis-11156	99	21	it	it	PRON
fcis-11156	99	22	is	be	AUX
fcis-11156	99	23	divided	divide	VERB
fcis-11156	99	24	into	into	ADP
fcis-11156	99	25	two	two	NUM
fcis-11156	99	26	levels	level	NOUN
fcis-11156	99	27	of	of	ADP
fcis-11156	99	28	fusion	fusion	NOUN
fcis-11156	99	29	.	.	PUNCT
fcis-11156	100	1	the	the	DET
fcis-11156	100	2	primary	primary	ADJ
fcis-11156	100	3	fusion	fusion	NOUN
fcis-11156	100	4	involves	involve	VERB
fcis-11156	100	5	using	use	VERB
fcis-11156	100	6	attention	attention	NOUN
fcis-11156	100	7	mechanisms	mechanism	NOUN
fcis-11156	100	8	to	to	PART
fcis-11156	100	9	fuse	fuse	NOUN
fcis-11156	100	10	pose	pose	NOUN
fcis-11156	100	11	features	feature	NOUN
fcis-11156	100	12	and	and	CCONJ
fcis-11156	100	13	optical	optical	ADJ
fcis-11156	100	14	flow	flow	NOUN
fcis-11156	100	15	features	feature	NOUN
fcis-11156	100	16	,	,	PUNCT
fcis-11156	100	17	while	while	SCONJ
fcis-11156	100	18	also	also	ADV
fcis-11156	100	19	introducing	introduce	VERB
fcis-11156	100	20	residual	residual	ADJ
fcis-11156	100	21	connections	connection	NOUN
fcis-11156	100	22	.	.	PUNCT
fcis-11156	101	1	the	the	DET
fcis-11156	101	2	features	feature	NOUN
fcis-11156	101	3	obtained	obtain	VERB
fcis-11156	101	4	from	from	ADP
fcis-11156	101	5	the	the	DET
fcis-11156	101	6	primary	primary	ADJ
fcis-11156	101	7	fusion	fusion	NOUN
fcis-11156	101	8	are	be	AUX
fcis-11156	101	9	then	then	ADV
fcis-11156	101	10	finally	finally	ADV
fcis-11156	101	11	fused	fuse	VERB
fcis-11156	101	12	with	with	ADP
fcis-11156	101	13	the	the	DET
fcis-11156	101	14	trajectory	trajectory	NOUN
fcis-11156	101	15	features	feature	NOUN
fcis-11156	101	16	.	.	PUNCT
fcis-11156	102	1	the	the	DET
fcis-11156	102	2	entire	entire	ADJ
fcis-11156	102	3	fusion	fusion	NOUN
fcis-11156	102	4	process	process	NOUN
fcis-11156	102	5	can	can	AUX
fcis-11156	102	6	be	be	AUX
fcis-11156	102	7	represented	represent	VERB
fcis-11156	102	8	by	by	ADP
fcis-11156	102	9	the	the	DET
fcis-11156	102	10	following	follow	VERB
fcis-11156	102	11	formula	formula	NOUN
fcis-11156	102	12	:	:	PUNCT
fcis-11156	103	1	e	e	PROPN
fcis-11156	103	2	pq	pq	X
fcis-11156	103	3	e	e	X
fcis-11156	103	4	pk	pk	NOUN
fcis-11156	103	5	pf	pf	X
fcis-11156	103	6	e	e	X
fcis-11156	103	7	fv	fv	X
fcis-11156	103	8	e	e	PROPN
fcis-11156	103	9	k	k	X
fcis-11156	103	10	pw	pw	X
fcis-11156	103	11	pw	pw	PUNCT
fcis-11156	104	1	x	x	PUNCT
fcis-11156	104	2	fw	fw	PROPN
fcis-11156	104	3	p	p	PROPN
fcis-11156	104	4	d	d	PROPN
fcis-11156	104	5			PROPN
fcis-11156	104	6			NOUN
fcis-11156	104	7			NOUN
fcis-11156	104	8			PUNCT
fcis-11156	104	9	(	(	PUNCT
fcis-11156	104	10	4	4	NUM
fcis-11156	104	11	)	)	PUNCT
fcis-11156	104	12	pf	pf	NOUN
fcis-11156	104	13	e	e	NOUN
fcis-11156	104	14	fk	fk	INTJ
fcis-11156	104	15	pft	pft	PROPN
fcis-11156	104	16	e	e	NOUN
fcis-11156	104	17	tv	tv	NOUN
fcis-11156	104	18	e	e	X
fcis-11156	104	19	k	k	PROPN
fcis-11156	104	20	x	x	SYM
fcis-11156	104	21	tw	tw	NOUN
fcis-11156	104	22	x	x	SYM
fcis-11156	104	23	tw	tw	INTJ
fcis-11156	104	24	f	f	PROPN
fcis-11156	104	25	d	d	PROPN
fcis-11156	104	26			PROPN
fcis-11156	104	27			NOUN
fcis-11156	104	28			PUNCT
fcis-11156	104	29	(	(	PUNCT
fcis-11156	104	30	5	5	NUM
fcis-11156	104	31	)	)	PUNCT
fcis-11156	104	32	where	where	SCONJ
fcis-11156	104	33	ep	ep	PROPN
fcis-11156	104	34	,	,	PUNCT
fcis-11156	104	35	ef	ef	PROPN
fcis-11156	104	36	,	,	PUNCT
fcis-11156	104	37	et	et	PROPN
fcis-11156	104	38	are	be	AUX
fcis-11156	104	39	pose	pose	NOUN
fcis-11156	104	40	,	,	PUNCT
fcis-11156	104	41	optical	optical	ADJ
fcis-11156	104	42	flow	flow	NOUN
fcis-11156	104	43	and	and	CCONJ
fcis-11156	104	44	trajectory	trajectory	NOUN
fcis-11156	104	45	coding	code	VERB
fcis-11156	104	46	features	feature	NOUN
fcis-11156	104	47	,	,	PUNCT
fcis-11156	104	48	respectively	respectively	ADV
fcis-11156	104	49	;	;	PUNCT
fcis-11156	104	50	pqw	pqw	PROPN
fcis-11156	104	51	and	and	CCONJ
fcis-11156	104	52	pkw	pkw	PROPN
fcis-11156	104	53	is	be	AUX
fcis-11156	104	54	the	the	DET
fcis-11156	104	55	mapping	mapping	NOUN
fcis-11156	104	56	weight	weight	NOUN
fcis-11156	104	57	of	of	ADP
fcis-11156	104	58	two	two	NUM
fcis-11156	104	59	linear	linear	ADJ
fcis-11156	104	60	branches	branch	NOUN
fcis-11156	104	61	of	of	ADP
fcis-11156	104	62	attitude	attitude	NOUN
fcis-11156	104	63	coding	coding	NOUN
fcis-11156	104	64	,	,	PUNCT
fcis-11156	104	65	fqw	fqw	NOUN
fcis-11156	104	66	and	and	CCONJ
fcis-11156	104	67	fkw	fkw	PROPN
fcis-11156	104	68	is	be	AUX
fcis-11156	104	69	the	the	DET
fcis-11156	104	70	mapping	mapping	NOUN
fcis-11156	104	71	weight	weight	NOUN
fcis-11156	104	72	of	of	ADP
fcis-11156	104	73	two	two	NUM
fcis-11156	104	74	linear	linear	ADJ
fcis-11156	104	75	branches	branch	NOUN
fcis-11156	104	76	of	of	ADP
fcis-11156	104	77	optical	optical	ADJ
fcis-11156	104	78	flow	flow	NOUN
fcis-11156	104	79	coding	coding	NOUN
fcis-11156	104	80	,	,	PUNCT
fcis-11156	104	81	tvw	tvw	PROPN
fcis-11156	104	82	is	be	AUX
fcis-11156	104	83	the	the	DET
fcis-11156	104	84	mapping	mapping	NOUN
fcis-11156	104	85	weight	weight	NOUN
fcis-11156	104	86	of	of	ADP
fcis-11156	104	87	trajectory	trajectory	NOUN
fcis-11156	104	88	coding	coding	NOUN
fcis-11156	104	89	,	,	PUNCT
fcis-11156	104	90	pfx	pfx	NOUN
fcis-11156	104	91	and	and	CCONJ
fcis-11156	104	92	pftx	pftx	VERB
fcis-11156	104	93	are	be	AUX
fcis-11156	104	94	the	the	DET
fcis-11156	104	95	features	feature	NOUN
fcis-11156	104	96	of	of	ADP
fcis-11156	104	97	primary	primary	ADJ
fcis-11156	104	98	fusion	fusion	NOUN
fcis-11156	104	99	and	and	CCONJ
fcis-11156	104	100	final	final	ADJ
fcis-11156	104	101	fusion	fusion	NOUN
fcis-11156	104	102	respectively	respectively	ADV
fcis-11156	104	103	.	.	PUNCT
fcis-11156	105	1	2.4	2.4	NUM
fcis-11156	105	2	.	.	PUNCT
fcis-11156	106	1	trajectory	trajectory	NOUN
fcis-11156	106	2	decoding	decode	VERB
fcis-11156	106	3	network	network	NOUN
fcis-11156	106	4	the	the	DET
fcis-11156	106	5	trajectory	trajectory	NOUN
fcis-11156	106	6	decoding	decode	VERB
fcis-11156	106	7	network	network	NOUN
fcis-11156	106	8	in	in	ADP
fcis-11156	106	9	this	this	DET
fcis-11156	106	10	model	model	NOUN
fcis-11156	106	11	is	be	AUX
fcis-11156	106	12	inspired	inspire	VERB
fcis-11156	106	13	by	by	ADP
fcis-11156	106	14	the	the	DET
fcis-11156	106	15	decoding	decode	VERB
fcis-11156	106	16	part	part	NOUN
fcis-11156	106	17	of	of	ADP
fcis-11156	106	18	the	the	DET
fcis-11156	106	19	bitrap	bitrap	NOUN
fcis-11156	106	20	[	[	X
fcis-11156	106	21	17	17	NUM
fcis-11156	106	22	]	]	PUNCT
fcis-11156	106	23	model	model	NOUN
fcis-11156	106	24	,	,	PUNCT
fcis-11156	106	25	consisting	consist	VERB
fcis-11156	106	26	of	of	ADP
fcis-11156	106	27	two	two	NUM
fcis-11156	106	28	parts	part	NOUN
fcis-11156	106	29	:	:	PUNCT
fcis-11156	106	30	the	the	DET
fcis-11156	106	31	object	object	NOUN
fcis-11156	106	32	decoding	decode	VERB
fcis-11156	106	33	network	network	NOUN
fcis-11156	106	34	and	and	CCONJ
fcis-11156	106	35	the	the	DET
fcis-11156	106	36	trajectory	trajectory	NOUN
fcis-11156	106	37	decoding	decode	VERB
fcis-11156	106	38	network	network	NOUN
fcis-11156	106	39	.	.	PUNCT
fcis-11156	107	1	the	the	DET
fcis-11156	107	2	object	object	NOUN
fcis-11156	107	3	decoding	decode	VERB
fcis-11156	107	4	network	network	NOUN
fcis-11156	107	5	decodes	decode	VERB
fcis-11156	107	6	the	the	DET
fcis-11156	107	7	fused	fuse	VERB
fcis-11156	107	8	features	feature	NOUN
fcis-11156	107	9	to	to	PART
fcis-11156	107	10	predict	predict	VERB
fcis-11156	107	11	future	future	ADJ
fcis-11156	107	12	targets	target	NOUN
fcis-11156	107	13	and	and	CCONJ
fcis-11156	107	14	adopts	adopt	VERB
fcis-11156	107	15	a	a	DET
fcis-11156	107	16	perceptron	perceptron	PROPN
fcis-11156	107	17	model	model	NOUN
fcis-11156	107	18	with	with	ADP
fcis-11156	107	19	2	2	NUM
fcis-11156	107	20	layers	layer	NOUN
fcis-11156	107	21	.	.	PUNCT
fcis-11156	108	1	the	the	DET
fcis-11156	108	2	bidirectional	bidirectional	ADJ
fcis-11156	108	3	trajectory	trajectory	NOUN
fcis-11156	108	4	decoding	decode	VERB
fcis-11156	108	5	network	network	NOUN
fcis-11156	108	6	includes	include	VERB
fcis-11156	108	7	forward	forward	ADV
fcis-11156	108	8	and	and	CCONJ
fcis-11156	108	9	backward	backward	ADJ
fcis-11156	108	10	grus	grus	NOUN
fcis-11156	108	11	.	.	PUNCT
fcis-11156	109	1	the	the	DET
fcis-11156	109	2	forward	forward	PROPN
fcis-11156	109	3	gru	gru	PROPN
fcis-11156	109	4	takes	take	VERB
fcis-11156	109	5	the	the	DET
fcis-11156	109	6	observed	observe	VERB
fcis-11156	109	7	fused	fuse	VERB
fcis-11156	109	8	features	feature	NOUN
fcis-11156	109	9	as	as	ADP
fcis-11156	109	10	input	input	NOUN
fcis-11156	109	11	,	,	PUNCT
fcis-11156	109	12	while	while	SCONJ
fcis-11156	109	13	the	the	DET
fcis-11156	109	14	backward	backward	PROPN
fcis-11156	109	15	gru	gru	PROPN
fcis-11156	109	16	takes	take	VERB
fcis-11156	109	17	the	the	DET
fcis-11156	109	18	predicted	predict	VERB
fcis-11156	109	19	future	future	ADJ
fcis-11156	109	20	targets	target	NOUN
fcis-11156	109	21	from	from	ADP
fcis-11156	109	22	the	the	DET
fcis-11156	109	23	object	object	NOUN
fcis-11156	109	24	decoder	decoder	NOUN
fcis-11156	109	25	as	as	ADP
fcis-11156	109	26	input	input	NOUN
fcis-11156	109	27	.	.	PUNCT
fcis-11156	110	1	the	the	DET
fcis-11156	110	2	calculation	calculation	NOUN
fcis-11156	110	3	process	process	NOUN
fcis-11156	110	4	is	be	AUX
fcis-11156	110	5	as	as	SCONJ
fcis-11156	110	6	follows	follow	VERB
fcis-11156	110	7	:	:	PUNCT
fcis-11156	110	8	1	1	NUM
fcis-11156	110	9	(	(	PUNCT
fcis-11156	110	10	,	,	PUNCT
fcis-11156	110	11	)	)	PUNCT
fcis-11156	111	1	f	f	PROPN
fcis-11156	112	1	f	f	X
fcis-11156	113	1	i	i	PRON
fcis-11156	113	2	f	f	PROPN
fcis-11156	114	1	i	i	PRON
fcis-11156	114	2	t	t	PROPN
fcis-11156	114	3	f	f	PROPN
fcis-11156	114	4	t	t	PROPN
fcis-11156	114	5	g	g	PROPN
fcis-11156	114	6	t	t	PROPN
fcis-11156	114	7	fh	fh	PROPN
fcis-11156	114	8	gru	gru	PROPN
fcis-11156	114	9	h	h	PROPN
fcis-11156	114	10	w	w	PROPN
fcis-11156	114	11	h	h	PROPN
fcis-11156	114	12	b	b	PROPN
fcis-11156	114	13			PROPN
fcis-11156	114	14			PUNCT
fcis-11156	114	15	(	(	PUNCT
fcis-11156	114	16	6	6	NUM
fcis-11156	114	17	)	)	SYM
fcis-11156	114	18	1	1	NUM
fcis-11156	114	19	ˆ	ˆ	PROPN
fcis-11156	114	20	(	(	PUNCT
fcis-11156	114	21	,	,	PUNCT
fcis-11156	114	22	)	)	PUNCT
fcis-11156	115	1	b	b	X
fcis-11156	116	1	b	b	NOUN
fcis-11156	117	1	i	i	PRON
fcis-11156	118	1	i	i	PRON
fcis-11156	118	2	t	t	AUX
fcis-11156	118	3	f	f	PROPN
fcis-11156	118	4	t	t	PROPN
fcis-11156	118	5	b	b	PROPN
fcis-11156	118	6	t	t	PROPN
fcis-11156	118	7	bh	bh	PROPN
fcis-11156	118	8	gru	gru	PROPN
fcis-11156	118	9	h	h	PROPN
fcis-11156	118	10	w	w	PROPN
fcis-11156	118	11	y	y	PROPN
fcis-11156	118	12	b	b	PROPN
fcis-11156	118	13			NUM
fcis-11156	118	14			NUM
fcis-11156	118	15			PROPN
fcis-11156	118	16			ADV
fcis-11156	118	17			ADV
fcis-11156	118	18			PUNCT
fcis-11156	118	19	(	(	PUNCT
fcis-11156	118	20	7	7	NUM
fcis-11156	118	21	)	)	SYM
fcis-11156	118	22	1	1	NUM
fcis-11156	118	23	1	1	NUM
fcis-11156	118	24	1	1	NUM
fcis-11156	118	25	ˆb	ˆb	ADP
fcis-11156	118	26	o	o	NOUN
fcis-11156	118	27	f	f	X
fcis-11156	119	1	o	o	X
fcis-11156	119	2	b	b	X
fcis-11156	119	3	o	o	X
fcis-11156	119	4	t	t	NOUN
fcis-11156	119	5	f	f	PROPN
fcis-11156	119	6	t	t	PROPN
fcis-11156	119	7	b	b	PROPN
fcis-11156	120	1	ty	ty	INTJ
fcis-11156	121	1	w	w	PROPN
fcis-11156	121	2	h	h	NOUN
fcis-11156	121	3	w	w	PROPN
fcis-11156	121	4	h	h	NOUN
fcis-11156	121	5	b	b	NOUN
fcis-11156	121	6			NUM
fcis-11156	121	7			NUM
fcis-11156	121	8			NOUN
fcis-11156	121	9			PUNCT
fcis-11156	121	10			PROPN
fcis-11156	121	11			PROPN
fcis-11156	121	12			PROPN
fcis-11156	121	13			PUNCT
fcis-11156	121	14			X
fcis-11156	121	15	(	(	PUNCT
fcis-11156	121	16	8)	8)	NUM
fcis-11156	121	17	where	where	SCONJ
fcis-11156	121	18	f	f	PROPN
fcis-11156	121	19	,	,	PUNCT
fcis-11156	121	20	b	b	PROPN
fcis-11156	121	21	,	,	PUNCT
fcis-11156	121	22	i	i	PRON
fcis-11156	121	23	,	,	PUNCT
fcis-11156	121	24	o	o	PROPN
fcis-11156	121	25	indicate	indicate	VERB
fcis-11156	121	26	“	"	PUNCT
fcis-11156	121	27	forward	forward	ADV
fcis-11156	121	28	,	,	PUNCT
fcis-11156	121	29	”	"	PUNCT
fcis-11156	121	30	“	"	PUNCT
fcis-11156	121	31	backward	backward	ADJ
fcis-11156	121	32	,	,	PUNCT
fcis-11156	121	33	”	"	PUNCT
fcis-11156	121	34	“	"	PUNCT
fcis-11156	121	35	input	input	NOUN
fcis-11156	121	36	”	"	PUNCT
fcis-11156	121	37	and	and	CCONJ
fcis-11156	121	38	“	"	PUNCT
fcis-11156	121	39	output	output	NOUN
fcis-11156	121	40	”	"	PUNCT
fcis-11156	121	41	respectively	respectively	ADV
fcis-11156	121	42	,	,	PUNCT
fcis-11156	121	43	and	and	CCONJ
fcis-11156	121	44	f	f	PROPN
fcis-11156	121	45	th	th	X
fcis-11156	121	46	and	and	CCONJ
fcis-11156	121	47	b	b	NOUN
fcis-11156	121	48	th	th	ADV
fcis-11156	121	49			NUM
fcis-11156	121	50	are	be	AUX
fcis-11156	121	51	initialized	initialize	VERB
fcis-11156	121	52	by	by	ADP
fcis-11156	121	53	passing	pass	VERB
fcis-11156	121	54	th	th	X
fcis-11156	121	55	through	through	ADP
fcis-11156	121	56	two	two	NUM
fcis-11156	121	57	different	different	ADJ
fcis-11156	121	58	fully	fully	ADV
fcis-11156	121	59	-	-	PUNCT
fcis-11156	121	60	connected	connect	VERB
fcis-11156	121	61	networks	network	NOUN
fcis-11156	121	62	.	.	PUNCT
fcis-11156	122	1	3	3	X
fcis-11156	122	2	.	.	X
fcis-11156	122	3	experiments	experiment	NOUN
fcis-11156	122	4	3.1	3.1	NUM
fcis-11156	122	5	.	.	PUNCT
fcis-11156	123	1	datasets	dataset	VERB
fcis-11156	123	2	joint	joint	ADJ
fcis-11156	123	3	attention	attention	NOUN
fcis-11156	123	4	in	in	ADP
fcis-11156	123	5	autonomous	autonomous	ADJ
fcis-11156	123	6	driving	driving	NOUN
fcis-11156	123	7	(	(	PUNCT
fcis-11156	123	8	jaad	jaad	NOUN
fcis-11156	123	9	)	)	PUNCT
fcis-11156	123	10	is	be	AUX
fcis-11156	123	11	a	a	DET
fcis-11156	123	12	dataset	dataset	NOUN
fcis-11156	123	13	used	use	VERB
fcis-11156	123	14	for	for	ADP
fcis-11156	123	15	studying	study	VERB
fcis-11156	123	16	joint	joint	ADJ
fcis-11156	123	17	attention	attention	NOUN
fcis-11156	123	18	in	in	ADP
fcis-11156	123	19	the	the	DET
fcis-11156	123	20	context	context	NOUN
fcis-11156	123	21	of	of	ADP
fcis-11156	123	22	autonomous	autonomous	ADJ
fcis-11156	123	23	driving	driving	NOUN
fcis-11156	123	24	.	.	PUNCT
fcis-11156	124	1	it	it	PRON
fcis-11156	124	2	focuses	focus	VERB
fcis-11156	124	3	on	on	ADP
fcis-11156	124	4	the	the	DET
fcis-11156	124	5	behaviors	behavior	NOUN
fcis-11156	124	6	of	of	ADP
fcis-11156	124	7	pedestrians	pedestrian	NOUN
fcis-11156	124	8	and	and	CCONJ
fcis-11156	124	9	drivers	driver	NOUN
fcis-11156	124	10	at	at	ADP
fcis-11156	124	11	intersections	intersection	NOUN
fcis-11156	124	12	and	and	CCONJ
fcis-11156	124	13	the	the	DET
fcis-11156	124	14	factors	factor	NOUN
fcis-11156	124	15	that	that	PRON
fcis-11156	124	16	influence	influence	VERB
fcis-11156	124	17	them	they	PRON
fcis-11156	124	18	.	.	PUNCT
fcis-11156	125	1	the	the	DET
fcis-11156	125	2	dataset	dataset	NOUN
fcis-11156	125	3	contains	contain	VERB
fcis-11156	125	4	346	346	NUM
fcis-11156	125	5	video	video	NOUN
fcis-11156	125	6	clips	clip	NOUN
fcis-11156	125	7	,	,	PUNCT
fcis-11156	125	8	with	with	ADP
fcis-11156	125	9	a	a	DET
fcis-11156	125	10	frame	frame	NOUN
fcis-11156	125	11	rate	rate	NOUN
fcis-11156	125	12	of	of	ADP
fcis-11156	125	13	30	30	NUM
fcis-11156	125	14	frames	frame	NOUN
fcis-11156	125	15	per	per	ADP
fcis-11156	125	16	second	second	NOUN
fcis-11156	125	17	,	,	PUNCT
fcis-11156	125	18	and	and	CCONJ
fcis-11156	125	19	a	a	DET
fcis-11156	125	20	duration	duration	NOUN
fcis-11156	125	21	of	of	ADP
fcis-11156	125	22	5	5	NUM
fcis-11156	125	23	-	-	SYM
fcis-11156	125	24	10	10	NUM
fcis-11156	125	25	seconds	second	NOUN
fcis-11156	125	26	,	,	PUNCT
fcis-11156	125	27	totaling	total	VERB
fcis-11156	125	28	82,032	82,032	NUM
fcis-11156	125	29	frames	frame	NOUN
fcis-11156	125	30	.	.	PUNCT
fcis-11156	126	1	the	the	DET
fcis-11156	126	2	videos	video	NOUN
fcis-11156	126	3	were	be	AUX
fcis-11156	126	4	captured	capture	VERB
fcis-11156	126	5	using	use	VERB
fcis-11156	126	6	three	three	NUM
fcis-11156	126	7	in	in	ADP
fcis-11156	126	8	-	-	PUNCT
fcis-11156	126	9	car	car	NOUN
fcis-11156	126	10	cameras	camera	NOUN
fcis-11156	126	11	and	and	CCONJ
fcis-11156	126	12	cover	cover	VERB
fcis-11156	126	13	typical	typical	ADJ
fcis-11156	126	14	scenarios	scenario	NOUN
fcis-11156	126	15	of	of	ADP
fcis-11156	126	16	daily	daily	ADJ
fcis-11156	126	17	urban	urban	ADJ
fcis-11156	126	18	driving	driving	NOUN
fcis-11156	126	19	in	in	ADP
fcis-11156	126	20	various	various	ADJ
fcis-11156	126	21	weather	weather	NOUN
fcis-11156	126	22	conditions	condition	NOUN
fcis-11156	126	23	in	in	ADP
fcis-11156	126	24	north	north	PROPN
fcis-11156	126	25	america	america	PROPN
fcis-11156	126	26	and	and	CCONJ
fcis-11156	126	27	eastern	eastern	PROPN
fcis-11156	126	28	europe	europe	PROPN
fcis-11156	126	29	.	.	PUNCT
fcis-11156	127	1	the	the	DET
fcis-11156	127	2	annotations	annotation	NOUN
fcis-11156	127	3	in	in	ADP
fcis-11156	127	4	this	this	DET
fcis-11156	127	5	dataset	dataset	NOUN
fcis-11156	127	6	include	include	VERB
fcis-11156	127	7	2,793	2,793	NUM
fcis-11156	127	8	pedestrians	pedestrian	NOUN
fcis-11156	127	9	and	and	CCONJ
fcis-11156	127	10	378,643	378,643	NUM
fcis-11156	127	11	2d	2d	NOUN
fcis-11156	127	12	bounding	bounding	NOUN
fcis-11156	127	13	boxes	box	NOUN
fcis-11156	127	14	.	.	PUNCT
fcis-11156	128	1	pedestrian	pedestrian	NOUN
fcis-11156	128	2	intention	intention	NOUN
fcis-11156	128	3	estimation	estimation	NOUN
fcis-11156	128	4	is	be	AUX
fcis-11156	128	5	a	a	DET
fcis-11156	128	6	dataset	dataset	NOUN
fcis-11156	128	7	specifically	specifically	ADV
fcis-11156	128	8	designed	design	VERB
fcis-11156	128	9	for	for	ADP
fcis-11156	128	10	studying	study	VERB
fcis-11156	128	11	pedestrian	pedestrian	NOUN
fcis-11156	128	12	behavior	behavior	NOUN
fcis-11156	128	13	in	in	ADP
fcis-11156	128	14	traffic	traffic	NOUN
fcis-11156	128	15	.	.	PUNCT
fcis-11156	129	1	it	it	PRON
fcis-11156	129	2	consists	consist	VERB
fcis-11156	129	3	of	of	ADP
fcis-11156	129	4	over	over	ADP
fcis-11156	129	5	6	6	NUM
fcis-11156	129	6	hours	hour	NOUN
fcis-11156	129	7	of	of	ADP
fcis-11156	129	8	recorded	record	VERB
fcis-11156	129	9	videos	video	NOUN
fcis-11156	129	10	capturing	capture	VERB
fcis-11156	129	11	typical	typical	ADJ
fcis-11156	129	12	traffic	traffic	NOUN
fcis-11156	129	13	scenarios	scenario	NOUN
fcis-11156	129	14	,	,	PUNCT
fcis-11156	129	15	recorded	record	VERB
fcis-11156	129	16	using	use	VERB
fcis-11156	129	17	in	in	ADP
fcis-11156	129	18	-	-	PUNCT
fcis-11156	129	19	car	car	NOUN
fcis-11156	129	20	cameras	camera	NOUN
fcis-11156	129	21	,	,	PUNCT
fcis-11156	129	22	and	and	CCONJ
fcis-11156	129	23	providing	provide	VERB
fcis-11156	129	24	accurate	accurate	ADJ
fcis-11156	129	25	vehicle	vehicle	NOUN
fcis-11156	129	26	information	information	NOUN
fcis-11156	129	27	from	from	ADP
fcis-11156	129	28	obd	obd	NOUN
fcis-11156	129	29	sensors	sensor	NOUN
fcis-11156	129	30	.	.	PUNCT
fcis-11156	130	1	this	this	DET
fcis-11156	130	2	dataset	dataset	NOUN
fcis-11156	130	3	contains	contain	VERB
fcis-11156	130	4	over	over	ADP
fcis-11156	130	5	300,000	300,000	NUM
fcis-11156	130	6	annotated	annotate	VERB
fcis-11156	130	7	video	video	NOUN
fcis-11156	130	8	frames	frame	NOUN
fcis-11156	130	9	and	and	CCONJ
fcis-11156	130	10	1,842	1,842	NUM
fcis-11156	130	11	pedestrian	pedestrian	NOUN
fcis-11156	130	12	samples	sample	NOUN
fcis-11156	130	13	,	,	PUNCT
fcis-11156	130	14	making	make	VERB
fcis-11156	130	15	it	it	PRON
fcis-11156	130	16	the	the	DET
fcis-11156	130	17	largest	large	ADJ
fcis-11156	130	18	publicly	publicly	ADV
fcis-11156	130	19	available	available	ADJ
fcis-11156	130	20	dataset	dataset	NOUN
fcis-11156	130	21	for	for	ADP
fcis-11156	130	22	studying	study	VERB
fcis-11156	130	23	pedestrian	pedestrian	NOUN
fcis-11156	130	24	behavior	behavior	NOUN
fcis-11156	130	25	in	in	ADP
fcis-11156	130	26	traffic	traffic	NOUN
fcis-11156	130	27	.	.	PUNCT
fcis-11156	131	1	3.2	3.2	NUM
fcis-11156	131	2	.	.	PUNCT
fcis-11156	132	1	implementation	implementation	NOUN
fcis-11156	132	2	details	detail	NOUN
fcis-11156	132	3	we	we	PRON
fcis-11156	132	4	use	use	VERB
fcis-11156	132	5	the	the	DET
fcis-11156	132	6	adam	adam	PROPN
fcis-11156	132	7	optimizer	optimizer	NOUN
fcis-11156	132	8	with	with	ADP
fcis-11156	132	9	default	default	NOUN
fcis-11156	132	10	parameters	parameter	NOUN
fcis-11156	132	11	and	and	CCONJ
fcis-11156	132	12	initial	initial	ADJ
fcis-11156	132	13	learning	learning	NOUN
fcis-11156	132	14	rate	rate	NOUN
fcis-11156	132	15	0.001	0.001	NUM
fcis-11156	132	16	,	,	PUNCT
fcis-11156	132	17	which	which	PRON
fcis-11156	132	18	is	be	AUX
fcis-11156	132	19	dynamically	dynamically	ADV
fcis-11156	132	20	reduced	reduce	VERB
fcis-11156	132	21	based	base	VERB
fcis-11156	132	22	on	on	ADP
fcis-11156	132	23	the	the	DET
fcis-11156	132	24	validation	validation	NOUN
fcis-11156	132	25	loss	loss	NOUN
fcis-11156	132	26	.	.	PUNCT
fcis-11156	133	1	our	our	PRON
fcis-11156	133	2	models	model	NOUN
fcis-11156	133	3	are	be	AUX
fcis-11156	133	4	optimized	optimize	VERB
fcis-11156	133	5	endto	endto	NOUN
fcis-11156	133	6	-	-	PUNCT
fcis-11156	133	7	end	end	NOUN
fcis-11156	133	8	with	with	ADP
fcis-11156	133	9	batch	batch	NOUN
fcis-11156	133	10	size	size	NOUN
fcis-11156	133	11	128	128	NUM
fcis-11156	133	12	and	and	CCONJ
fcis-11156	133	13	the	the	DET
fcis-11156	133	14	training	training	NOUN
fcis-11156	133	15	is	be	AUX
fcis-11156	133	16	terminated	terminate	VERB
fcis-11156	133	17	after	after	ADP
fcis-11156	133	18	100	100	NUM
fcis-11156	133	19	epochs	epoch	NOUN
fcis-11156	133	20	.	.	PUNCT
fcis-11156	134	1	the	the	DET
fcis-11156	134	2	algorithm	algorithm	NOUN
fcis-11156	134	3	in	in	ADP
fcis-11156	134	4	this	this	DET
fcis-11156	134	5	paper	paper	NOUN
fcis-11156	134	6	was	be	AUX
fcis-11156	134	7	initially	initially	ADV
fcis-11156	134	8	developed	develop	VERB
fcis-11156	134	9	and	and	CCONJ
fcis-11156	134	10	tested	test	VERB
fcis-11156	134	11	on	on	ADP
fcis-11156	134	12	an	an	DET
fcis-11156	134	13	ubuntu	ubuntu	ADJ
fcis-11156	134	14	20.4	20.4	NUM
fcis-11156	134	15	system	system	NOUN
fcis-11156	134	16	with	with	ADP
fcis-11156	134	17	an	an	DET
fcis-11156	134	18	nvidia	nvidia	PROPN
fcis-11156	134	19	3080	3080	NUM
fcis-11156	134	20	graphics	graphic	NOUN
fcis-11156	134	21	card	card	NOUN
fcis-11156	134	22	,	,	PUNCT
fcis-11156	134	23	and	and	CCONJ
fcis-11156	134	24	then	then	ADV
fcis-11156	134	25	it	it	PRON
fcis-11156	134	26	was	be	AUX
fcis-11156	134	27	ported	port	VERB
fcis-11156	134	28	to	to	ADP
fcis-11156	134	29	the	the	DET
fcis-11156	134	30	embedded	embed	VERB
fcis-11156	134	31	device	device	NOUN
fcis-11156	134	32	,	,	PUNCT
fcis-11156	134	33	xavier	xavier	PROPN
fcis-11156	134	34	.	.	PUNCT
fcis-11156	135	1	jetson	jetson	PROPN
fcis-11156	135	2	xavier	xavier	PROPN
fcis-11156	135	3	is	be	AUX
fcis-11156	135	4	equipped	equip	VERB
fcis-11156	135	5	with	with	ADP
fcis-11156	135	6	a	a	DET
fcis-11156	135	7	six	six	NUM
fcis-11156	135	8	-	-	PUNCT
fcis-11156	135	9	core	core	NOUN
fcis-11156	135	10	64	64	NUM
fcis-11156	135	11	-	-	PUNCT
fcis-11156	135	12	bit	bit	NOUN
fcis-11156	135	13	processor	processor	NOUN
fcis-11156	135	14	and	and	CCONJ
fcis-11156	135	15	an	an	DET
fcis-11156	135	16	nvidia	nvidia	PROPN
fcis-11156	135	17	volta	volta	NOUN
fcis-11156	135	18	architecture	architecture	NOUN
fcis-11156	135	19	gpu	gpu	PROPN
fcis-11156	135	20	,	,	PUNCT
fcis-11156	135	21	along	along	ADP
fcis-11156	135	22	with	with	ADP
fcis-11156	135	23	a	a	DET
fcis-11156	135	24	rich	rich	ADJ
fcis-11156	135	25	set	set	NOUN
fcis-11156	135	26	of	of	ADP
fcis-11156	135	27	i	i	PROPN
fcis-11156	135	28	/	/	SYM
fcis-11156	135	29	o	o	NOUN
fcis-11156	135	30	interfaces	interface	NOUN
fcis-11156	135	31	.	.	PUNCT
fcis-11156	136	1	the	the	DET
fcis-11156	136	2	entire	entire	ADJ
fcis-11156	136	3	algorithm	algorithm	NOUN
fcis-11156	136	4	is	be	AUX
fcis-11156	136	5	based	base	VERB
fcis-11156	136	6	on	on	ADP
fcis-11156	136	7	the	the	DET
fcis-11156	136	8	pytorch	pytorch	NOUN
fcis-11156	136	9	framework	framework	NOUN
fcis-11156	136	10	and	and	CCONJ
fcis-11156	136	11	utilizes	utilizes	ADJ
fcis-11156	136	12	pyqt5	pyqt5	NOUN
fcis-11156	136	13	to	to	PART
fcis-11156	136	14	design	design	VERB
fcis-11156	136	15	the	the	DET
fcis-11156	136	16	program	program	NOUN
fcis-11156	136	17	's	's	PART
fcis-11156	136	18	user	user	NOUN
fcis-11156	136	19	interface	interface	NOUN
fcis-11156	136	20	.	.	PUNCT
fcis-11156	137	1	to	to	PART
fcis-11156	137	2	improve	improve	VERB
fcis-11156	137	3	the	the	DET
fcis-11156	137	4	inference	inference	NOUN
fcis-11156	137	5	speed	speed	NOUN
fcis-11156	137	6	of	of	ADP
fcis-11156	137	7	the	the	DET
fcis-11156	137	8	model	model	NOUN
fcis-11156	137	9	on	on	ADP
fcis-11156	137	10	the	the	DET
fcis-11156	137	11	embedded	embed	VERB
fcis-11156	137	12	device	device	NOUN
fcis-11156	137	13	,	,	PUNCT
fcis-11156	137	14	the	the	DET
fcis-11156	137	15	network	network	NOUN
fcis-11156	137	16	model	model	NOUN
fcis-11156	137	17	is	be	AUX
fcis-11156	137	18	pruned	prune	VERB
fcis-11156	137	19	by	by	ADP
fcis-11156	137	20	removing	remove	VERB
fcis-11156	137	21	channels	channel	NOUN
fcis-11156	137	22	that	that	PRON
fcis-11156	137	23	have	have	VERB
fcis-11156	137	24	small	small	ADJ
fcis-11156	137	25	weights	weight	NOUN
fcis-11156	137	26	in	in	ADP
fcis-11156	137	27	the	the	DET
fcis-11156	137	28	convolutional	convolutional	ADJ
fcis-11156	137	29	kernels	kernel	NOUN
fcis-11156	137	30	.	.	PUNCT
fcis-11156	138	1	additionally	additionally	ADV
fcis-11156	138	2	,	,	PUNCT
fcis-11156	138	3	the	the	DET
fcis-11156	138	4	model	model	NOUN
fcis-11156	138	5	is	be	AUX
fcis-11156	138	6	converted	convert	VERB
fcis-11156	138	7	to	to	ADP
fcis-11156	138	8	an	an	DET
fcis-11156	138	9	onnx	onnx	NOUN
fcis-11156	138	10	model	model	NOUN
fcis-11156	138	11	,	,	PUNCT
fcis-11156	138	12	and	and	CCONJ
fcis-11156	138	13	the	the	DET
fcis-11156	138	14	tensorrt	tensorrt	NOUN
fcis-11156	138	15	inference	inference	NOUN
fcis-11156	138	16	engine	engine	NOUN
fcis-11156	138	17	is	be	AUX
fcis-11156	138	18	utilized	utilize	VERB
fcis-11156	138	19	to	to	PART
fcis-11156	138	20	accelerate	accelerate	VERB
fcis-11156	138	21	model	model	NOUN
fcis-11156	138	22	inference	inference	NOUN
fcis-11156	138	23	.	.	PUNCT
fcis-11156	139	1	3.3	3.3	NUM
fcis-11156	139	2	.	.	PUNCT
fcis-11156	140	1	evaluation	evaluation	NOUN
fcis-11156	140	2	protocols	protocol	NOUN
fcis-11156	140	3	our	our	PRON
fcis-11156	140	4	evaluation	evaluation	NOUN
fcis-11156	140	5	metrics	metric	NOUN
fcis-11156	140	6	include	include	VERB
fcis-11156	140	7	average	average	ADJ
fcis-11156	140	8	displacement	displacement	NOUN
fcis-11156	140	9	error	error	NOUN
fcis-11156	140	10	(	(	PUNCT
fcis-11156	140	11	ade	ade	PROPN
fcis-11156	140	12	)	)	PUNCT
fcis-11156	140	13	,	,	PUNCT
fcis-11156	140	14	which	which	PRON
fcis-11156	140	15	measures	measure	VERB
fcis-11156	140	16	the	the	DET
fcis-11156	140	17	accuracy	accuracy	NOUN
fcis-11156	140	18	of	of	ADP
fcis-11156	140	19	the	the	DET
fcis-11156	140	20	entire	entire	ADJ
fcis-11156	140	21	trajectory	trajectory	NOUN
fcis-11156	140	22	,	,	PUNCT
fcis-11156	140	23	and	and	CCONJ
fcis-11156	140	24	final	final	ADJ
fcis-11156	140	25	displacement	displacement	NOUN
fcis-11156	140	26	error	error	NOUN
fcis-11156	140	27	(	(	PUNCT
fcis-11156	140	28	fde	fde	PROPN
fcis-11156	140	29	)	)	PUNCT
fcis-11156	140	30	,	,	PUNCT
fcis-11156	140	31	which	which	PRON
fcis-11156	140	32	measures	measure	VERB
fcis-11156	140	33	the	the	DET
fcis-11156	140	34	accuracy	accuracy	NOUN
fcis-11156	140	35	only	only	ADV
fcis-11156	140	36	at	at	ADP
fcis-11156	140	37	the	the	DET
fcis-11156	140	38	endpoint	endpoint	NOUN
fcis-11156	140	39	of	of	ADP
fcis-11156	140	40	the	the	DET
fcis-11156	140	41	trajectory	trajectory	NOUN
fcis-11156	140	42	.	.	PUNCT
fcis-11156	141	1	we	we	PRON
fcis-11156	141	2	use	use	VERB
fcis-11156	141	3	mean	mean	VERB
fcis-11156	141	4	squared	square	VERB
fcis-11156	141	5	error	error	NOUN
fcis-11156	141	6	(	(	PUNCT
fcis-11156	141	7	mse	mse	NOUN
fcis-11156	141	8	)	)	PUNCT
fcis-11156	141	9	to	to	PART
fcis-11156	141	10	evaluate	evaluate	VERB
fcis-11156	141	11	our	our	PRON
fcis-11156	141	12	performance	performance	NOUN
fcis-11156	141	13	on	on	ADP
fcis-11156	141	14	the	the	DET
fcis-11156	141	15	jaad	jaad	NOUN
fcis-11156	141	16	and	and	CCONJ
fcis-11156	141	17	pie	pie	NOUN
fcis-11156	141	18	datasets	dataset	NOUN
fcis-11156	141	19	,	,	PUNCT
fcis-11156	141	20	calculated	calculate	VERB
fcis-11156	141	21	based	base	VERB
fcis-11156	141	22	on	on	ADP
fcis-11156	141	23	the	the	DET
fcis-11156	141	24	upper	upper	ADV
fcis-11156	141	25	-	-	PUNCT
fcis-11156	141	26	left	left	ADJ
fcis-11156	141	27	and	and	CCONJ
fcis-11156	141	28	lower	low	ADJ
fcis-11156	141	29	-	-	PUNCT
fcis-11156	141	30	right	right	ADJ
fcis-11156	141	31	coordinates	coordinate	NOUN
fcis-11156	141	32	of	of	ADP
fcis-11156	141	33	the	the	DET
fcis-11156	141	34	bounding	bounding	NOUN
fcis-11156	141	35	box	box	NOUN
fcis-11156	141	36	.	.	PUNCT
fcis-11156	142	1	additionally	additionally	ADV
fcis-11156	142	2	,	,	PUNCT
fcis-11156	142	3	we	we	PRON
fcis-11156	142	4	utilize	utilize	VERB
fcis-11156	142	5	center	center	NOUN
fcis-11156	142	6	mean	mean	VERB
fcis-11156	142	7	squared	square	VERB
fcis-11156	142	8	error	error	NOUN
fcis-11156	142	9	(	(	PUNCT
fcis-11156	142	10	cmse	cmse	ADJ
fcis-11156	142	11	)	)	PUNCT
fcis-11156	142	12	and	and	CCONJ
fcis-11156	142	13	center	center	ADJ
fcis-11156	142	14	final	final	ADJ
fcis-11156	142	15	mean	mean	NOUN
fcis-11156	142	16	squared	square	VERB
fcis-11156	142	17	error	error	NOUN
fcis-11156	142	18	(	(	PUNCT
fcis-11156	142	19	cfmse	cfmse	NOUN
fcis-11156	142	20	)	)	PUNCT
fcis-11156	142	21	as	as	ADP
fcis-11156	142	22	evaluation	evaluation	NOUN
fcis-11156	142	23	metrics	metric	NOUN
fcis-11156	142	24	on	on	ADP
fcis-11156	142	25	the	the	DET
fcis-11156	142	26	jaad	jaad	NOUN
fcis-11156	142	27	and	and	CCONJ
fcis-11156	142	28	pie	pie	NOUN
fcis-11156	142	29	datasets	dataset	NOUN
fcis-11156	142	30	.	.	PUNCT
fcis-11156	143	1	these	these	DET
fcis-11156	143	2	twoerror	twoerror	NOUN
fcis-11156	143	3	metrics	metric	NOUN
fcis-11156	143	4	are	be	AUX
fcis-11156	143	5	similar	similar	ADJ
fcis-11156	143	6	to	to	ADP
fcis-11156	143	7	mse	mse	NOUN
fcis-11156	143	8	,	,	PUNCT
fcis-11156	143	9	but	but	CCONJ
fcis-11156	143	10	they	they	PRON
fcis-11156	143	11	are	be	AUX
fcis-11156	143	12	computed	compute	VERB
fcis-11156	143	13	based	base	VERB
fcis-11156	143	14	on	on	ADP
fcis-11156	143	15	the	the	DET
fcis-11156	143	16	centroids	centroid	NOUN
fcis-11156	143	17	of	of	ADP
fcis-11156	143	18	the	the	DET
fcis-11156	143	19	bounding	bounding	NOUN
fcis-11156	143	20	boxes	box	NOUN
fcis-11156	143	21	.	.	PUNCT
fcis-11156	144	1	3.4	3.4	NUM
fcis-11156	144	2	.	.	PUNCT
fcis-11156	144	3	experimental	experimental	ADJ
fcis-11156	144	4	results	result	NOUN
fcis-11156	144	5	and	and	CCONJ
fcis-11156	144	6	analysis	analysis	NOUN
fcis-11156	144	7	3.4.1	3.4.1	NUM
fcis-11156	144	8	.	.	PUNCT
fcis-11156	144	9	comparison	comparison	NOUN
fcis-11156	144	10	with	with	ADP
fcis-11156	144	11	related	related	ADJ
fcis-11156	144	12	methods	method	NOUN
fcis-11156	144	13	the	the	DET
fcis-11156	144	14	baseline	baseline	NOUN
fcis-11156	144	15	models	model	NOUN
fcis-11156	144	16	compared	compare	VERB
fcis-11156	144	17	in	in	ADP
fcis-11156	144	18	this	this	DET
fcis-11156	144	19	paper	paper	NOUN
fcis-11156	144	20	include	include	VERB
fcis-11156	144	21	:	:	PUNCT
fcis-11156	144	22	early	early	ADJ
fcis-11156	144	23	trajectory	trajectory	NOUN
fcis-11156	144	24	prediction	prediction	NOUN
fcis-11156	144	25	models	model	NOUN
fcis-11156	144	26	such	such	ADJ
fcis-11156	144	27	as	as	ADP
fcis-11156	144	28	(	(	PUNCT
fcis-11156	144	29	1	1	NUM
fcis-11156	144	30	)	)	PUNCT
fcis-11156	144	31	linear	linear	PROPN
fcis-11156	144	32	kalman	kalman	PROPN
fcis-11156	144	33	filter	filter	PROPN
fcis-11156	144	34	,	,	PUNCT
fcis-11156	144	35	(	(	PUNCT
fcis-11156	144	36	2	2	X
fcis-11156	144	37	)	)	PUNCT
fcis-11156	144	38	lstm	lstm	NOUN
fcis-11156	144	39	,	,	PUNCT
fcis-11156	144	40	(	(	PUNCT
fcis-11156	144	41	3	3	X
fcis-11156	144	42	)	)	PUNCT
fcis-11156	144	43	bayesian	bayesian	NOUN
fcis-11156	144	44	lstm	lstm	NOUN
fcis-11156	144	45	model	model	NOUN
fcis-11156	144	46	[	[	X
fcis-11156	144	47	18	18	NUM
fcis-11156	144	48	]	]	PUNCT
fcis-11156	144	49	,	,	PUNCT
fcis-11156	144	50	(	(	PUNCT
fcis-11156	144	51	4	4	X
fcis-11156	144	52	)	)	PUNCT
fcis-11156	144	53	fol	fol	NOUN
fcis-11156	144	54	-	-	PUNCT
fcis-11156	144	55	x	x	NOUN
fcis-11156	145	1	[	[	X
fcis-11156	145	2	19	19	NUM
fcis-11156	145	3	]	]	X
fcis-11156	145	4	;	;	PUNCT
fcis-11156	145	5	recent	recent	ADJ
fcis-11156	145	6	prediction	prediction	NOUN
fcis-11156	145	7	models	model	NOUN
fcis-11156	145	8	such	such	ADJ
fcis-11156	145	9	as	as	ADP
fcis-11156	145	10	(	(	PUNCT
fcis-11156	145	11	1	1	NUM
fcis-11156	145	12	)	)	PUNCT
fcis-11156	145	13	pie	pie	NOUN
fcis-11156	145	14	[	[	X
fcis-11156	145	15	20](2	20](2	NOUN
fcis-11156	145	16	)	)	PUNCT
fcis-11156	145	17	btrip	btrip	NOUN
fcis-11156	146	1	[	[	X
fcis-11156	146	2	17	17	NUM
fcis-11156	146	3	]	]	SYM
fcis-11156	146	4	112	112	NUM
fcis-11156	146	5	and	and	CCONJ
fcis-11156	146	6	the	the	DET
fcis-11156	146	7	current	current	ADJ
fcis-11156	146	8	state	state	NOUN
fcis-11156	146	9	-	-	PUNCT
fcis-11156	146	10	of	of	ADP
fcis-11156	146	11	-	-	PUNCT
fcis-11156	146	12	the	the	DET
fcis-11156	146	13	-	-	PUNCT
fcis-11156	146	14	arts	art	NOUN
fcis-11156	146	15	(	(	PUNCT
fcis-11156	146	16	sota	sota	NOUN
fcis-11156	146	17	)	)	PUNCT
fcis-11156	146	18	models	model	NOUN
fcis-11156	146	19	sgnet	sgnet	VERB
fcis-11156	147	1	[	[	X
fcis-11156	147	2	21	21	NUM
fcis-11156	147	3	]	]	PUNCT
fcis-11156	147	4	.	.	PUNCT
fcis-11156	148	1	the	the	DET
fcis-11156	148	2	trajectory	trajectory	NOUN
fcis-11156	148	3	prediction	prediction	NOUN
fcis-11156	148	4	algorithm	algorithm	NOUN
fcis-11156	148	5	proposed	propose	VERB
fcis-11156	148	6	in	in	ADP
fcis-11156	148	7	this	this	DET
fcis-11156	148	8	paper	paper	NOUN
fcis-11156	148	9	can	can	AUX
fcis-11156	148	10	predict	predict	VERB
fcis-11156	148	11	the	the	DET
fcis-11156	148	12	trajectories	trajectory	NOUN
fcis-11156	148	13	of	of	ADP
fcis-11156	148	14	pedestrians	pedestrian	NOUN
fcis-11156	148	15	in	in	ADP
fcis-11156	148	16	the	the	DET
fcis-11156	148	17	next	next	ADJ
fcis-11156	148	18	0.5s	0.5s	NOUN
fcis-11156	148	19	,	,	PUNCT
fcis-11156	148	20	1.0s	1.0s	NUM
fcis-11156	148	21	,	,	PUNCT
fcis-11156	148	22	and	and	CCONJ
fcis-11156	148	23	1.5s	1.5s	NUM
fcis-11156	148	24	,	,	PUNCT
fcis-11156	148	25	as	as	SCONJ
fcis-11156	148	26	shown	show	VERB
fcis-11156	148	27	in	in	ADP
fcis-11156	148	28	table	table	NOUN
fcis-11156	148	29	1	1	NUM
fcis-11156	148	30	.	.	PUNCT
fcis-11156	149	1	this	this	DET
fcis-11156	149	2	algorithm	algorithm	NOUN
fcis-11156	149	3	improves	improve	VERB
fcis-11156	149	4	upon	upon	SCONJ
fcis-11156	149	5	the	the	DET
fcis-11156	149	6	bitrap	bitrap	NOUN
fcis-11156	149	7	by	by	ADP
fcis-11156	149	8	considering	consider	VERB
fcis-11156	149	9	pedestrian	pedestrian	NOUN
fcis-11156	149	10	pose	pose	NOUN
fcis-11156	149	11	information	information	NOUN
fcis-11156	149	12	,	,	PUNCT
fcis-11156	149	13	optical	optical	ADJ
fcis-11156	149	14	flow	flow	NOUN
fcis-11156	149	15	information	information	NOUN
fcis-11156	149	16	,	,	PUNCT
fcis-11156	149	17	and	and	CCONJ
fcis-11156	149	18	trajectory	trajectory	NOUN
fcis-11156	149	19	information	information	NOUN
fcis-11156	149	20	.	.	PUNCT
fcis-11156	150	1	it	it	PRON
fcis-11156	150	2	effectively	effectively	ADV
fcis-11156	150	3	integrates	integrate	VERB
fcis-11156	150	4	these	these	DET
fcis-11156	150	5	features	feature	NOUN
fcis-11156	150	6	using	use	VERB
fcis-11156	150	7	a	a	DET
fcis-11156	150	8	cross	cross	ADJ
fcis-11156	150	9	-	-	ADJ
fcis-11156	150	10	modal	modal	ADJ
fcis-11156	150	11	attention	attention	NOUN
fcis-11156	150	12	mechanism	mechanism	NOUN
fcis-11156	150	13	.	.	PUNCT
fcis-11156	151	1	from	from	ADP
fcis-11156	151	2	the	the	DET
fcis-11156	151	3	table	table	NOUN
fcis-11156	151	4	,	,	PUNCT
fcis-11156	151	5	it	it	PRON
fcis-11156	151	6	can	can	AUX
fcis-11156	151	7	be	be	AUX
fcis-11156	151	8	seen	see	VERB
fcis-11156	151	9	that	that	SCONJ
fcis-11156	151	10	the	the	DET
fcis-11156	151	11	proposed	propose	VERB
fcis-11156	151	12	algorithm	algorithm	NOUN
fcis-11156	151	13	performs	perform	VERB
fcis-11156	151	14	better	well	ADJ
fcis-11156	151	15	than	than	ADP
fcis-11156	151	16	sgnet	sgnet	NOUN
fcis-11156	151	17	-	-	PUNCT
fcis-11156	151	18	d	d	NOUN
fcis-11156	151	19	on	on	ADP
fcis-11156	151	20	the	the	DET
fcis-11156	151	21	jaad	jaad	NOUN
fcis-11156	151	22	and	and	CCONJ
fcis-11156	151	23	pie	pie	NOUN
fcis-11156	151	24	datasets	dataset	NOUN
fcis-11156	151	25	.	.	PUNCT
fcis-11156	152	1	the	the	DET
fcis-11156	152	2	algorithm	algorithm	NOUN
fcis-11156	152	3	is	be	AUX
fcis-11156	152	4	tested	test	VERB
fcis-11156	152	5	on	on	ADP
fcis-11156	152	6	the	the	DET
fcis-11156	152	7	jaad	jaad	NOUN
fcis-11156	152	8	and	and	CCONJ
fcis-11156	152	9	pie	pie	NOUN
fcis-11156	152	10	datasets	dataset	NOUN
fcis-11156	152	11	,	,	PUNCT
fcis-11156	152	12	and	and	CCONJ
fcis-11156	152	13	the	the	DET
fcis-11156	152	14	displacement	displacement	ADJ
fcis-11156	152	15	errors	error	NOUN
fcis-11156	152	16	are	be	AUX
fcis-11156	152	17	reduced	reduce	VERB
fcis-11156	152	18	by	by	ADP
fcis-11156	152	19	6.35	6.35	NUM
fcis-11156	152	20	%	%	NOUN
fcis-11156	152	21	and	and	CCONJ
fcis-11156	152	22	3.28	3.28	NUM
fcis-11156	152	23	%	%	NOUN
fcis-11156	152	24	,	,	PUNCT
fcis-11156	152	25	respectively	respectively	ADV
fcis-11156	152	26	,	,	PUNCT
fcis-11156	152	27	compared	compare	VERB
fcis-11156	152	28	to	to	ADP
fcis-11156	152	29	bitrap	bitrap	NOUN
fcis-11156	152	30	.	.	PUNCT
fcis-11156	153	1	table	table	NOUN
fcis-11156	153	2	1	1	NUM
fcis-11156	153	3	.	.	PUNCT
fcis-11156	154	1	deterministic	deterministic	ADJ
fcis-11156	154	2	results	result	NOUN
fcis-11156	154	3	on	on	ADP
fcis-11156	154	4	jaad	jaad	NOUN
fcis-11156	154	5	in	in	ADP
fcis-11156	154	6	terms	term	NOUN
fcis-11156	154	7	of	of	ADP
fcis-11156	154	8	mse	mse	NOUN
fcis-11156	154	9	/	/	SYM
fcis-11156	154	10	cmse	cmse	PROPN
fcis-11156	154	11	/	/	SYM
fcis-11156	154	12	cfmse	cfmse	PROPN
fcis-11156	154	13	.	.	PUNCT
fcis-11156	155	1	↓	↓	PROPN
fcis-11156	155	2	denotes	denote	NOUN
fcis-11156	155	3	lower	low	ADJ
fcis-11156	155	4	is	be	AUX
fcis-11156	155	5	better	well	ADJ
fcis-11156	155	6	.	.	PUNCT
fcis-11156	156	1	method	method	PROPN
fcis-11156	156	2	ade	ade	PROPN
fcis-11156	156	3	0.5s↓	0.5s↓	NUM
fcis-11156	157	1	ade	ade	PROPN
fcis-11156	157	2	1.0s↓	1.0s↓	NUM
fcis-11156	157	3	ade	ade	NOUN
fcis-11156	157	4	1.5s↓	1.5s↓	NUM
fcis-11156	157	5	cade	cade	NOUN
fcis-11156	157	6	1.5s↓	1.5s↓	NUM
fcis-11156	157	7	cfde↓	cfde↓	PROPN
fcis-11156	157	8	linear	linear	VERB
fcis-11156	157	9	233	233	NUM
fcis-11156	157	10	857	857	NUM
fcis-11156	157	11	2303	2303	NUM
fcis-11156	157	12	1565	1565	NUM
fcis-11156	157	13	6111	6111	NUM
fcis-11156	157	14	lstm	lstm	NOUN
fcis-11156	157	15	289	289	NUM
fcis-11156	157	16	569	569	NUM
fcis-11156	157	17	1558	1558	NUM
fcis-11156	157	18	1573	1573	NUM
fcis-11156	157	19	5766	5766	NUM
fcis-11156	157	20	pie	pie	NOUN
fcis-11156	157	21	110	110	NUM
fcis-11156	157	22	399	399	NUM
fcis-11156	157	23	1280	1280	NUM
fcis-11156	157	24	1183	1183	NUM
fcis-11156	157	25	4780	4780	NUM
fcis-11156	157	26	bitrap	bitrap	NOUN
fcis-11156	157	27	93	93	NUM
fcis-11156	157	28	378	378	NUM
fcis-11156	157	29	1206	1206	NUM
fcis-11156	157	30	1105	1105	NUM
fcis-11156	157	31	4565	4565	NUM
fcis-11156	157	32	sgnet	sgnet	NOUN
fcis-11156	157	33	-	-	PUNCT
fcis-11156	157	34	d	d	PROPN
fcis-11156	157	35	87	87	NUM
fcis-11156	157	36	350	350	NUM
fcis-11156	157	37	1121	1121	NUM
fcis-11156	157	38	1065	1065	NUM
fcis-11156	157	39	4355	4355	NUM
fcis-11156	157	40	ours	ours	PRON
fcis-11156	157	41	85	85	NUM
fcis-11156	157	42	350	350	NUM
fcis-11156	157	43	1105	1105	NUM
fcis-11156	157	44	1057	1057	NUM
fcis-11156	157	45	4275	4275	NUM
fcis-11156	158	1	it	it	PRON
fcis-11156	158	2	also	also	ADV
fcis-11156	158	3	shows	show	VERB
fcis-11156	158	4	a	a	DET
fcis-11156	158	5	slight	slight	ADJ
fcis-11156	158	6	improvement	improvement	NOUN
fcis-11156	158	7	compared	compare	VERB
fcis-11156	158	8	to	to	ADP
fcis-11156	158	9	the	the	DET
fcis-11156	158	10	latest	late	ADJ
fcis-11156	158	11	model	model	NOUN
fcis-11156	158	12	sgnet	sgnet	PROPN
fcis-11156	158	13	-	-	PUNCT
fcis-11156	158	14	d	d	PROPN
fcis-11156	158	15	,	,	PUNCT
fcis-11156	158	16	especially	especially	ADV
fcis-11156	158	17	in	in	ADP
fcis-11156	158	18	long	long	ADJ
fcis-11156	158	19	-	-	PUNCT
fcis-11156	158	20	term	term	NOUN
fcis-11156	158	21	(	(	PUNCT
fcis-11156	158	22	1.5s	1.5s	NUM
fcis-11156	158	23	)	)	PUNCT
fcis-11156	158	24	trajectory	trajectory	NOUN
fcis-11156	158	25	prediction	prediction	NOUN
fcis-11156	158	26	tasks	task	NOUN
fcis-11156	158	27	.	.	PUNCT
fcis-11156	159	1	the	the	DET
fcis-11156	159	2	proposed	propose	VERB
fcis-11156	159	3	algorithm	algorithm	NOUN
fcis-11156	159	4	significantly	significantly	ADV
fcis-11156	159	5	reduces	reduce	VERB
fcis-11156	159	6	the	the	DET
fcis-11156	159	7	final	final	ADJ
fcis-11156	159	8	error	error	NOUN
fcis-11156	159	9	by	by	ADP
fcis-11156	159	10	approximately	approximately	ADV
fcis-11156	159	11	8.9	8.9	NUM
fcis-11156	159	12	pixels	pixel	NOUN
fcis-11156	159	13	on	on	ADP
fcis-11156	159	14	the	the	DET
fcis-11156	159	15	jaad	jaad	NOUN
fcis-11156	159	16	dataset	dataset	NOUN
fcis-11156	159	17	and	and	CCONJ
fcis-11156	159	18	2.4	2.4	NUM
fcis-11156	159	19	pixels	pixel	NOUN
fcis-11156	159	20	on	on	ADP
fcis-11156	159	21	the	the	DET
fcis-11156	159	22	pie	pie	NOUN
fcis-11156	159	23	dataset	dataset	NOUN
fcis-11156	159	24	for	for	ADP
fcis-11156	159	25	the	the	DET
fcis-11156	159	26	1.5s	1.5s	NUM
fcis-11156	159	27	prediction	prediction	NOUN
fcis-11156	159	28	task	task	NOUN
fcis-11156	159	29	.	.	PUNCT
fcis-11156	159	30	table	table	NOUN
fcis-11156	159	31	2	2	NUM
fcis-11156	159	32	.	.	PUNCT
fcis-11156	159	33	deterministic	deterministic	ADJ
fcis-11156	159	34	results	result	NOUN
fcis-11156	159	35	on	on	ADP
fcis-11156	159	36	pie	pie	NOUN
fcis-11156	159	37	in	in	ADP
fcis-11156	159	38	terms	term	NOUN
fcis-11156	159	39	of	of	ADP
fcis-11156	159	40	mse	mse	NOUN
fcis-11156	159	41	/	/	SYM
fcis-11156	159	42	cmse	cmse	PROPN
fcis-11156	159	43	/	/	SYM
fcis-11156	159	44	cfmse	cfmse	PROPN
fcis-11156	159	45	.	.	PUNCT
fcis-11156	160	1	↓	↓	PROPN
fcis-11156	160	2	denotes	denote	NOUN
fcis-11156	160	3	lower	low	ADJ
fcis-11156	160	4	is	be	AUX
fcis-11156	160	5	better	well	ADJ
fcis-11156	160	6	.	.	PUNCT
fcis-11156	161	1	method	method	PROPN
fcis-11156	161	2	ade	ade	PROPN
fcis-11156	161	3	0.5s↓	0.5s↓	NUM
fcis-11156	162	1	ade	ade	PROPN
fcis-11156	162	2	1.0s↓	1.0s↓	NUM
fcis-11156	162	3	ade	ade	NOUN
fcis-11156	162	4	1.5s↓	1.5s↓	NUM
fcis-11156	162	5	cade	cade	NOUN
fcis-11156	162	6	1.5s↓	1.5s↓	NUM
fcis-11156	162	7	cfde↓	cfde↓	PROPN
fcis-11156	162	8	linear	linear	PROPN
fcis-11156	162	9	123	123	NUM
fcis-11156	162	10	477	477	NUM
fcis-11156	162	11	1365	1365	NUM
fcis-11156	162	12	950	950	NUM
fcis-11156	162	13	3983	3983	NUM
fcis-11156	162	14	lstm	lstm	NOUN
fcis-11156	162	15	172	172	NUM
fcis-11156	162	16	330	330	NUM
fcis-11156	162	17	911	911	NUM
fcis-11156	162	18	837	837	NUM
fcis-11156	162	19	3352	3352	NUM
fcis-11156	162	20	pie	pie	NOUN
fcis-11156	162	21	58	58	NUM
fcis-11156	162	22	200	200	NUM
fcis-11156	162	23	636	636	NUM
fcis-11156	162	24	596	596	NUM
fcis-11156	162	25	2447	2447	NUM
fcis-11156	162	26	bitrap	bitrap	NOUN
fcis-11156	162	27	41	41	NUM
fcis-11156	162	28	161	161	NUM
fcis-11156	162	29	511	511	NUM
fcis-11156	162	30	481	481	NUM
fcis-11156	162	31	1949	1949	NUM
fcis-11156	162	32	sgnet	sgnet	NOUN
fcis-11156	162	33	-	-	PUNCT
fcis-11156	162	34	d	d	NOUN
fcis-11156	162	35	37	37	NUM
fcis-11156	162	36	148	148	NUM
fcis-11156	162	37	478	478	NUM
fcis-11156	162	38	450	450	NUM
fcis-11156	162	39	1891	1891	NUM
fcis-11156	162	40	ours	ours	PRON
fcis-11156	162	41	36	36	NUM
fcis-11156	162	42	145	145	NUM
fcis-11156	162	43	471	471	NUM
fcis-11156	162	44	442	442	NUM
fcis-11156	162	45	1885	1885	NUM
fcis-11156	162	46	table	table	NOUN
fcis-11156	162	47	3	3	NUM
fcis-11156	162	48	compares	compare	VERB
fcis-11156	162	49	the	the	DET
fcis-11156	162	50	parameter	parameter	NOUN
fcis-11156	162	51	count	count	NOUN
fcis-11156	162	52	and	and	CCONJ
fcis-11156	162	53	inference	inference	NOUN
fcis-11156	162	54	time	time	NOUN
fcis-11156	162	55	of	of	ADP
fcis-11156	162	56	mainstream	mainstream	NOUN
fcis-11156	162	57	models	model	NOUN
fcis-11156	162	58	on	on	ADP
fcis-11156	162	59	the	the	DET
fcis-11156	162	60	entire	entire	ADJ
fcis-11156	162	61	test	test	NOUN
fcis-11156	162	62	set	set	VERB
fcis-11156	162	63	.	.	PUNCT
fcis-11156	163	1	all	all	DET
fcis-11156	163	2	tests	test	NOUN
fcis-11156	163	3	were	be	AUX
fcis-11156	163	4	conducted	conduct	VERB
fcis-11156	163	5	on	on	ADP
fcis-11156	163	6	the	the	DET
fcis-11156	163	7	same	same	ADJ
fcis-11156	163	8	hardware	hardware	NOUN
fcis-11156	163	9	environment	environment	NOUN
fcis-11156	163	10	,	,	PUNCT
fcis-11156	163	11	with	with	ADP
fcis-11156	163	12	batch	batch	NOUN
fcis-11156	163	13	size	size	NOUN
fcis-11156	163	14	set	set	VERB
fcis-11156	163	15	to	to	ADP
fcis-11156	163	16	1024	1024	NUM
fcis-11156	163	17	.	.	PUNCT
fcis-11156	164	1	from	from	ADP
fcis-11156	164	2	the	the	DET
fcis-11156	164	3	table	table	NOUN
fcis-11156	164	4	,	,	PUNCT
fcis-11156	164	5	it	it	PRON
fcis-11156	164	6	can	can	AUX
fcis-11156	164	7	be	be	AUX
fcis-11156	164	8	observed	observe	VERB
fcis-11156	164	9	that	that	SCONJ
fcis-11156	164	10	although	although	SCONJ
fcis-11156	164	11	the	the	DET
fcis-11156	164	12	proposed	propose	VERB
fcis-11156	164	13	algorithm	algorithm	NOUN
fcis-11156	164	14	has	have	VERB
fcis-11156	164	15	a	a	DET
fcis-11156	164	16	slightly	slightly	ADV
fcis-11156	164	17	increased	increase	VERB
fcis-11156	164	18	parameter	parameter	NOUN
fcis-11156	164	19	count	count	NOUN
fcis-11156	164	20	compared	compare	VERB
fcis-11156	164	21	to	to	ADP
fcis-11156	164	22	bitrap	bitrap	NOUN
fcis-11156	164	23	-	-	PUNCT
fcis-11156	164	24	d	d	NOUN
fcis-11156	164	25	and	and	CCONJ
fcis-11156	164	26	a	a	DET
fcis-11156	164	27	slightly	slightly	ADV
fcis-11156	164	28	decreased	decrease	VERB
fcis-11156	164	29	inference	inference	NOUN
fcis-11156	164	30	speed	speed	NOUN
fcis-11156	164	31	,	,	PUNCT
fcis-11156	164	32	it	it	PRON
fcis-11156	164	33	still	still	ADV
fcis-11156	164	34	demonstrates	demonstrate	VERB
fcis-11156	164	35	significant	significant	ADJ
fcis-11156	164	36	advantages	advantage	NOUN
fcis-11156	164	37	compared	compare	VERB
fcis-11156	164	38	to	to	ADP
fcis-11156	164	39	the	the	DET
fcis-11156	164	40	latest	late	ADJ
fcis-11156	164	41	model	model	NOUN
fcis-11156	164	42	sgnet	sgnet	PROPN
fcis-11156	164	43	-	-	PUNCT
fcis-11156	164	44	d.	d.	PROPN
fcis-11156	164	45	table	table	NOUN
fcis-11156	164	46	3	3	NUM
fcis-11156	164	47	.	.	PUNCT
fcis-11156	165	1	the	the	DET
fcis-11156	165	2	comparison	comparison	NOUN
fcis-11156	165	3	of	of	ADP
fcis-11156	165	4	parameter	parameter	NOUN
fcis-11156	165	5	quantity	quantity	NOUN
fcis-11156	165	6	and	and	CCONJ
fcis-11156	165	7	reasoning	reasoning	NOUN
fcis-11156	165	8	speed	speed	NOUN
fcis-11156	165	9	between	between	ADP
fcis-11156	165	10	this	this	DET
fcis-11156	165	11	algorithm	algorithm	NOUN
fcis-11156	165	12	and	and	CCONJ
fcis-11156	165	13	other	other	ADJ
fcis-11156	165	14	mainstream	mainstream	NOUN
fcis-11156	165	15	algorithms	algorithm	NOUN
fcis-11156	165	16	method	method	NOUN
fcis-11156	165	17	parameters	parameter	NOUN
fcis-11156	165	18	(	(	PUNCT
fcis-11156	165	19	pieces	piece	NOUN
fcis-11156	165	20	)	)	PUNCT
fcis-11156	165	21	jaad	jaad	NOUN
fcis-11156	165	22	speed	speed	NOUN
fcis-11156	165	23	(	(	PUNCT
fcis-11156	165	24	second	second	ADJ
fcis-11156	165	25	)	)	PUNCT
fcis-11156	165	26	pie	pie	NOUN
fcis-11156	165	27	speed	speed	NOUN
fcis-11156	165	28	(	(	PUNCT
fcis-11156	165	29	seconds	second	NOUN
fcis-11156	165	30	)	)	PUNCT
fcis-11156	165	31	pie	pie	NOUN
fcis-11156	165	32	1240473	1240473	NUM
fcis-11156	165	33	--2.09	--2.09	NOUN
fcis-11156	165	34	bitrap	bitrap	NOUN
fcis-11156	165	35	1427112	1427112	NUM
fcis-11156	165	36	1.10	1.10	NUM
fcis-11156	165	37	2.73	2.73	NUM
fcis-11156	165	38	ours	ours	PRON
fcis-11156	165	39	3243421	3243421	NUM
fcis-11156	165	40	2.92	2.92	NUM
fcis-11156	165	41	6.49	6.49	NUM
fcis-11156	165	42	sgnet	sgnet	NOUN
fcis-11156	165	43	-	-	PUNCT
fcis-11156	165	44	d	d	NOUN
fcis-11156	165	45	7622406	7622406	NUM
fcis-11156	165	46	33.29	33.29	NUM
fcis-11156	165	47	85.81	85.81	NUM
fcis-11156	165	48	3.4.2	3.4.2	NUM
fcis-11156	165	49	.	.	PUNCT
fcis-11156	166	1	qualitative	qualitative	NOUN
fcis-11156	166	2	results	result	VERB
fcis-11156	166	3	the	the	DET
fcis-11156	166	4	hardware	hardware	NOUN
fcis-11156	166	5	setup	setup	NOUN
fcis-11156	166	6	of	of	ADP
fcis-11156	166	7	the	the	DET
fcis-11156	166	8	simulated	simulate	VERB
fcis-11156	166	9	car	car	NOUN
fcis-11156	166	10	used	use	VERB
fcis-11156	166	11	in	in	ADP
fcis-11156	166	12	this	this	DET
fcis-11156	166	13	paper	paper	NOUN
fcis-11156	166	14	is	be	AUX
fcis-11156	166	15	shown	show	VERB
fcis-11156	166	16	in	in	ADP
fcis-11156	166	17	figure	figure	NOUN
fcis-11156	166	18	3	3	NUM
fcis-11156	166	19	.	.	PUNCT
fcis-11156	167	1	it	it	PRON
fcis-11156	167	2	is	be	AUX
fcis-11156	167	3	equipped	equip	VERB
fcis-11156	167	4	with	with	ADP
fcis-11156	167	5	the	the	DET
fcis-11156	167	6	embedded	embed	VERB
fcis-11156	167	7	device	device	NOUN
fcis-11156	167	8	xavier	xavier	NOUN
fcis-11156	167	9	as	as	ADP
fcis-11156	167	10	the	the	DET
fcis-11156	167	11	computing	computing	NOUN
fcis-11156	167	12	and	and	CCONJ
fcis-11156	167	13	control	control	NOUN
fcis-11156	167	14	center	center	NOUN
fcis-11156	167	15	.	.	PUNCT
fcis-11156	168	1	a	a	DET
fcis-11156	168	2	high	high	ADJ
fcis-11156	168	3	-	-	PUNCT
fcis-11156	168	4	definition	definition	NOUN
fcis-11156	168	5	camera	camera	NOUN
fcis-11156	168	6	is	be	AUX
fcis-11156	168	7	used	use	VERB
fcis-11156	168	8	to	to	PART
fcis-11156	168	9	capture	capture	VERB
fcis-11156	168	10	videos	video	NOUN
fcis-11156	168	11	,	,	PUNCT
fcis-11156	168	12	and	and	CCONJ
fcis-11156	168	13	the	the	DET
fcis-11156	168	14	steering	steering	NOUN
fcis-11156	168	15	of	of	ADP
fcis-11156	168	16	the	the	DET
fcis-11156	168	17	front	front	ADJ
fcis-11156	168	18	wheels	wheel	NOUN
fcis-11156	168	19	of	of	ADP
fcis-11156	168	20	the	the	DET
fcis-11156	168	21	car	car	NOUN
fcis-11156	168	22	is	be	AUX
fcis-11156	168	23	controlled	control	VERB
fcis-11156	168	24	by	by	ADP
fcis-11156	168	25	the	the	DET
fcis-11156	168	26	gpio	gpio	NOUN
fcis-11156	168	27	of	of	ADP
fcis-11156	168	28	xavier	xavier	PROPN
fcis-11156	168	29	using	use	VERB
fcis-11156	168	30	a	a	DET
fcis-11156	168	31	servo	servo	NOUN
fcis-11156	168	32	.	.	PUNCT
fcis-11156	169	1	to	to	PART
fcis-11156	169	2	display	display	VERB
fcis-11156	169	3	the	the	DET
fcis-11156	169	4	prediction	prediction	NOUN
fcis-11156	169	5	results	result	NOUN
fcis-11156	169	6	,	,	PUNCT
fcis-11156	169	7	a	a	DET
fcis-11156	169	8	high	high	ADJ
fcis-11156	169	9	-	-	PUNCT
fcis-11156	169	10	definition	definition	NOUN
fcis-11156	169	11	display	display	NOUN
fcis-11156	169	12	screen	screen	NOUN
fcis-11156	169	13	is	be	AUX
fcis-11156	169	14	also	also	ADV
fcis-11156	169	15	equipped	equip	VERB
fcis-11156	169	16	.	.	PUNCT
fcis-11156	170	1	figure	figure	VERB
fcis-11156	170	2	3	3	NUM
fcis-11156	170	3	.	.	PUNCT
fcis-11156	170	4	hardware	hardware	NOUN
fcis-11156	170	5	structure	structure	NOUN
fcis-11156	170	6	of	of	ADP
fcis-11156	170	7	simulation	simulation	NOUN
fcis-11156	170	8	vehicle	vehicle	NOUN
fcis-11156	170	9	equipped	equip	VERB
fcis-11156	170	10	with	with	ADP
fcis-11156	170	11	pedestrian	pedestrian	NOUN
fcis-11156	170	12	trajectory	trajectory	NOUN
fcis-11156	170	13	prediction	prediction	NOUN
fcis-11156	170	14	system	system	NOUN
fcis-11156	170	15	using	use	VERB
fcis-11156	170	16	the	the	DET
fcis-11156	170	17	trajectory	trajectory	NOUN
fcis-11156	170	18	prediction	prediction	NOUN
fcis-11156	170	19	system	system	NOUN
fcis-11156	170	20	designed	design	VERB
fcis-11156	170	21	in	in	ADP
fcis-11156	170	22	this	this	DET
fcis-11156	170	23	paper	paper	NOUN
fcis-11156	170	24	,	,	PUNCT
fcis-11156	170	25	the	the	DET
fcis-11156	170	26	predicted	predict	VERB
fcis-11156	170	27	results	result	NOUN
fcis-11156	170	28	of	of	ADP
fcis-11156	170	29	the	the	DET
fcis-11156	170	30	video	video	NOUN
fcis-11156	170	31	in	in	ADP
fcis-11156	170	32	a	a	DET
fcis-11156	170	33	traffic	traffic	NOUN
fcis-11156	170	34	scenario	scenario	NOUN
fcis-11156	170	35	are	be	AUX
fcis-11156	170	36	shown	show	VERB
fcis-11156	170	37	in	in	ADP
fcis-11156	170	38	the	the	DET
fcis-11156	170	39	figure	figure	NOUN
fcis-11156	170	40	.	.	PUNCT
fcis-11156	171	1	from	from	ADP
fcis-11156	171	2	figure	figure	NOUN
fcis-11156	171	3	4	4	NUM
fcis-11156	171	4	,	,	PUNCT
fcis-11156	171	5	it	it	PRON
fcis-11156	171	6	can	can	AUX
fcis-11156	171	7	be	be	AUX
fcis-11156	171	8	observed	observe	VERB
fcis-11156	171	9	that	that	SCONJ
fcis-11156	171	10	the	the	DET
fcis-11156	171	11	pedestrian	pedestrian	NOUN
fcis-11156	171	12	skeleton	skeleton	NOUN
fcis-11156	171	13	recognition	recognition	NOUN
fcis-11156	171	14	is	be	AUX
fcis-11156	171	15	complete	complete	ADJ
fcis-11156	171	16	and	and	CCONJ
fcis-11156	171	17	the	the	DET
fcis-11156	171	18	predicted	predict	VERB
fcis-11156	171	19	future	future	ADJ
fcis-11156	171	20	trajectory	trajectory	NOUN
fcis-11156	171	21	matches	match	NOUN
fcis-11156	171	22	expectations	expectation	NOUN
fcis-11156	171	23	.	.	PUNCT
fcis-11156	172	1	the	the	DET
fcis-11156	172	2	system	system	NOUN
fcis-11156	172	3	also	also	ADV
fcis-11156	172	4	displays	display	VERB
fcis-11156	172	5	a	a	DET
fcis-11156	172	6	cautionary	cautionary	ADJ
fcis-11156	172	7	zone	zone	NOUN
fcis-11156	172	8	,	,	PUNCT
fcis-11156	172	9	and	and	CCONJ
fcis-11156	172	10	when	when	SCONJ
fcis-11156	172	11	the	the	DET
fcis-11156	172	12	future	future	ADJ
fcis-11156	172	13	position	position	NOUN
fcis-11156	172	14	of	of	ADP
fcis-11156	172	15	the	the	DET
fcis-11156	172	16	pedestrian	pedestrian	NOUN
fcis-11156	172	17	is	be	AUX
fcis-11156	172	18	within	within	ADP
fcis-11156	172	19	this	this	DET
fcis-11156	172	20	zone	zone	NOUN
fcis-11156	172	21	,	,	PUNCT
fcis-11156	172	22	the	the	DET
fcis-11156	172	23	color	color	NOUN
fcis-11156	172	24	of	of	ADP
fcis-11156	172	25	the	the	DET
fcis-11156	172	26	pedestrian	pedestrian	NOUN
fcis-11156	172	27	's	's	PART
fcis-11156	172	28	bounding	bounding	NOUN
fcis-11156	172	29	box	box	NOUN
fcis-11156	172	30	changes	change	NOUN
fcis-11156	172	31	from	from	ADP
fcis-11156	172	32	green	green	ADJ
fcis-11156	172	33	to	to	ADP
fcis-11156	172	34	red	red	PROPN
fcis-11156	172	35	.	.	PUNCT
fcis-11156	173	1	at	at	ADP
fcis-11156	173	2	the	the	DET
fcis-11156	173	3	same	same	ADJ
fcis-11156	173	4	time	time	NOUN
fcis-11156	173	5	,	,	PUNCT
fcis-11156	173	6	a	a	DET
fcis-11156	173	7	voice	voice	NOUN
fcis-11156	173	8	warning	warning	NOUN
fcis-11156	173	9	is	be	AUX
fcis-11156	173	10	issued	issue	VERB
fcis-11156	173	11	,	,	PUNCT
fcis-11156	173	12	and	and	CCONJ
fcis-11156	173	13	xavier	xavier	PROPN
fcis-11156	173	14	controls	control	VERB
fcis-11156	173	15	the	the	DET
fcis-11156	173	16	motor	motor	NOUN
fcis-11156	173	17	detection	detection	NOUN
fcis-11156	173	18	to	to	PART
fcis-11156	173	19	avoid	avoid	VERB
fcis-11156	173	20	collisions	collision	NOUN
fcis-11156	173	21	.	.	PUNCT
fcis-11156	174	1	figure	figure	VERB
fcis-11156	174	2	4	4	NUM
fcis-11156	174	3	.	.	PUNCT
fcis-11156	175	1	pedestrian	pedestrian	NOUN
fcis-11156	175	2	trajectory	trajectory	NOUN
fcis-11156	175	3	prediction	prediction	NOUN
fcis-11156	175	4	results	result	VERB
fcis-11156	175	5	113	113	NUM
fcis-11156	175	6	4	4	NUM
fcis-11156	175	7	.	.	PUNCT
fcis-11156	175	8	conclusion	conclusion	NOUN
fcis-11156	175	9	in	in	ADP
fcis-11156	175	10	this	this	DET
fcis-11156	175	11	paper	paper	NOUN
fcis-11156	175	12	,	,	PUNCT
fcis-11156	175	13	a	a	DET
fcis-11156	175	14	vehicle	vehicle	NOUN
fcis-11156	175	15	-	-	PUNCT
fcis-11156	175	16	mounted	mount	VERB
fcis-11156	175	17	pedestrian	pedestrian	NOUN
fcis-11156	175	18	trajectory	trajectory	NOUN
fcis-11156	175	19	prediction	prediction	NOUN
fcis-11156	175	20	system	system	NOUN
fcis-11156	175	21	based	base	VERB
fcis-11156	175	22	on	on	ADP
fcis-11156	175	23	jetson	jetson	PROPN
fcis-11156	175	24	xavier	xavier	PROPN
fcis-11156	175	25	is	be	AUX
fcis-11156	175	26	designed	design	VERB
fcis-11156	175	27	.	.	PUNCT
fcis-11156	176	1	the	the	DET
fcis-11156	176	2	pedestrian	pedestrian	NOUN
fcis-11156	176	3	trajectory	trajectory	NOUN
fcis-11156	176	4	prediction	prediction	NOUN
fcis-11156	176	5	from	from	ADP
fcis-11156	176	6	the	the	DET
fcis-11156	176	7	driving	driving	NOUN
fcis-11156	176	8	perspective	perspective	NOUN
fcis-11156	176	9	is	be	AUX
fcis-11156	176	10	studied	study	VERB
fcis-11156	176	11	in	in	ADP
fcis-11156	176	12	detail	detail	NOUN
fcis-11156	176	13	.	.	PUNCT
fcis-11156	177	1	the	the	DET
fcis-11156	177	2	attitude	attitude	NOUN
fcis-11156	177	3	information	information	NOUN
fcis-11156	177	4	and	and	CCONJ
fcis-11156	177	5	optical	optical	ADJ
fcis-11156	177	6	flow	flow	NOUN
fcis-11156	177	7	information	information	NOUN
fcis-11156	177	8	are	be	AUX
fcis-11156	177	9	introduced	introduce	VERB
fcis-11156	177	10	on	on	ADP
fcis-11156	177	11	the	the	DET
fcis-11156	177	12	basis	basis	NOUN
fcis-11156	177	13	of	of	ADP
fcis-11156	177	14	a	a	DET
fcis-11156	177	15	single	single	ADJ
fcis-11156	177	16	trajectory	trajectory	NOUN
fcis-11156	177	17	information	information	NOUN
fcis-11156	177	18	.	.	PUNCT
fcis-11156	178	1	a	a	DET
fcis-11156	178	2	novel	novel	ADJ
fcis-11156	178	3	multi	multi	ADJ
fcis-11156	178	4	-	-	ADJ
fcis-11156	178	5	center	center	ADJ
fcis-11156	178	6	fusion	fusion	NOUN
fcis-11156	178	7	attention	attention	NOUN
fcis-11156	178	8	mechanism	mechanism	NOUN
fcis-11156	178	9	is	be	AUX
fcis-11156	178	10	designed	design	VERB
fcis-11156	178	11	to	to	PART
fcis-11156	178	12	more	more	ADV
fcis-11156	178	13	effectively	effectively	ADV
fcis-11156	178	14	fuse	fuse	VERB
fcis-11156	178	15	multi	multi	ADJ
fcis-11156	178	16	-	-	ADJ
fcis-11156	178	17	information	information	ADJ
fcis-11156	178	18	features	feature	NOUN
fcis-11156	178	19	and	and	CCONJ
fcis-11156	178	20	improve	improve	VERB
fcis-11156	178	21	the	the	DET
fcis-11156	178	22	accuracy	accuracy	NOUN
fcis-11156	178	23	of	of	ADP
fcis-11156	178	24	pedestrian	pedestrian	NOUN
fcis-11156	178	25	trajectory	trajectory	NOUN
fcis-11156	178	26	prediction	prediction	NOUN
fcis-11156	178	27	.	.	PUNCT
fcis-11156	179	1	the	the	DET
fcis-11156	179	2	designed	design	VERB
fcis-11156	179	3	algorithm	algorithm	NOUN
fcis-11156	179	4	is	be	AUX
fcis-11156	179	5	transplanted	transplant	VERB
fcis-11156	179	6	into	into	ADP
fcis-11156	179	7	the	the	DET
fcis-11156	179	8	embedded	embed	VERB
fcis-11156	179	9	device	device	NOUN
fcis-11156	179	10	jetson	jetson	PROPN
fcis-11156	179	11	xavier	xavier	PROPN
fcis-11156	179	12	to	to	PART
fcis-11156	179	13	realize	realize	VERB
fcis-11156	179	14	the	the	DET
fcis-11156	179	15	whole	whole	ADJ
fcis-11156	179	16	process	process	NOUN
fcis-11156	179	17	and	and	CCONJ
fcis-11156	179	18	real	real	ADJ
fcis-11156	179	19	-	-	PUNCT
fcis-11156	179	20	time	time	NOUN
fcis-11156	179	21	operation	operation	NOUN
fcis-11156	179	22	from	from	ADP
fcis-11156	179	23	pedestrian	pedestrian	NOUN
fcis-11156	179	24	detection	detection	NOUN
fcis-11156	179	25	,	,	PUNCT
fcis-11156	179	26	pedestrian	pedestrian	NOUN
fcis-11156	179	27	tracking	tracking	NOUN
fcis-11156	179	28	,	,	PUNCT
fcis-11156	179	29	pedestrian	pedestrian	NOUN
fcis-11156	179	30	attitude	attitude	NOUN
fcis-11156	179	31	estimation	estimation	NOUN
fcis-11156	179	32	,	,	PUNCT
fcis-11156	179	33	pedestrian	pedestrian	NOUN
fcis-11156	179	34	optical	optical	ADJ
fcis-11156	179	35	flow	flow	NOUN
fcis-11156	179	36	estimation	estimation	NOUN
fcis-11156	179	37	,	,	PUNCT
fcis-11156	179	38	pedestrian	pedestrian	NOUN
fcis-11156	179	39	trajectory	trajectory	NOUN
fcis-11156	179	40	acquisition	acquisition	NOUN
fcis-11156	179	41	to	to	ADP
fcis-11156	179	42	pedestrian	pedestrian	NOUN
fcis-11156	179	43	trajectory	trajectory	NOUN
fcis-11156	179	44	prediction	prediction	NOUN
fcis-11156	179	45	,	,	PUNCT
fcis-11156	179	46	vehicle	vehicle	NOUN
fcis-11156	179	47	control	control	NOUN
fcis-11156	179	48	,	,	PUNCT
fcis-11156	179	49	etc	etc	X
fcis-11156	179	50	.	.	X
fcis-11156	180	1	the	the	DET
fcis-11156	180	2	designed	design	VERB
fcis-11156	180	3	system	system	NOUN
fcis-11156	180	4	is	be	AUX
fcis-11156	180	5	mounted	mount	VERB
fcis-11156	180	6	on	on	ADP
fcis-11156	180	7	the	the	DET
fcis-11156	180	8	simulation	simulation	NOUN
fcis-11156	180	9	car	car	NOUN
fcis-11156	180	10	,	,	PUNCT
fcis-11156	180	11	and	and	CCONJ
fcis-11156	180	12	tested	test	VERB
fcis-11156	180	13	for	for	ADP
fcis-11156	180	14	different	different	ADJ
fcis-11156	180	15	scenarios	scenario	NOUN
fcis-11156	180	16	to	to	PART
fcis-11156	180	17	verify	verify	VERB
fcis-11156	180	18	the	the	DET
fcis-11156	180	19	function	function	NOUN
fcis-11156	180	20	of	of	ADP
fcis-11156	180	21	the	the	DET
fcis-11156	180	22	system	system	NOUN
fcis-11156	180	23	.	.	PUNCT
fcis-11156	181	1	the	the	DET
fcis-11156	181	2	future	future	ADJ
fcis-11156	181	3	trajectory	trajectory	NOUN
fcis-11156	181	4	of	of	ADP
fcis-11156	181	5	the	the	DET
fcis-11156	181	6	pedestrian	pedestrian	NOUN
fcis-11156	181	7	is	be	AUX
fcis-11156	181	8	displayed	display	VERB
fcis-11156	181	9	to	to	ADP
fcis-11156	181	10	the	the	DET
fcis-11156	181	11	driver	driver	NOUN
fcis-11156	181	12	through	through	ADP
fcis-11156	181	13	the	the	DET
fcis-11156	181	14	display	display	NOUN
fcis-11156	181	15	,	,	PUNCT
fcis-11156	181	16	and	and	CCONJ
fcis-11156	181	17	the	the	DET
fcis-11156	181	18	warning	warning	NOUN
fcis-11156	181	19	area	area	NOUN
fcis-11156	181	20	is	be	AUX
fcis-11156	181	21	delineated	delineated	ADJ
fcis-11156	181	22	.	.	PUNCT
fcis-11156	182	1	when	when	SCONJ
fcis-11156	182	2	the	the	DET
fcis-11156	182	3	future	future	ADJ
fcis-11156	182	4	trajectory	trajectory	NOUN
fcis-11156	182	5	of	of	ADP
fcis-11156	182	6	the	the	DET
fcis-11156	182	7	pedestrian	pedestrian	NOUN
fcis-11156	182	8	enters	enter	VERB
fcis-11156	182	9	the	the	DET
fcis-11156	182	10	warning	warning	NOUN
fcis-11156	182	11	area	area	NOUN
fcis-11156	182	12	,	,	PUNCT
fcis-11156	182	13	the	the	DET
fcis-11156	182	14	system	system	NOUN
fcis-11156	182	15	will	will	AUX
fcis-11156	182	16	issue	issue	VERB
fcis-11156	182	17	a	a	DET
fcis-11156	182	18	voice	voice	NOUN
fcis-11156	182	19	broadcast	broadcast	VERB
fcis-11156	182	20	to	to	PART
fcis-11156	182	21	warn	warn	VERB
fcis-11156	182	22	the	the	DET
fcis-11156	182	23	driver	driver	NOUN
fcis-11156	182	24	to	to	PART
fcis-11156	182	25	pay	pay	VERB
fcis-11156	182	26	attention	attention	NOUN
fcis-11156	182	27	to	to	ADP
fcis-11156	182	28	the	the	DET
fcis-11156	182	29	pedestrian	pedestrian	NOUN
fcis-11156	182	30	.	.	PUNCT
fcis-11156	183	1	through	through	ADP
fcis-11156	183	2	experiments	experiment	NOUN
fcis-11156	183	3	,	,	PUNCT
fcis-11156	183	4	it	it	PRON
fcis-11156	183	5	is	be	AUX
fcis-11156	183	6	found	find	VERB
fcis-11156	183	7	that	that	SCONJ
fcis-11156	183	8	when	when	SCONJ
fcis-11156	183	9	the	the	DET
fcis-11156	183	10	speed	speed	NOUN
fcis-11156	183	11	is	be	AUX
fcis-11156	183	12	not	not	PART
fcis-11156	183	13	fast	fast	ADJ
fcis-11156	183	14	,	,	PUNCT
fcis-11156	183	15	the	the	DET
fcis-11156	183	16	real	real	ADJ
fcis-11156	183	17	-	-	PUNCT
fcis-11156	183	18	time	time	NOUN
fcis-11156	183	19	prediction	prediction	NOUN
fcis-11156	183	20	error	error	NOUN
fcis-11156	183	21	of	of	ADP
fcis-11156	183	22	pedestrian	pedestrian	NOUN
fcis-11156	183	23	trajectory	trajectory	NOUN
fcis-11156	183	24	is	be	AUX
fcis-11156	183	25	small	small	ADJ
fcis-11156	183	26	and	and	CCONJ
fcis-11156	183	27	has	have	VERB
fcis-11156	183	28	good	good	ADJ
fcis-11156	183	29	practicability	practicability	NOUN
fcis-11156	183	30	.	.	PUNCT
fcis-11156	184	1	references	reference	NOUN
fcis-11156	184	2	[	[	X
fcis-11156	184	3	1	1	NUM
fcis-11156	184	4	]	]	PUNCT
fcis-11156	184	5	rudenko	rudenko	NOUN
fcis-11156	184	6	a	a	PRON
fcis-11156	184	7	,	,	PUNCT
fcis-11156	184	8	palmieri	palmieri	PROPN
fcis-11156	184	9	l	l	PROPN
fcis-11156	184	10	,	,	PUNCT
fcis-11156	184	11	herman	herman	PROPN
fcis-11156	184	12	m	m	PROPN
fcis-11156	184	13	,	,	PUNCT
fcis-11156	184	14	et	et	PROPN
fcis-11156	184	15	al	al	PROPN
fcis-11156	184	16	.	.	PUNCT
fcis-11156	185	1	human	human	PROPN
fcis-11156	185	2	motion	motion	NOUN
fcis-11156	185	3	trajectory	trajectory	NOUN
fcis-11156	185	4	prediction	prediction	NOUN
fcis-11156	185	5	:	:	PUNCT
fcis-11156	185	6	a	a	DET
fcis-11156	185	7	survey[j	survey[j	NOUN
fcis-11156	185	8	]	]	PUNCT
fcis-11156	185	9	.	.	PUNCT
fcis-11156	186	1	the	the	DET
fcis-11156	186	2	international	international	ADJ
fcis-11156	186	3	journal	journal	NOUN
fcis-11156	186	4	of	of	ADP
fcis-11156	186	5	robotics	robotic	NOUN
fcis-11156	186	6	research	research	NOUN
fcis-11156	186	7	,	,	PUNCT
fcis-11156	186	8	2020	2020	NUM
fcis-11156	186	9	,	,	PUNCT
fcis-11156	186	10	39(8	39(8	NUM
fcis-11156	186	11	):	):	PUNCT
fcis-11156	186	12	895	895	NUM
fcis-11156	186	13	-	-	SYM
fcis-11156	186	14	935	935	NUM
fcis-11156	186	15	.	.	PUNCT
fcis-11156	187	1	[	[	X
fcis-11156	187	2	2	2	NUM
fcis-11156	187	3	]	]	X
fcis-11156	187	4	dirk	dirk	NOUN
fcis-11156	187	5	helbing	helbing	NOUN
fcis-11156	187	6	and	and	CCONJ
fcis-11156	187	7	peter	peter	PROPN
fcis-11156	187	8	molnar	molnar	PROPN
fcis-11156	187	9	.	.	PUNCT
fcis-11156	188	1	social	social	ADJ
fcis-11156	188	2	force	force	NOUN
fcis-11156	188	3	model	model	NOUN
fcis-11156	188	4	for	for	ADP
fcis-11156	188	5	pedestrian	pedestrian	NOUN
fcis-11156	188	6	dynamics[j	dynamics[j	PROPN
fcis-11156	188	7	]	]	PUNCT
fcis-11156	188	8	.	.	PUNCT
fcis-11156	189	1	physical	physical	ADJ
fcis-11156	189	2	review	review	PROPN
fcis-11156	189	3	e	e	NOUN
fcis-11156	189	4	,	,	PUNCT
fcis-11156	189	5	1995,51(5):42824286	1995,51(5):42824286	NOUN
fcis-11156	189	6	.	.	PUNCT
fcis-11156	190	1	[	[	X
fcis-11156	190	2	3	3	X
fcis-11156	190	3	]	]	X
fcis-11156	190	4	ramin	ramin	PROPN
fcis-11156	190	5	mehran	mehran	PROPN
fcis-11156	190	6	,	,	PUNCT
fcis-11156	190	7	alexis	alexis	PROPN
fcis-11156	190	8	oyama	oyama	PROPN
fcis-11156	190	9	,	,	PUNCT
fcis-11156	190	10	and	and	CCONJ
fcis-11156	190	11	mubarak	mubarak	PROPN
fcis-11156	190	12	shah	shah	PROPN
fcis-11156	190	13	.	.	PUNCT
fcis-11156	191	1	abnormal	abnormal	ADJ
fcis-11156	191	2	crowd	crowd	NOUN
fcis-11156	191	3	behavior	behavior	NOUN
fcis-11156	191	4	detection	detection	NOUN
fcis-11156	191	5	using	use	VERB
fcis-11156	191	6	social	social	ADJ
fcis-11156	191	7	force	force	NOUN
fcis-11156	191	8	model[c	model[c	PROPN
fcis-11156	191	9	]	]	PUNCT
fcis-11156	191	10	.	.	PUNCT
fcis-11156	192	1	ieee	ieee	PROPN
fcis-11156	192	2	conference	conference	PROPN
fcis-11156	192	3	on	on	ADP
fcis-11156	192	4	computer	computer	NOUN
fcis-11156	192	5	vision	vision	NOUN
fcis-11156	192	6	and	and	CCONJ
fcis-11156	192	7	pattern	pattern	NOUN
fcis-11156	192	8	recognition,2009	recognition,2009	NOUN
fcis-11156	192	9	:	:	PUNCT
fcis-11156	192	10	935–942	935–942	NUM
fcis-11156	192	11	.	.	PUNCT
fcis-11156	193	1	[	[	X
fcis-11156	193	2	4	4	X
fcis-11156	193	3	]	]	X
fcis-11156	193	4	stefano	stefano	PROPN
fcis-11156	193	5	pellegrini	pellegrini	PROPN
fcis-11156	193	6	,	,	PUNCT
fcis-11156	193	7	andreas	andreas	PROPN
fcis-11156	193	8	ess	ess	PROPN
fcis-11156	193	9	,	,	PUNCT
fcis-11156	193	10	konrad	konrad	PROPN
fcis-11156	193	11	schindler	schindler	PROPN
fcis-11156	193	12	,	,	PUNCT
fcis-11156	193	13	and	and	CCONJ
fcis-11156	193	14	luc	luc	PROPN
fcis-11156	193	15	van	van	PROPN
fcis-11156	193	16	gool	gool	PROPN
fcis-11156	193	17	.	.	PUNCT
fcis-11156	194	1	you	you	PRON
fcis-11156	194	2	’ll	’ll	AUX
fcis-11156	194	3	never	never	ADV
fcis-11156	194	4	walk	walk	VERB
fcis-11156	194	5	alone	alone	ADV
fcis-11156	194	6	:	:	PUNCT
fcis-11156	194	7	modeling	model	VERB
fcis-11156	194	8	social	social	ADJ
fcis-11156	194	9	behavior	behavior	NOUN
fcis-11156	194	10	for	for	ADP
fcis-11156	194	11	multi	multi	ADJ
fcis-11156	194	12	-	-	NOUN
fcis-11156	194	13	target	target	ADJ
fcis-11156	194	14	tracking[c	tracking[c	NOUN
fcis-11156	194	15	]	]	PUNCT
fcis-11156	194	16	.	.	PUNCT
fcis-11156	195	1	ieee	ieee	PROPN
fcis-11156	195	2	international	international	PROPN
fcis-11156	195	3	conference	conference	NOUN
fcis-11156	195	4	on	on	ADP
fcis-11156	195	5	computer	computer	NOUN
fcis-11156	195	6	vision	vision	NOUN
fcis-11156	195	7	and	and	CCONJ
fcis-11156	195	8	pattern	pattern	NOUN
fcis-11156	195	9	recognition	recognition	NOUN
fcis-11156	195	10	,	,	PUNCT
fcis-11156	195	11	2009:261–268	2009:261–268	X
fcis-11156	195	12	.	.	PUNCT
fcis-11156	196	1	[	[	X
fcis-11156	196	2	5	5	X
fcis-11156	196	3	]	]	PUNCT
fcis-11156	196	4	kota	kota	PROPN
fcis-11156	196	5	yamaguchi	yamaguchi	PROPN
fcis-11156	196	6	,	,	PUNCT
fcis-11156	196	7	alexander	alexander	PROPN
fcis-11156	196	8	c	c	PROPN
fcis-11156	196	9	berg	berg	PROPN
fcis-11156	196	10	,	,	PUNCT
fcis-11156	196	11	luis	luis	PROPN
fcis-11156	196	12	e	e	PROPN
fcis-11156	196	13	ortiz	ortiz	PROPN
fcis-11156	196	14	,	,	PUNCT
fcis-11156	196	15	and	and	CCONJ
fcis-11156	196	16	tamara	tamara	PROPN
fcis-11156	196	17	l	l	PROPN
fcis-11156	196	18	berg	berg	PROPN
fcis-11156	196	19	.	.	PUNCT
fcis-11156	197	1	who	who	PRON
fcis-11156	197	2	are	be	AUX
fcis-11156	197	3	you	you	PRON
fcis-11156	197	4	with	with	ADP
fcis-11156	197	5	and	and	CCONJ
fcis-11156	197	6	where	where	SCONJ
fcis-11156	197	7	are	be	AUX
fcis-11156	197	8	you	you	PRON
fcis-11156	197	9	going	go	VERB
fcis-11156	197	10	?	?	PUNCT
fcis-11156	198	1	[	[	X
fcis-11156	198	2	c	c	X
fcis-11156	198	3	]	]	X
fcis-11156	198	4	,	,	PUNCT
fcis-11156	198	5	ieee	ieee	PROPN
fcis-11156	198	6	international	international	ADJ
fcis-11156	198	7	conference	conference	NOUN
fcis-11156	198	8	on	on	ADP
fcis-11156	198	9	computer	computer	NOUN
fcis-11156	198	10	vision	vision	NOUN
fcis-11156	198	11	and	and	CCONJ
fcis-11156	198	12	pattern	pattern	NOUN
fcis-11156	198	13	recognition	recognition	NOUN
fcis-11156	198	14	,	,	PUNCT
fcis-11156	198	15	2011:1345–1352	2011:1345–1352	NUM
fcis-11156	198	16	.	.	PUNCT
fcis-11156	199	1	[	[	X
fcis-11156	199	2	6	6	NUM
fcis-11156	199	3	]	]	PUNCT
fcis-11156	199	4	gianluca	gianluca	PROPN
fcis-11156	199	5	antonini	antonini	PROPN
fcis-11156	199	6	,	,	PUNCT
fcis-11156	199	7	michel	michel	PROPN
fcis-11156	199	8	bierlaire	bierlaire	PROPN
fcis-11156	199	9	,	,	PUNCT
fcis-11156	199	10	and	and	CCONJ
fcis-11156	199	11	mats	mat	VERB
fcis-11156	200	1	weber	weber	PROPN
fcis-11156	200	2	.	.	PUNCT
fcis-11156	200	3	discrete	discrete	ADJ
fcis-11156	200	4	choice	choice	NOUN
fcis-11156	200	5	models	model	NOUN
fcis-11156	200	6	of	of	ADP
fcis-11156	200	7	pedestrian	pedestrian	NOUN
fcis-11156	200	8	walking	walk	VERB
fcis-11156	200	9	behavior[j	behavior[j	NOUN
fcis-11156	200	10	]	]	PUNCT
fcis-11156	200	11	.	.	PUNCT
fcis-11156	201	1	transportation	transportation	NOUN
fcis-11156	201	2	research	research	NOUN
fcis-11156	201	3	part	part	NOUN
fcis-11156	201	4	b	b	NOUN
fcis-11156	201	5	:	:	PUNCT
fcis-11156	201	6	methodological	methodological	ADJ
fcis-11156	201	7	,	,	PUNCT
fcis-11156	201	8	2006	2006	NUM
fcis-11156	201	9	,	,	PUNCT
fcis-11156	201	10	40(8	40(8	NUM
fcis-11156	201	11	):	):	PUNCT
fcis-11156	201	12	667–687	667–687	NUM
fcis-11156	201	13	.	.	PUNCT
fcis-11156	202	1	[	[	X
fcis-11156	202	2	7	7	NUM
fcis-11156	202	3	]	]	X
fcis-11156	202	4	agrim	agrim	NOUN
fcis-11156	202	5	gupta	gupta	PROPN
fcis-11156	202	6	,	,	PUNCT
fcis-11156	202	7	justin	justin	PROPN
fcis-11156	202	8	johnson	johnson	PROPN
fcis-11156	202	9	,	,	PUNCT
fcis-11156	202	10	li	li	PROPN
fcis-11156	202	11	fei	fei	PROPN
fcis-11156	202	12	-	-	PUNCT
fcis-11156	202	13	fei	fei	PROPN
fcis-11156	202	14	,	,	PUNCT
fcis-11156	202	15	silvio	silvio	PROPN
fcis-11156	202	16	savarese	savarese	PROPN
fcis-11156	202	17	,	,	PUNCT
fcis-11156	202	18	and	and	CCONJ
fcis-11156	202	19	alexandre	alexandre	PROPN
fcis-11156	202	20	alahi	alahi	PROPN
fcis-11156	202	21	.	.	PUNCT
fcis-11156	203	1	social	social	ADJ
fcis-11156	203	2	gan	gan	PROPN
fcis-11156	203	3	:	:	PUNCT
fcis-11156	203	4	socially	socially	ADV
fcis-11156	203	5	acceptable	acceptable	ADJ
fcis-11156	203	6	trajectories	trajectory	NOUN
fcis-11156	203	7	with	with	ADP
fcis-11156	203	8	generative	generative	ADJ
fcis-11156	203	9	adversarial	adversarial	NOUN
fcis-11156	203	10	networks[c	networks[c	PROPN
fcis-11156	203	11	]	]	PUNCT
fcis-11156	203	12	.	.	PUNCT
fcis-11156	204	1	ieee	ieee	PROPN
fcis-11156	204	2	conference	conference	PROPN
fcis-11156	204	3	on	on	ADP
fcis-11156	204	4	computer	computer	NOUN
fcis-11156	204	5	vision	vision	NOUN
fcis-11156	204	6	and	and	CCONJ
fcis-11156	204	7	pattern	pattern	NOUN
fcis-11156	204	8	recognition,2018:2255–2264	recognition,2018:2255–2264	PROPN
fcis-11156	204	9	.	.	PUNCT
fcis-11156	205	1	[	[	X
fcis-11156	205	2	8	8	NUM
fcis-11156	205	3	]	]	PUNCT
fcis-11156	205	4	anirudh	anirudh	X
fcis-11156	205	5	vemula	vemula	NOUN
fcis-11156	205	6	,	,	PUNCT
fcis-11156	205	7	katharina	katharina	PROPN
fcis-11156	205	8	muelling	muelling	PROPN
fcis-11156	205	9	,	,	PUNCT
fcis-11156	205	10	and	and	CCONJ
fcis-11156	205	11	jean	jean	PROPN
fcis-11156	206	1	oh	oh	INTJ
fcis-11156	206	2	.	.	PUNCT
fcis-11156	207	1	social	social	ADJ
fcis-11156	207	2	attention	attention	NOUN
fcis-11156	207	3	:	:	PUNCT
fcis-11156	207	4	modeling	model	VERB
fcis-11156	207	5	attention	attention	NOUN
fcis-11156	207	6	in	in	ADP
fcis-11156	207	7	human	human	PROPN
fcis-11156	207	8	crowds[c	crowds[c	PROPN
fcis-11156	207	9	]	]	PUNCT
fcis-11156	207	10	.	.	PUNCT
fcis-11156	208	1	ieee	ieee	PROPN
fcis-11156	208	2	international	international	PROPN
fcis-11156	208	3	conference	conference	NOUN
fcis-11156	208	4	on	on	ADP
fcis-11156	208	5	robotics	robotic	NOUN
fcis-11156	208	6	and	and	CCONJ
fcis-11156	208	7	automation	automation	NOUN
fcis-11156	208	8	,	,	PUNCT
fcis-11156	208	9	2018:1–7	2018:1–7	NUM
fcis-11156	208	10	.	.	PUNCT
fcis-11156	209	1	[	[	X
fcis-11156	209	2	9	9	NUM
fcis-11156	209	3	]	]	SYM
fcis-11156	209	4	tharindu	tharindu	NOUN
fcis-11156	209	5	fernando	fernando	NOUN
fcis-11156	209	6	,	,	PUNCT
fcis-11156	209	7	simon	simon	PROPN
fcis-11156	209	8	denman	denman	PROPN
fcis-11156	209	9	,	,	PUNCT
fcis-11156	209	10	sridha	sridha	PROPN
fcis-11156	209	11	sridharan	sridharan	ADJ
fcis-11156	209	12	,	,	PUNCT
fcis-11156	209	13	and	and	CCONJ
fcis-11156	209	14	clinton	clinton	PROPN
fcis-11156	209	15	fookes	fooke	VERB
fcis-11156	209	16	.	.	PUNCT
fcis-11156	210	1	soft+	soft+	PART
fcis-11156	210	2	hardwired	hardwired	ADJ
fcis-11156	210	3	attention	attention	NOUN
fcis-11156	210	4	:	:	PUNCT
fcis-11156	210	5	an	an	DET
fcis-11156	210	6	lstm	lstm	ADJ
fcis-11156	210	7	framework	framework	NOUN
fcis-11156	210	8	for	for	ADP
fcis-11156	210	9	human	human	ADJ
fcis-11156	210	10	trajectory	trajectory	NOUN
fcis-11156	210	11	prediction	prediction	NOUN
fcis-11156	210	12	and	and	CCONJ
fcis-11156	210	13	abnormal	abnormal	ADJ
fcis-11156	210	14	event	event	NOUN
fcis-11156	210	15	detection[j	detection[j	PROPN
fcis-11156	210	16	]	]	PUNCT
fcis-11156	210	17	.	.	PUNCT
fcis-11156	211	1	neural	neural	ADJ
fcis-11156	211	2	networks	network	NOUN
fcis-11156	211	3	,	,	PUNCT
fcis-11156	211	4	2018,108:466–478	2018,108:466–478	NUM
fcis-11156	211	5	.	.	PUNCT
fcis-11156	212	1	[	[	X
fcis-11156	212	2	10	10	NUM
fcis-11156	212	3	]	]	PUNCT
fcis-11156	212	4	mohamed	mohame	VERB
fcis-11156	212	5	a	a	PROPN
fcis-11156	212	6	,	,	PUNCT
fcis-11156	212	7	qian	qian	PROPN
fcis-11156	212	8	k	k	PROPN
fcis-11156	212	9	,	,	PUNCT
fcis-11156	212	10	elhoseiny	elhoseiny	PROPN
fcis-11156	212	11	m	m	PROPN
fcis-11156	212	12	,	,	PUNCT
fcis-11156	212	13	et	et	PROPN
fcis-11156	212	14	al	al	PROPN
fcis-11156	212	15	.	.	PROPN
fcis-11156	213	1	social	social	PROPN
fcis-11156	213	2	-	-	PUNCT
fcis-11156	213	3	stgcnn	stgcnn	PROPN
fcis-11156	213	4	:	:	PUNCT
fcis-11156	213	5	a	a	DET
fcis-11156	213	6	social	social	ADJ
fcis-11156	213	7	spatio	spatio	NOUN
fcis-11156	213	8	-	-	PUNCT
fcis-11156	213	9	temporal	temporal	ADJ
fcis-11156	213	10	graph	graph	NOUN
fcis-11156	213	11	convolutional	convolutional	ADJ
fcis-11156	213	12	neural	neural	ADJ
fcis-11156	213	13	network	network	NOUN
fcis-11156	213	14	for	for	ADP
fcis-11156	213	15	human	human	ADJ
fcis-11156	213	16	trajectory	trajectory	NOUN
fcis-11156	213	17	prediction[c	prediction[c	PROPN
fcis-11156	213	18	]	]	PUNCT
fcis-11156	213	19	.	.	PUNCT
fcis-11156	214	1	proceedings	proceeding	NOUN
fcis-11156	214	2	of	of	ADP
fcis-11156	214	3	the	the	DET
fcis-11156	214	4	ieee	ieee	NOUN
fcis-11156	214	5	/	/	SYM
fcis-11156	214	6	cvf	cvf	NOUN
fcis-11156	214	7	conference	conference	NOUN
fcis-11156	214	8	on	on	ADP
fcis-11156	214	9	computer	computer	NOUN
fcis-11156	214	10	vision	vision	NOUN
fcis-11156	214	11	and	and	CCONJ
fcis-11156	214	12	pattern	pattern	NOUN
fcis-11156	214	13	recognition	recognition	NOUN
fcis-11156	214	14	.	.	PUNCT
fcis-11156	215	1	2020	2020	NUM
fcis-11156	215	2	:	:	PUNCT
fcis-11156	215	3	1442	1442	NUM
fcis-11156	215	4	.	.	PUNCT
fcis-11156	216	1	[	[	X
fcis-11156	216	2	11	11	NUM
fcis-11156	216	3	]	]	PUNCT
fcis-11156	216	4	wang	wang	PROPN
fcis-11156	216	5	c	c	PROPN
fcis-11156	216	6	,	,	PUNCT
fcis-11156	216	7	cai	cai	PROPN
fcis-11156	216	8	s	s	PROPN
fcis-11156	216	9	,	,	PUNCT
fcis-11156	216	10	tan	tan	PROPN
fcis-11156	216	11	g.	g.	PROPN
fcis-11156	216	12	graphtcn	graphtcn	PROPN
fcis-11156	216	13	:	:	PUNCT
fcis-11156	216	14	spatio	spatio	ADJ
fcis-11156	216	15	-	-	PUNCT
fcis-11156	216	16	temporal	temporal	ADJ
fcis-11156	216	17	interaction	interaction	NOUN
fcis-11156	216	18	modeling	modeling	NOUN
fcis-11156	216	19	for	for	ADP
fcis-11156	216	20	human	human	ADJ
fcis-11156	216	21	trajectory	trajectory	NOUN
fcis-11156	216	22	prediction[c	prediction[c	PROPN
fcis-11156	216	23	]	]	PUNCT
fcis-11156	216	24	.	.	PUNCT
fcis-11156	217	1	proceedings	proceeding	NOUN
fcis-11156	217	2	of	of	ADP
fcis-11156	217	3	the	the	DET
fcis-11156	217	4	ieee	ieee	NOUN
fcis-11156	217	5	/	/	SYM
fcis-11156	217	6	cvf	cvf	NOUN
fcis-11156	217	7	winter	winter	NOUN
fcis-11156	217	8	conference	conference	NOUN
fcis-11156	217	9	on	on	ADP
fcis-11156	217	10	applications	application	NOUN
fcis-11156	217	11	of	of	ADP
fcis-11156	217	12	computer	computer	NOUN
fcis-11156	217	13	vision	vision	NOUN
fcis-11156	217	14	.	.	PUNCT
fcis-11156	218	1	2021	2021	NUM
fcis-11156	218	2	:	:	PUNCT
fcis-11156	218	3	3450	3450	NUM
fcis-11156	218	4	-	-	SYM
fcis-11156	218	5	3459	3459	NUM
fcis-11156	218	6	.	.	PUNCT
fcis-11156	219	1	[	[	X
fcis-11156	219	2	12	12	NUM
fcis-11156	219	3	]	]	X
fcis-11156	219	4	yagi	yagi	PROPN
fcis-11156	219	5	t	t	PROPN
fcis-11156	219	6	,	,	PUNCT
fcis-11156	219	7	mangalam	mangalam	PROPN
fcis-11156	219	8	k	k	PROPN
fcis-11156	219	9	,	,	PUNCT
fcis-11156	219	10	yonetani	yonetani	PROPN
fcis-11156	219	11	r	r	NOUN
fcis-11156	219	12	,	,	PUNCT
fcis-11156	219	13	sato	sato	NOUN
fcis-11156	219	14	y.	y.	NOUN
fcis-11156	219	15	future	future	ADJ
fcis-11156	219	16	person	person	NOUN
fcis-11156	219	17	localization	localization	NOUN
fcis-11156	219	18	in	in	ADP
fcis-11156	219	19	first	first	ADJ
fcis-11156	219	20	-	-	PUNCT
fcis-11156	219	21	person	person	NOUN
fcis-11156	219	22	videos[c	videos[c	NOUN
fcis-11156	219	23	]	]	PUNCT
fcis-11156	219	24	.	.	PUNCT
fcis-11156	220	1	ieee	ieee	PROPN
fcis-11156	220	2	conference	conference	PROPN
fcis-11156	220	3	on	on	ADP
fcis-11156	220	4	computer	computer	NOUN
fcis-11156	220	5	vision	vision	NOUN
fcis-11156	220	6	and	and	CCONJ
fcis-11156	220	7	pattern	pattern	NOUN
fcis-11156	220	8	recognition	recognition	NOUN
fcis-11156	220	9	.	.	PUNCT
fcis-11156	221	1	salt	salt	PROPN
fcis-11156	221	2	lake	lake	PROPN
fcis-11156	221	3	:	:	PUNCT
fcis-11156	221	4	ieee	ieee	NOUN
fcis-11156	221	5	,	,	PUNCT
fcis-11156	221	6	2018	2018	NUM
fcis-11156	221	7	:	:	PUNCT
fcis-11156	221	8	7593-7602.ong	7593-7602.ong	PROPN
fcis-11156	221	9	beach	beach	PROPN
fcis-11156	221	10	:	:	PUNCT
fcis-11156	221	11	ieee	ieee	NOUN
fcis-11156	221	12	.	.	PUNCT
fcis-11156	222	1	2019	2019	NUM
fcis-11156	222	2	:	:	PUNCT
fcis-11156	222	3	2960	2960	NUM
fcis-11156	222	4	-	-	SYM
fcis-11156	222	5	2963	2963	NUM
fcis-11156	222	6	.	.	PUNCT
fcis-11156	223	1	[	[	X
fcis-11156	223	2	13	13	NUM
fcis-11156	223	3	]	]	X
fcis-11156	223	4	wang	wang	PROPN
fcis-11156	223	5	c	c	PROPN
fcis-11156	223	6	y	y	PROPN
fcis-11156	223	7	,	,	PUNCT
fcis-11156	223	8	bochkovskiy	bochkovskiy	VERB
fcis-11156	223	9	a	a	PRON
fcis-11156	223	10	,	,	PUNCT
fcis-11156	223	11	liao	liao	PROPN
fcis-11156	223	12	h	h	PROPN
fcis-11156	223	13	y	y	PROPN
fcis-11156	223	14	m.	m.	NOUN
fcis-11156	223	15	yolov7	yolov7	NOUN
fcis-11156	223	16	:	:	PUNCT
fcis-11156	223	17	trainable	trainable	ADJ
fcis-11156	223	18	bag	bag	NOUN
fcis-11156	223	19	-	-	PUNCT
fcis-11156	223	20	of	of	ADP
fcis-11156	223	21	-	-	PUNCT
fcis-11156	223	22	freebies	freebie	NOUN
fcis-11156	223	23	sets	set	VERB
fcis-11156	223	24	new	new	ADJ
fcis-11156	223	25	state	state	NOUN
fcis-11156	223	26	-	-	PUNCT
fcis-11156	223	27	of	of	ADP
fcis-11156	223	28	-	-	PUNCT
fcis-11156	223	29	the	the	DET
fcis-11156	223	30	-	-	PUNCT
fcis-11156	223	31	art	art	NOUN
fcis-11156	223	32	for	for	ADP
fcis-11156	223	33	real	real	ADJ
fcis-11156	223	34	-	-	PUNCT
fcis-11156	223	35	time	time	NOUN
fcis-11156	223	36	object	object	NOUN
fcis-11156	223	37	detectors[j	detectors[j	PROPN
fcis-11156	223	38	]	]	PUNCT
fcis-11156	223	39	.	.	PUNCT
fcis-11156	224	1	arxiv	arxiv	PROPN
fcis-11156	224	2	preprint	preprint	NOUN
fcis-11156	224	3	arxiv:2207.02696	arxiv:2207.02696	NOUN
fcis-11156	224	4	,	,	PUNCT
fcis-11156	224	5	2022	2022	NUM
fcis-11156	224	6	.	.	PUNCT
fcis-11156	225	1	[	[	X
fcis-11156	225	2	14	14	NUM
fcis-11156	225	3	]	]	X
fcis-11156	225	4	cao	cao	PROPN
fcis-11156	225	5	z	z	PROPN
fcis-11156	225	6	,	,	PUNCT
fcis-11156	225	7	simon	simon	PROPN
fcis-11156	225	8	t	t	PROPN
fcis-11156	225	9	,	,	PUNCT
fcis-11156	225	10	wei	wei	PROPN
fcis-11156	225	11	se	se	PROPN
fcis-11156	225	12	,	,	PUNCT
fcis-11156	225	13	sheikh	sheikh	PROPN
fcis-11156	225	14	y.	y.	PROPN
fcis-11156	225	15	realtime	realtime	PROPN
fcis-11156	225	16	multi	multi	ADJ
fcis-11156	225	17	-	-	ADJ
fcis-11156	225	18	person	person	ADJ
fcis-11156	225	19	2d	2d	NOUN
fcis-11156	225	20	pose	pose	NOUN
fcis-11156	225	21	estimation	estimation	NOUN
fcis-11156	225	22	using	use	VERB
fcis-11156	225	23	part	part	NOUN
fcis-11156	225	24	affinity	affinity	NOUN
fcis-11156	225	25	fields[c	fields[c	NOUN
fcis-11156	225	26	]	]	PUNCT
fcis-11156	225	27	.	.	PUNCT
fcis-11156	226	1	ieee	ieee	PROPN
fcis-11156	226	2	/	/	SYM
fcis-11156	226	3	cvf	cvf	NOUN
fcis-11156	226	4	conference	conference	NOUN
fcis-11156	226	5	on	on	ADP
fcis-11156	226	6	computer	computer	NOUN
fcis-11156	226	7	vision	vision	NOUN
fcis-11156	226	8	and	and	CCONJ
fcis-11156	226	9	pattern	pattern	NOUN
fcis-11156	226	10	recognition	recognition	NOUN
fcis-11156	226	11	.	.	PUNCT
fcis-11156	227	1	hawaii	hawaii	PROPN
fcis-11156	227	2	:	:	PUNCT
fcis-11156	227	3	ieee	ieee	NOUN
fcis-11156	227	4	,	,	PUNCT
fcis-11156	227	5	2017:1302	2017:1302	NUM
fcis-11156	227	6	-	-	SYM
fcis-11156	227	7	1310	1310	NUM
fcis-11156	227	8	.	.	PUNCT
fcis-11156	228	1	[	[	X
fcis-11156	228	2	15	15	NUM
fcis-11156	228	3	]	]	PUNCT
fcis-11156	228	4	xu	xu	PROPN
fcis-11156	229	1	h	h	PROPN
fcis-11156	229	2	,	,	PUNCT
fcis-11156	229	3	zhang	zhang	PROPN
fcis-11156	229	4	j	j	PROPN
fcis-11156	229	5	,	,	PUNCT
fcis-11156	229	6	cai	cai	PROPN
fcis-11156	229	7	j	j	PROPN
fcis-11156	229	8	,	,	PUNCT
fcis-11156	229	9	rezatofighi	rezatofighi	PROPN
fcis-11156	229	10	h	h	NOUN
fcis-11156	229	11	,	,	PUNCT
fcis-11156	229	12	tao	tao	PROPN
fcis-11156	229	13	d.	d.	PROPN
fcis-11156	229	14	gmflow	gmflow	PROPN
fcis-11156	229	15	:	:	PUNCT
fcis-11156	229	16	learning	learn	VERB
fcis-11156	229	17	optical	optical	ADJ
fcis-11156	229	18	flow	flow	NOUN
fcis-11156	229	19	via	via	ADP
fcis-11156	229	20	global	global	ADJ
fcis-11156	229	21	matching[c	matching[c	PROPN
fcis-11156	229	22	]	]	PUNCT
fcis-11156	229	23	.	.	PUNCT
fcis-11156	230	1	ieee	ieee	PROPN
fcis-11156	230	2	conference	conference	PROPN
fcis-11156	230	3	on	on	ADP
fcis-11156	230	4	computer	computer	NOUN
fcis-11156	230	5	vision	vision	NOUN
fcis-11156	230	6	and	and	CCONJ
fcis-11156	230	7	pattern	pattern	NOUN
fcis-11156	230	8	recognition	recognition	NOUN
fcis-11156	230	9	(	(	PUNCT
fcis-11156	230	10	cvpr	cvpr	NOUN
fcis-11156	230	11	)	)	PUNCT
fcis-11156	230	12	.	.	PUNCT
fcis-11156	231	1	new	new	PROPN
fcis-11156	231	2	orleans	orleans	PROPN
fcis-11156	231	3	,	,	PUNCT
fcis-11156	231	4	usa	usa	PROPN
fcis-11156	231	5	:	:	PUNCT
fcis-11156	231	6	ieee	ieee	NOUN
fcis-11156	231	7	.	.	PUNCT
fcis-11156	231	8	2022	2022	NUM
fcis-11156	231	9	:	:	PUNCT
fcis-11156	231	10	8111	8111	NUM
fcis-11156	231	11	-	-	SYM
fcis-11156	231	12	8120	8120	NUM
fcis-11156	231	13	.	.	PUNCT
fcis-11156	232	1	[	[	X
fcis-11156	232	2	16	16	NUM
fcis-11156	232	3	]	]	PUNCT
fcis-11156	232	4	vaswani	vaswani	NOUN
fcis-11156	232	5	a	a	PRON
fcis-11156	232	6	,	,	PUNCT
fcis-11156	232	7	shazeer	shazeer	NOUN
fcis-11156	232	8	n	n	SYM
fcis-11156	232	9	,	,	PUNCT
fcis-11156	232	10	parmar	parmar	PROPN
fcis-11156	232	11	n	n	CCONJ
fcis-11156	232	12	,	,	PUNCT
fcis-11156	232	13	et	et	PROPN
fcis-11156	232	14	al	al	PROPN
fcis-11156	232	15	.	.	PUNCT
fcis-11156	232	16	attention	attention	NOUN
fcis-11156	232	17	is	be	AUX
fcis-11156	232	18	all	all	PRON
fcis-11156	232	19	you	you	PRON
fcis-11156	232	20	need[c	need[c	ADJ
fcis-11156	232	21	]	]	PUNCT
fcis-11156	232	22	.	.	PUNCT
fcis-11156	233	1	conference	conference	NOUN
fcis-11156	233	2	and	and	CCONJ
fcis-11156	233	3	workshop	workshop	NOUN
fcis-11156	233	4	on	on	ADP
fcis-11156	233	5	neural	neural	ADJ
fcis-11156	233	6	information	information	NOUN
fcis-11156	233	7	processing	processing	NOUN
fcis-11156	233	8	systems	system	NOUN
fcis-11156	233	9	.	.	PUNCT
fcis-11156	234	1	california	california	PROPN
fcis-11156	234	2	:	:	PUNCT
fcis-11156	234	3	mit	mit	VERB
fcis-11156	234	4	press,2017	press,2017	NOUN
fcis-11156	234	5	:	:	PUNCT
fcis-11156	234	6	5998	5998	NUM
fcis-11156	234	7	-	-	SYM
fcis-11156	234	8	6008	6008	NUM
fcis-11156	234	9	.	.	PUNCT
fcis-11156	235	1	[	[	X
fcis-11156	235	2	17	17	NUM
fcis-11156	235	3	]	]	X
fcis-11156	235	4	yao	yao	PROPN
fcis-11156	235	5	y	y	PROPN
fcis-11156	235	6	,	,	PUNCT
fcis-11156	235	7	atkins	atkins	PROPN
fcis-11156	235	8	e	e	PROPN
fcis-11156	235	9	,	,	PUNCT
fcis-11156	235	10	johnson	johnson	PROPN
fcis-11156	235	11	-	-	PUNCT
fcis-11156	235	12	roberson	roberson	PROPN
fcis-11156	235	13	m	m	PROPN
fcis-11156	235	14	,	,	PUNCT
fcis-11156	235	15	et	et	PROPN
fcis-11156	235	16	al	al	PROPN
fcis-11156	235	17	.	.	PROPN
fcis-11156	235	18	bitrap	bitrap	PROPN
fcis-11156	235	19	:	:	PUNCT
fcis-11156	235	20	bidirectional	bidirectional	ADJ
fcis-11156	235	21	pedestrian	pedestrian	NOUN
fcis-11156	235	22	trajectory	trajectory	NOUN
fcis-11156	235	23	prediction	prediction	NOUN
fcis-11156	235	24	with	with	ADP
fcis-11156	235	25	multi	multi	ADJ
fcis-11156	235	26	modal	modal	ADJ
fcis-11156	235	27	goal	goal	NOUN
fcis-11156	235	28	estimation[j	estimation[j	PROPN
fcis-11156	235	29	]	]	PUNCT
fcis-11156	235	30	.	.	PUNCT
fcis-11156	236	1	ieee	ieee	NOUN
fcis-11156	236	2	robotics	robotic	NOUN
fcis-11156	236	3	and	and	CCONJ
fcis-11156	236	4	automation	automation	NOUN
fcis-11156	236	5	letters	letter	NOUN
fcis-11156	236	6	,	,	PUNCT
fcis-11156	236	7	2021,6(2	2021,6(2	NUM
fcis-11156	236	8	):	):	PUNCT
fcis-11156	236	9	1463	1463	NUM
fcis-11156	236	10	-	-	SYM
fcis-11156	236	11	1470	1470	NUM
fcis-11156	236	12	.	.	PUNCT
fcis-11156	237	1	[	[	X
fcis-11156	237	2	18	18	NUM
fcis-11156	237	3	]	]	PUNCT
fcis-11156	237	4	k.	k.	PROPN
fcis-11156	237	5	ramanathan	ramanathan	PROPN
fcis-11156	237	6	-	-	PUNCT
fcis-11156	237	7	v.	v.	NOUN
fcis-11156	237	8	robicquet	robicquet	PROPN
fcis-11156	237	9	a.	a.	PROPN
fcis-11156	237	10	li	li	PROPN
fcis-11156	237	11	ff	ff	PROPN
fcis-11156	237	12	.	.	PUNCT
fcis-11156	238	1	savarese	savarese	PROPN
fcis-11156	238	2	s.	s.	PROPN
fcis-11156	238	3	alahi	alahi	PROPN
fcis-11156	238	4	,	,	PUNCT
fcis-11156	238	5	a.	a.	PROPN
fcis-11156	238	6	goel	goel	PROPN
fcis-11156	238	7	.	.	PUNCT
fcis-11156	239	1	social	social	ADJ
fcis-11156	239	2	lstm	lstm	PROPN
fcis-11156	239	3	:	:	PUNCT
fcis-11156	239	4	human	human	ADJ
fcis-11156	239	5	trajectory	trajectory	NOUN
fcis-11156	239	6	prediction	prediction	NOUN
fcis-11156	239	7	in	in	ADP
fcis-11156	239	8	crowded	crowded	ADJ
fcis-11156	239	9	spaces	space	NOUN
fcis-11156	239	10	.	.	PUNCT
fcis-11156	240	1	in	in	ADP
fcis-11156	240	2	ieee	ieee	PROPN
fcis-11156	240	3	conference	conference	NOUN
fcis-11156	240	4	on	on	ADP
fcis-11156	240	5	computer	computer	NOUN
fcis-11156	240	6	vision	vision	NOUN
fcis-11156	240	7	and	and	CCONJ
fcis-11156	240	8	pattern	pattern	NOUN
fcis-11156	240	9	recognition	recognition	NOUN
fcis-11156	240	10	,	,	PUNCT
fcis-11156	240	11	pages	page	NOUN
fcis-11156	240	12	961	961	NUM
fcis-11156	240	13	-	-	SYM
fcis-11156	240	14	971	971	NUM
fcis-11156	240	15	,	,	PUNCT
fcis-11156	240	16	2016	2016	NUM
fcis-11156	240	17	.	.	PUNCT
fcis-11156	241	1	[	[	X
fcis-11156	241	2	19	19	NUM
fcis-11156	241	3	]	]	X
fcis-11156	241	4	mz	mz	PROPN
fcis-11156	241	5	.	.	PROPN
fcis-11156	241	6	wang	wang	PROPN
fcis-11156	241	7	yc	yc	PROPN
fcis-11156	241	8	.	.	PUNCT
fcis-11156	241	9	crandall	crandall	PROPN
fcis-11156	241	10	dj	dj	PROPN
fcis-11156	241	11	.	.	PUNCT
fcis-11156	242	1	atkins	atkin	VERB
fcis-11156	242	2	em	em	PRON
fcis-11156	242	3	.	.	PUNCT
fcis-11156	243	1	yao	yao	PROPN
fcis-11156	243	2	,	,	PUNCT
fcis-11156	243	3	y.	y.	PROPN
fcis-11156	243	4	xu	xu	PROPN
fcis-11156	243	5	.	.	PUNCT
fcis-11156	244	1	unsupervised	unsupervised	ADJ
fcis-11156	244	2	traffic	traffic	NOUN
fcis-11156	244	3	accident	accident	NOUN
fcis-11156	244	4	detection	detection	NOUN
fcis-11156	244	5	in	in	ADP
fcis-11156	244	6	first	first	ADJ
fcis-11156	244	7	-	-	PUNCT
fcis-11156	244	8	person	person	NOUN
fcis-11156	244	9	videos	video	NOUN
fcis-11156	244	10	.	.	PUNCT
fcis-11156	245	1	in	in	ADP
fcis-11156	245	2	ieee	ieee	PROPN
fcis-11156	245	3	international	international	ADJ
fcis-11156	245	4	conference	conference	NOUN
fcis-11156	245	5	on	on	ADP
fcis-11156	245	6	intelligent	intelligent	ADJ
fcis-11156	245	7	robots	robot	NOUN
fcis-11156	245	8	and	and	CCONJ
fcis-11156	245	9	systems	system	NOUN
fcis-11156	245	10	.	.	PUNCT
fcis-11156	245	11	,	,	PUNCT
fcis-11156	245	12	pages	page	NOUN
fcis-11156	245	13	273–280	273–280	NUM
fcis-11156	245	14	,	,	PUNCT
fcis-11156	245	15	2019	2019	NUM
fcis-11156	245	16	.	.	PUNCT
fcis-11156	246	1	[	[	X
fcis-11156	246	2	20	20	NUM
fcis-11156	246	3	]	]	PUNCT
fcis-11156	246	4	i.	i.	NOUN
fcis-11156	246	5	kunic	kunic	PROPN
fcis-11156	246	6	-	-	PUNCT
fcis-11156	246	7	t.	t.	NOUN
fcis-11156	246	8	tsotsos	tsotsos	PROPN
fcis-11156	246	9	j.	j.	PROPN
fcis-11156	246	10	rasouli	rasouli	PROPN
fcis-11156	246	11	,	,	PUNCT
fcis-11156	246	12	a.	a.	PROPN
fcis-11156	246	13	kotseruba	kotseruba	PROPN
fcis-11156	246	14	.	.	PUNCT
fcis-11156	247	1	pie	pie	NOUN
fcis-11156	247	2	:	:	PUNCT
fcis-11156	247	3	a	a	DET
fcis-11156	247	4	large	large	ADJ
fcis-11156	247	5	-	-	PUNCT
fcis-11156	247	6	scale	scale	NOUN
fcis-11156	247	7	dataset	dataset	NOUN
fcis-11156	247	8	and	and	CCONJ
fcis-11156	247	9	models	model	NOUN
fcis-11156	247	10	for	for	ADP
fcis-11156	247	11	pedestrian	pedestrian	NOUN
fcis-11156	247	12	intention	intention	NOUN
fcis-11156	247	13	estimation	estimation	NOUN
fcis-11156	247	14	and	and	CCONJ
fcis-11156	247	15	trajectory	trajectory	NOUN
fcis-11156	247	16	prediction	prediction	NOUN
fcis-11156	247	17	.	.	PUNCT
fcis-11156	248	1	in	in	ADP
fcis-11156	248	2	2019	2019	NUM
fcis-11156	248	3	ieee	ieee	NOUN
fcis-11156	248	4	/	/	SYM
fcis-11156	248	5	cvf	cvf	NOUN
fcis-11156	248	6	international	international	ADJ
fcis-11156	248	7	conference	conference	NOUN
fcis-11156	248	8	on	on	ADP
fcis-11156	248	9	computer	computer	NOUN
fcis-11156	248	10	vision	vision	NOUN
fcis-11156	248	11	(	(	PUNCT
fcis-11156	248	12	iccv	iccv	PROPN
fcis-11156	248	13	)	)	PUNCT
fcis-11156	248	14	.	.	PUNCT
fcis-11156	249	1	,	,	PUNCT
fcis-11156	249	2	pages	page	NOUN
fcis-11156	249	3	6261–6270	6261–6270	NUM
fcis-11156	249	4	,	,	PUNCT
fcis-11156	249	5	2019	2019	NUM
fcis-11156	249	6	.	.	PUNCT
fcis-11156	250	1	[	[	X
fcis-11156	250	2	21	21	NUM
fcis-11156	250	3	]	]	X
fcis-11156	250	4	o	o	X
fcis-11156	250	5	bideau	bideau	PROPN
fcis-11156	250	6	.	.	PUNCT
fcis-11156	251	1	halawa	halawa	PROPN
fcis-11156	251	2	,	,	PUNCT
fcis-11156	251	3	m.	m.	NOUN
fcis-11156	251	4	hellwich	hellwich	PROPN
fcis-11156	251	5	.	.	PUNCT
fcis-11156	252	1	action	action	NOUN
fcis-11156	252	2	-	-	PUNCT
fcis-11156	252	3	based	base	VERB
fcis-11156	252	4	contrastive	contrastive	ADJ
fcis-11156	252	5	learning	learning	NOUN
fcis-11156	252	6	for	for	ADP
fcis-11156	252	7	trajectory	trajectory	NOUN
fcis-11156	252	8	prediction	prediction	NOUN
fcis-11156	252	9	.	.	PUNCT
fcis-11156	253	1	in	in	ADP
fcis-11156	253	2	european	european	ADJ
fcis-11156	253	3	conference	conference	PROPN
fcis-11156	253	4	on	on	ADP
fcis-11156	253	5	computer	computer	NOUN
fcis-11156	253	6	vision	vision	NOUN
fcis-11156	253	7	,	,	PUNCT
fcis-11156	253	8	pages	page	NOUN
fcis-11156	253	9	143–159	143–159	NUM
fcis-11156	253	10	,	,	PUNCT
fcis-11156	253	11	2022	2022	NUM
fcis-11156	253	12	.	.	PUNCT