id	sid	tid	token	lemma	pos
fcis-11271	1	1	frontiers	frontier	NOUN
fcis-11271	1	2	in	in	ADP
fcis-11271	1	3	computing	computing	NOUN
fcis-11271	1	4	and	and	CCONJ
fcis-11271	1	5	intelligent	intelligent	ADJ
fcis-11271	1	6	systems	system	NOUN
fcis-11271	1	7	issn	issn	VERB
fcis-11271	1	8	:	:	PUNCT
fcis-11271	1	9	2832	2832	NUM
fcis-11271	1	10	-	-	SYM
fcis-11271	1	11	6024	6024	NUM
fcis-11271	1	12	|	|	NOUN
fcis-11271	1	13	vol	vol	NOUN
fcis-11271	1	14	.	.	PROPN
fcis-11271	2	1	4	4	NUM
fcis-11271	2	2	,	,	PUNCT
fcis-11271	2	3	no	no	INTJ
fcis-11271	2	4	.	.	NOUN
fcis-11271	2	5	3	3	NUM
fcis-11271	2	6	,	,	PUNCT
fcis-11271	2	7	2023	2023	NUM
fcis-11271	2	8	144	144	NUM
fcis-11271	2	9	key	key	ADJ
fcis-11271	2	10	technologies	technology	NOUN
fcis-11271	2	11	for	for	ADP
fcis-11271	2	12	automatic	automatic	ADJ
fcis-11271	2	13	driving	driving	NOUN
fcis-11271	2	14	function	function	NOUN
fcis-11271	2	15	implementation	implementation	NOUN
fcis-11271	2	16	dongyang	dongyang	PROPN
fcis-11271	2	17	xiao	xiao	PROPN
fcis-11271	2	18	*	*	PUNCT
fcis-11271	2	19	chengdu	chengdu	PROPN
fcis-11271	2	20	university	university	PROPN
fcis-11271	2	21	of	of	ADP
fcis-11271	2	22	technology	technology	PROPN
fcis-11271	2	23	,	,	PUNCT
fcis-11271	2	24	china	china	PROPN
fcis-11271	2	25	*	*	PUNCT
fcis-11271	2	26	corresponding	correspond	VERB
fcis-11271	2	27	author	author	NOUN
fcis-11271	2	28	email	email	NOUN
fcis-11271	2	29	:	:	PUNCT
fcis-11271	2	30	18282611441@126.com	18282611441@126.com	NUM
fcis-11271	2	31	abstract	abstract	NOUN
fcis-11271	2	32	:	:	PUNCT
fcis-11271	2	33	along	along	ADP
fcis-11271	2	34	with	with	ADP
fcis-11271	2	35	the	the	DET
fcis-11271	2	36	application	application	NOUN
fcis-11271	2	37	of	of	ADP
fcis-11271	2	38	electronic	electronic	ADJ
fcis-11271	2	39	cars	car	NOUN
fcis-11271	2	40	and	and	CCONJ
fcis-11271	2	41	advanced	advanced	ADJ
fcis-11271	2	42	technology	technology	NOUN
fcis-11271	2	43	,	,	PUNCT
fcis-11271	2	44	the	the	DET
fcis-11271	2	45	rapid	rapid	ADJ
fcis-11271	2	46	development	development	NOUN
fcis-11271	2	47	of	of	ADP
fcis-11271	2	48	intelligent	intelligent	ADJ
fcis-11271	2	49	driving	driving	NOUN
fcis-11271	2	50	and	and	CCONJ
fcis-11271	2	51	automatic	automatic	ADJ
fcis-11271	2	52	driving	driving	NOUN
fcis-11271	2	53	as	as	ADP
fcis-11271	2	54	an	an	DET
fcis-11271	2	55	important	important	ADJ
fcis-11271	2	56	auxiliary	auxiliary	ADJ
fcis-11271	2	57	driving	driving	NOUN
fcis-11271	2	58	technology	technology	NOUN
fcis-11271	2	59	is	be	AUX
fcis-11271	2	60	a	a	DET
fcis-11271	2	61	more	more	ADV
fcis-11271	2	62	advanced	advanced	ADJ
fcis-11271	2	63	stage	stage	NOUN
fcis-11271	2	64	,	,	PUNCT
fcis-11271	2	65	will	will	AUX
fcis-11271	2	66	be	be	AUX
fcis-11271	2	67	the	the	DET
fcis-11271	2	68	future	future	NOUN
fcis-11271	2	69	of	of	ADP
fcis-11271	2	70	transport	transport	NOUN
fcis-11271	2	71	is	be	AUX
fcis-11271	2	72	an	an	DET
fcis-11271	2	73	important	important	ADJ
fcis-11271	2	74	mode	mode	NOUN
fcis-11271	2	75	of	of	ADP
fcis-11271	2	76	transportation	transportation	NOUN
fcis-11271	2	77	,	,	PUNCT
fcis-11271	2	78	the	the	DET
fcis-11271	2	79	autopilot	autopilot	NOUN
fcis-11271	2	80	has	have	AUX
fcis-11271	2	81	now	now	ADV
fcis-11271	2	82	become	become	VERB
fcis-11271	2	83	the	the	DET
fcis-11271	2	84	country	country	NOUN
fcis-11271	2	85	and	and	CCONJ
fcis-11271	2	86	extremely	extremely	ADV
fcis-11271	2	87	and	and	CCONJ
fcis-11271	2	88	hot	hot	ADJ
fcis-11271	2	89	research	research	NOUN
fcis-11271	2	90	topic	topic	NOUN
fcis-11271	2	91	in	in	ADP
fcis-11271	2	92	the	the	DET
fcis-11271	2	93	world	world	NOUN
fcis-11271	2	94	.	.	PUNCT
fcis-11271	3	1	especially	especially	ADV
fcis-11271	3	2	in	in	ADP
fcis-11271	3	3	recent	recent	ADJ
fcis-11271	3	4	years	year	NOUN
fcis-11271	3	5	,	,	PUNCT
fcis-11271	3	6	autonomous	autonomous	ADJ
fcis-11271	3	7	driving	driving	NOUN
fcis-11271	3	8	has	have	AUX
fcis-11271	3	9	made	make	VERB
fcis-11271	3	10	great	great	ADJ
fcis-11271	3	11	progress	progress	NOUN
fcis-11271	3	12	through	through	ADP
fcis-11271	3	13	technological	technological	ADJ
fcis-11271	3	14	innovation	innovation	NOUN
fcis-11271	3	15	.	.	PUNCT
fcis-11271	4	1	this	this	DET
fcis-11271	4	2	article	article	NOUN
fcis-11271	4	3	provides	provide	VERB
fcis-11271	4	4	an	an	DET
fcis-11271	4	5	overview	overview	NOUN
fcis-11271	4	6	of	of	ADP
fcis-11271	4	7	the	the	DET
fcis-11271	4	8	history	history	NOUN
fcis-11271	4	9	and	and	CCONJ
fcis-11271	4	10	key	key	ADJ
fcis-11271	4	11	technologies	technology	NOUN
fcis-11271	4	12	of	of	ADP
fcis-11271	4	13	autonomous	autonomous	ADJ
fcis-11271	4	14	driving	driving	NOUN
fcis-11271	4	15	,	,	PUNCT
fcis-11271	4	16	which	which	PRON
fcis-11271	4	17	today	today	NOUN
fcis-11271	4	18	promises	promise	VERB
fcis-11271	4	19	a	a	DET
fcis-11271	4	20	safe	safe	ADJ
fcis-11271	4	21	,	,	PUNCT
fcis-11271	4	22	comfortable	comfortable	ADJ
fcis-11271	4	23	and	and	CCONJ
fcis-11271	4	24	efficient	efficient	ADJ
fcis-11271	4	25	driving	driving	NOUN
fcis-11271	4	26	experience	experience	NOUN
fcis-11271	4	27	.	.	PUNCT
fcis-11271	5	1	in	in	ADP
fcis-11271	5	2	recent	recent	ADJ
fcis-11271	5	3	years	year	NOUN
fcis-11271	5	4	,	,	PUNCT
fcis-11271	5	5	the	the	DET
fcis-11271	5	6	field	field	NOUN
fcis-11271	5	7	of	of	ADP
fcis-11271	5	8	artificial	artificial	ADJ
fcis-11271	5	9	intelligence	intelligence	NOUN
fcis-11271	5	10	has	have	AUX
fcis-11271	5	11	made	make	VERB
fcis-11271	5	12	great	great	ADJ
fcis-11271	5	13	strides	stride	NOUN
fcis-11271	5	14	in	in	ADP
fcis-11271	5	15	computer	computer	NOUN
fcis-11271	5	16	vision	vision	NOUN
fcis-11271	5	17	,	,	PUNCT
fcis-11271	5	18	machine	machine	NOUN
fcis-11271	5	19	learning	learning	NOUN
fcis-11271	5	20	and	and	CCONJ
fcis-11271	5	21	self	self	NOUN
fcis-11271	5	22	-	-	PUNCT
fcis-11271	5	23	driving	drive	VERB
fcis-11271	5	24	cars	car	NOUN
fcis-11271	5	25	.	.	PUNCT
fcis-11271	6	1	as	as	ADP
fcis-11271	6	2	with	with	ADP
fcis-11271	6	3	any	any	DET
fcis-11271	6	4	fast	fast	ADV
fcis-11271	6	5	-	-	PUNCT
fcis-11271	6	6	moving	move	VERB
fcis-11271	6	7	field	field	NOUN
fcis-11271	6	8	,	,	PUNCT
fcis-11271	6	9	it	it	PRON
fcis-11271	6	10	's	be	AUX
fcis-11271	6	11	getting	get	VERB
fcis-11271	6	12	harder	hard	ADJ
fcis-11271	6	13	and	and	CCONJ
fcis-11271	6	14	harder	hard	ADJ
fcis-11271	6	15	for	for	SCONJ
fcis-11271	6	16	a	a	DET
fcis-11271	6	17	beginner	beginner	NOUN
fcis-11271	6	18	to	to	PART
fcis-11271	6	19	keep	keep	VERB
fcis-11271	6	20	up	up	ADP
fcis-11271	6	21	with	with	ADP
fcis-11271	6	22	technology	technology	NOUN
fcis-11271	6	23	or	or	CCONJ
fcis-11271	6	24	get	get	VERB
fcis-11271	6	25	into	into	ADP
fcis-11271	6	26	it	it	PRON
fcis-11271	6	27	.	.	PUNCT
fcis-11271	7	1	keywords	keyword	NOUN
fcis-11271	7	2	:	:	PUNCT
fcis-11271	7	3	automatic	automatic	ADJ
fcis-11271	7	4	drive	drive	NOUN
fcis-11271	7	5	;	;	PUNCT
fcis-11271	7	6	artificial	artificial	ADJ
fcis-11271	7	7	intelligence	intelligence	NOUN
fcis-11271	7	8	;	;	PUNCT
fcis-11271	7	9	computer	computer	NOUN
fcis-11271	7	10	vision	vision	NOUN
fcis-11271	7	11	.	.	PUNCT
fcis-11271	8	1	1	1	X
fcis-11271	8	2	.	.	X
fcis-11271	8	3	introduction	introduction	NOUN
fcis-11271	8	4	since	since	SCONJ
fcis-11271	8	5	the	the	DET
fcis-11271	8	6	mid-1980s	mid-1980	NOUN
fcis-11271	8	7	,	,	PUNCT
fcis-11271	8	8	many	many	ADJ
fcis-11271	8	9	universities	university	NOUN
fcis-11271	8	10	,	,	PUNCT
fcis-11271	8	11	research	research	NOUN
fcis-11271	8	12	centers	center	NOUN
fcis-11271	8	13	,	,	PUNCT
fcis-11271	8	14	automotive	automotive	ADJ
fcis-11271	8	15	companies	company	NOUN
fcis-11271	8	16	,	,	PUNCT
fcis-11271	8	17	and	and	CCONJ
fcis-11271	8	18	companies	company	NOUN
fcis-11271	8	19	in	in	ADP
fcis-11271	8	20	other	other	ADJ
fcis-11271	8	21	industries	industry	NOUN
fcis-11271	8	22	around	around	ADP
fcis-11271	8	23	the	the	DET
fcis-11271	8	24	world	world	NOUN
fcis-11271	8	25	have	have	AUX
fcis-11271	8	26	been	be	AUX
fcis-11271	8	27	researching	research	VERB
fcis-11271	8	28	and	and	CCONJ
fcis-11271	8	29	developing	develop	VERB
fcis-11271	8	30	autonomous	autonomous	ADJ
fcis-11271	8	31	vehicles	vehicle	NOUN
fcis-11271	8	32	(	(	PUNCT
fcis-11271	8	33	also	also	ADV
fcis-11271	8	34	known	know	VERB
fcis-11271	8	35	as	as	ADP
fcis-11271	8	36	self	self	NOUN
fcis-11271	8	37	-	-	PUNCT
fcis-11271	8	38	driving	drive	VERB
fcis-11271	8	39	cars	car	NOUN
fcis-11271	8	40	and	and	CCONJ
fcis-11271	8	41	driverless	driverless	NOUN
fcis-11271	8	42	cars	car	NOUN
fcis-11271	8	43	)	)	PUNCT
fcis-11271	8	44	.	.	PUNCT
fcis-11271	9	1	important	important	ADJ
fcis-11271	9	2	examples	example	NOUN
fcis-11271	9	3	of	of	ADP
fcis-11271	9	4	autonomous	autonomous	ADJ
fcis-11271	9	5	vehicle	vehicle	NOUN
fcis-11271	9	6	research	research	NOUN
fcis-11271	9	7	platforms	platform	NOUN
fcis-11271	9	8	over	over	ADP
fcis-11271	9	9	the	the	DET
fcis-11271	9	10	last	last	ADJ
fcis-11271	9	11	two	two	NUM
fcis-11271	9	12	decades	decade	NOUN
fcis-11271	9	13	are	be	AUX
fcis-11271	9	14	navlab	navlab	NOUN
fcis-11271	9	15	's	's	PART
fcis-11271	9	16	mobility	mobility	NOUN
fcis-11271	9	17	platform	platform	NOUN
fcis-11271	9	18	(	(	PUNCT
fcis-11271	9	19	thorpe	thorpe	PROPN
fcis-11271	9	20	et	et	PROPN
fcis-11271	9	21	al	al	PROPN
fcis-11271	9	22	.	.	PROPN
fcis-11271	9	23	,	,	PUNCT
fcis-11271	9	24	1991	1991	NUM
fcis-11271	9	25	)	)	PUNCT
fcis-11271	9	26	,	,	PUNCT
fcis-11271	9	27	the	the	DET
fcis-11271	9	28	automotive	automotive	ADJ
fcis-11271	9	29	argo	argo	PROPN
fcis-11271	9	30	of	of	ADP
fcis-11271	9	31	the	the	DET
fcis-11271	9	32	universities	university	NOUN
fcis-11271	9	33	of	of	ADP
fcis-11271	9	34	pavia	pavia	NOUN
fcis-11271	9	35	and	and	CCONJ
fcis-11271	9	36	parma	parma	PROPN
fcis-11271	9	37	(	(	PUNCT
fcis-11271	9	38	broggi	broggi	NOUN
fcis-11271	9	39	et	et	PROPN
fcis-11271	9	40	al	al	PROPN
fcis-11271	9	41	.	.	PROPN
fcis-11271	9	42	,	,	PUNCT
fcis-11271	9	43	1999	1999	NUM
fcis-11271	9	44	)	)	PUNCT
fcis-11271	9	45	,	,	PUNCT
fcis-11271	9	46	and	and	CCONJ
fcis-11271	9	47	ubm	ubm	PROPN
fcis-11271	9	48	's	's	PART
fcis-11271	9	49	vehicles	vehicle	NOUN
fcis-11271	9	50	vamors	vamor	NOUN
fcis-11271	9	51	and	and	CCONJ
fcis-11271	9	52	vamp	vamp	NOUN
fcis-11271	9	53	(	(	PUNCT
fcis-11271	9	54	gregor	gregor	PROPN
fcis-11271	9	55	et	et	PROPN
fcis-11271	9	56	al	al	PROPN
fcis-11271	9	57	.	.	PROPN
fcis-11271	9	58	,	,	PUNCT
fcis-11271	9	59	1999	1999	NUM
fcis-11271	9	60	)	)	PUNCT
fcis-11271	9	61	.	.	PUNCT
fcis-11271	10	1	2002	2002	NUM
fcis-11271	10	2	)	)	PUNCT
fcis-11271	10	3	.	.	PUNCT
fcis-11271	11	1	to	to	PART
fcis-11271	11	2	promote	promote	VERB
fcis-11271	11	3	the	the	DET
fcis-11271	11	4	technological	technological	ADJ
fcis-11271	11	5	development	development	NOUN
fcis-11271	11	6	of	of	ADP
fcis-11271	11	7	autonomous	autonomous	ADJ
fcis-11271	11	8	vehicles	vehicle	NOUN
fcis-11271	11	9	,	,	PUNCT
fcis-11271	11	10	the	the	DET
fcis-11271	11	11	defense	defense	NOUN
fcis-11271	11	12	advanced	advanced	ADJ
fcis-11271	11	13	research	research	NOUN
fcis-11271	11	14	projects	project	NOUN
fcis-11271	11	15	agency	agency	NOUN
fcis-11271	11	16	(	(	PUNCT
fcis-11271	11	17	darpa	darpa	PROPN
fcis-11271	11	18	)	)	PUNCT
fcis-11271	11	19	has	have	AUX
fcis-11271	11	20	organized	organize	VERB
fcis-11271	11	21	three	three	NUM
fcis-11271	11	22	competitions	competition	NOUN
fcis-11271	11	23	over	over	ADP
fcis-11271	11	24	the	the	DET
fcis-11271	11	25	past	past	ADJ
fcis-11271	11	26	decade	decade	NOUN
fcis-11271	11	27	.	.	PUNCT
fcis-11271	12	1	the	the	DET
fcis-11271	12	2	first	first	ADJ
fcis-11271	12	3	challenge	challenge	NOUN
fcis-11271	12	4	,	,	PUNCT
fcis-11271	12	5	called	call	VERB
fcis-11271	12	6	the	the	DET
fcis-11271	12	7	darpa	darpa	PROPN
fcis-11271	12	8	grand	grand	ADJ
fcis-11271	12	9	challenge	challenge	NOUN
fcis-11271	12	10	,	,	PUNCT
fcis-11271	12	11	was	be	AUX
fcis-11271	12	12	achieved	achieve	VERB
fcis-11271	12	13	in	in	ADP
fcis-11271	12	14	the	the	DET
fcis-11271	12	15	mojave	mojave	NOUN
fcis-11271	12	16	desert	desert	NOUN
fcis-11271	12	17	in	in	ADP
fcis-11271	12	18	the	the	DET
fcis-11271	12	19	united	united	PROPN
fcis-11271	12	20	states	states	PROPN
fcis-11271	12	21	in	in	ADP
fcis-11271	12	22	2004	2004	NUM
fcis-11271	12	23	and	and	CCONJ
fcis-11271	12	24	required	require	VERB
fcis-11271	12	25	a	a	DET
fcis-11271	12	26	self	self	NOUN
fcis-11271	12	27	-	-	PUNCT
fcis-11271	12	28	driving	drive	VERB
fcis-11271	12	29	car	car	NOUN
fcis-11271	12	30	to	to	PART
fcis-11271	12	31	traverse	traverse	VERB
fcis-11271	12	32	a	a	DET
fcis-11271	12	33	142	142	NUM
fcis-11271	12	34	-	-	PUNCT
fcis-11271	12	35	mile	mile	NOUN
fcis-11271	12	36	desert	desert	NOUN
fcis-11271	12	37	route	route	NOUN
fcis-11271	12	38	in	in	ADP
fcis-11271	12	39	10	10	NUM
fcis-11271	12	40	hours	hour	NOUN
fcis-11271	12	41	.	.	PUNCT
fcis-11271	13	1	all	all	DET
fcis-11271	13	2	the	the	DET
fcis-11271	13	3	competing	compete	VERB
fcis-11271	13	4	cars	car	NOUN
fcis-11271	13	5	failed	fail	VERB
fcis-11271	13	6	within	within	ADP
fcis-11271	13	7	the	the	DET
fcis-11271	13	8	first	first	ADJ
fcis-11271	13	9	few	few	ADJ
fcis-11271	13	10	miles	mile	NOUN
fcis-11271	13	11	.	.	PUNCT
fcis-11271	14	1	since	since	SCONJ
fcis-11271	14	2	the	the	DET
fcis-11271	14	3	first	first	ADJ
fcis-11271	14	4	successful	successful	ADJ
fcis-11271	14	5	demonstrations	demonstration	NOUN
fcis-11271	14	6	in	in	ADP
fcis-11271	14	7	the	the	DET
fcis-11271	14	8	1980s	1980	NOUN
fcis-11271	14	9	,	,	PUNCT
fcis-11271	14	10	the	the	DET
fcis-11271	14	11	field	field	NOUN
fcis-11271	14	12	of	of	ADP
fcis-11271	14	13	self	self	NOUN
fcis-11271	14	14	-	-	PUNCT
fcis-11271	14	15	driving	drive	VERB
fcis-11271	14	16	cars	car	NOUN
fcis-11271	14	17	has	have	AUX
fcis-11271	14	18	made	make	VERB
fcis-11271	14	19	great	great	ADJ
fcis-11271	14	20	progress	progress	NOUN
fcis-11271	14	21	.	.	PUNCT
fcis-11271	15	1	however	however	ADV
fcis-11271	15	2	,	,	PUNCT
fcis-11271	15	3	despite	despite	SCONJ
fcis-11271	15	4	these	these	DET
fcis-11271	15	5	advances	advance	NOUN
fcis-11271	15	6	and	and	CCONJ
fcis-11271	15	7	ambitious	ambitious	ADJ
fcis-11271	15	8	commercial	commercial	ADJ
fcis-11271	15	9	goals	goal	NOUN
fcis-11271	15	10	,	,	PUNCT
fcis-11271	15	11	fully	fully	ADV
fcis-11271	15	12	autonomous	autonomous	ADJ
fcis-11271	15	13	navigation	navigation	NOUN
fcis-11271	15	14	in	in	ADP
fcis-11271	15	15	the	the	DET
fcis-11271	15	16	general	general	ADJ
fcis-11271	15	17	environment	environment	NOUN
fcis-11271	15	18	has	have	AUX
fcis-11271	15	19	not	not	PART
fcis-11271	15	20	been	be	AUX
fcis-11271	15	21	achieved	achieve	VERB
fcis-11271	15	22	so	so	ADV
fcis-11271	15	23	far	far	ADV
fcis-11271	15	24	.	.	PUNCT
fcis-11271	16	1	the	the	DET
fcis-11271	16	2	reasons	reason	NOUN
fcis-11271	16	3	are	be	AUX
fcis-11271	16	4	twofold	twofold	ADJ
fcis-11271	16	5	:	:	PUNCT
fcis-11271	16	6	first	first	ADJ
fcis-11271	16	7	,	,	PUNCT
fcis-11271	16	8	autonomous	autonomous	ADJ
fcis-11271	16	9	systems	system	NOUN
fcis-11271	16	10	operating	operate	VERB
fcis-11271	16	11	in	in	ADP
fcis-11271	16	12	complex	complex	ADJ
fcis-11271	16	13	dynamic	dynamic	ADJ
fcis-11271	16	14	environments	environment	NOUN
fcis-11271	16	15	require	require	VERB
fcis-11271	16	16	models	model	NOUN
fcis-11271	16	17	that	that	PRON
fcis-11271	16	18	can	can	AUX
fcis-11271	16	19	be	be	AUX
fcis-11271	16	20	generalized	generalize	VERB
fcis-11271	16	21	to	to	ADP
fcis-11271	16	22	unpredictable	unpredictable	ADJ
fcis-11271	16	23	situations	situation	NOUN
fcis-11271	16	24	and	and	CCONJ
fcis-11271	16	25	reason	reason	NOUN
fcis-11271	16	26	in	in	ADP
fcis-11271	16	27	a	a	DET
fcis-11271	16	28	timely	timely	ADJ
fcis-11271	16	29	manner	manner	NOUN
fcis-11271	16	30	.	.	PUNCT
fcis-11271	17	1	second	second	ADJ
fcis-11271	17	2	,	,	PUNCT
fcis-11271	17	3	intelligent	intelligent	ADJ
fcis-11271	17	4	decision	decision	NOUN
fcis-11271	17	5	making	making	NOUN
fcis-11271	17	6	requires	require	VERB
fcis-11271	17	7	accurate	accurate	ADJ
fcis-11271	17	8	perception	perception	NOUN
fcis-11271	17	9	,	,	PUNCT
fcis-11271	17	10	yet	yet	CCONJ
fcis-11271	17	11	most	most	ADJ
fcis-11271	17	12	existing	exist	VERB
fcis-11271	17	13	computer	computer	NOUN
fcis-11271	17	14	vision	vision	NOUN
fcis-11271	17	15	models	model	NOUN
fcis-11271	17	16	are	be	AUX
fcis-11271	17	17	still	still	ADV
fcis-11271	17	18	inferior	inferior	ADJ
fcis-11271	17	19	to	to	ADP
fcis-11271	17	20	human	human	ADJ
fcis-11271	17	21	perception	perception	NOUN
fcis-11271	17	22	and	and	CCONJ
fcis-11271	17	23	reasoning	reasoning	NOUN
fcis-11271	17	24	.	.	PUNCT
fcis-11271	18	1	existing	exist	VERB
fcis-11271	18	2	approaches	approach	NOUN
fcis-11271	18	3	to	to	ADP
fcis-11271	18	4	autonomous	autonomous	ADJ
fcis-11271	18	5	driving	driving	NOUN
fcis-11271	18	6	can	can	AUX
fcis-11271	18	7	be	be	AUX
fcis-11271	18	8	broadly	broadly	ADV
fcis-11271	18	9	divided	divide	VERB
fcis-11271	18	10	into	into	ADP
fcis-11271	18	11	modular	modular	ADJ
fcis-11271	18	12	pipelines	pipeline	NOUN
fcis-11271	18	13	and	and	CCONJ
fcis-11271	18	14	monolithic	monolithic	ADJ
fcis-11271	18	15	end	end	NOUN
fcis-11271	18	16	-	-	PUNCT
fcis-11271	18	17	to	to	ADP
fcis-11271	18	18	-	-	PUNCT
fcis-11271	18	19	end	end	NOUN
fcis-11271	18	20	learning	learning	NOUN
fcis-11271	18	21	approaches	approach	NOUN
fcis-11271	18	22	.	.	PUNCT
fcis-11271	19	1	modular	modular	ADJ
fcis-11271	19	2	assembly	assembly	NOUN
fcis-11271	19	3	lines	line	NOUN
fcis-11271	19	4	are	be	AUX
fcis-11271	19	5	the	the	DET
fcis-11271	19	6	standard	standard	ADJ
fcis-11271	19	7	approach	approach	NOUN
fcis-11271	19	8	to	to	ADP
fcis-11271	19	9	autonomous	autonomous	ADJ
fcis-11271	19	10	driving	driving	NOUN
fcis-11271	19	11	and	and	CCONJ
fcis-11271	19	12	are	be	AUX
fcis-11271	19	13	followed	follow	VERB
fcis-11271	19	14	by	by	ADP
fcis-11271	19	15	most	most	ADJ
fcis-11271	19	16	in	in	ADP
fcis-11271	19	17	the	the	DET
fcis-11271	19	18	industry	industry	NOUN
fcis-11271	19	19	.	.	PUNCT
fcis-11271	20	1	the	the	DET
fcis-11271	20	2	core	core	NOUN
fcis-11271	20	3	idea	idea	NOUN
fcis-11271	20	4	is	be	AUX
fcis-11271	20	5	to	to	PART
fcis-11271	20	6	decompose	decompose	VERB
fcis-11271	20	7	complex	complex	ADJ
fcis-11271	20	8	mapping	mapping	NOUN
fcis-11271	20	9	functions	function	NOUN
fcis-11271	20	10	from	from	ADP
fcis-11271	20	11	high	high	ADJ
fcis-11271	20	12	-	-	PUNCT
fcis-11271	20	13	dimensional	dimensional	ADJ
fcis-11271	20	14	inputs	input	NOUN
fcis-11271	20	15	to	to	ADP
fcis-11271	20	16	low	low	ADJ
fcis-11271	20	17	-	-	PUNCT
fcis-11271	20	18	dimensional	dimensional	ADJ
fcis-11271	20	19	control	control	NOUN
fcis-11271	20	20	variables	variable	NOUN
fcis-11271	20	21	into	into	ADP
fcis-11271	20	22	modules	module	NOUN
fcis-11271	20	23	that	that	PRON
fcis-11271	20	24	can	can	AUX
fcis-11271	20	25	be	be	AUX
fcis-11271	20	26	independently	independently	ADV
fcis-11271	20	27	developed	develop	VERB
fcis-11271	20	28	,	,	PUNCT
fcis-11271	20	29	trained	train	VERB
fcis-11271	20	30	,	,	PUNCT
fcis-11271	20	31	and	and	CCONJ
fcis-11271	20	32	tested	test	VERB
fcis-11271	20	33	.	.	PUNCT
fcis-11271	21	1	these	these	DET
fcis-11271	21	2	modules	module	NOUN
fcis-11271	21	3	include	include	VERB
fcis-11271	21	4	lowlevel	lowlevel	VERB
fcis-11271	21	5	awareness	awareness	NOUN
fcis-11271	21	6	,	,	PUNCT
fcis-11271	21	7	scene	scene	NOUN
fcis-11271	21	8	analysis	analysis	NOUN
fcis-11271	21	9	,	,	PUNCT
fcis-11271	21	10	path	path	NOUN
fcis-11271	21	11	planning	planning	NOUN
fcis-11271	21	12	,	,	PUNCT
fcis-11271	21	13	and	and	CCONJ
fcis-11271	21	14	vehicle	vehicle	NOUN
fcis-11271	21	15	control	control	NOUN
fcis-11271	21	16	.	.	PUNCT
fcis-11271	22	1	however	however	ADV
fcis-11271	22	2	,	,	PUNCT
fcis-11271	22	3	this	this	PRON
fcis-11271	22	4	is	be	AUX
fcis-11271	22	5	only	only	ADV
fcis-11271	22	6	one	one	NUM
fcis-11271	22	7	specific	specific	ADJ
fcis-11271	22	8	example	example	NOUN
fcis-11271	22	9	of	of	ADP
fcis-11271	22	10	modularization	modularization	NOUN
fcis-11271	22	11	of	of	ADP
fcis-11271	22	12	the	the	DET
fcis-11271	22	13	self	self	NOUN
fcis-11271	22	14	-	-	PUNCT
fcis-11271	22	15	driving	drive	VERB
fcis-11271	22	16	stack	stack	NOUN
fcis-11271	22	17	,	,	PUNCT
fcis-11271	22	18	and	and	CCONJ
fcis-11271	22	19	other	other	ADJ
fcis-11271	22	20	or	or	CCONJ
fcis-11271	22	21	more	more	ADV
fcis-11271	22	22	fine	fine	ADV
fcis-11271	22	23	-	-	PUNCT
fcis-11271	22	24	grained	grain	VERB
fcis-11271	22	25	modularization	modularization	NOUN
fcis-11271	22	26	is	be	AUX
fcis-11271	22	27	possible	possible	ADJ
fcis-11271	22	28	.	.	PUNCT
fcis-11271	23	1	existing	exist	VERB
fcis-11271	23	2	methods	method	NOUN
fcis-11271	23	3	often	often	ADV
fcis-11271	23	4	utilize	utilize	VERB
fcis-11271	23	5	machine	machine	NOUN
fcis-11271	23	6	learning	learning	NOUN
fcis-11271	23	7	(	(	PUNCT
fcis-11271	23	8	e.g.	e.g.	ADV
fcis-11271	23	9	,	,	PUNCT
fcis-11271	23	10	deep	deep	ADJ
fcis-11271	23	11	neural	neural	ADJ
fcis-11271	23	12	networks	network	NOUN
fcis-11271	23	13	)	)	PUNCT
fcis-11271	23	14	to	to	PART
fcis-11271	23	15	extract	extract	VERB
fcis-11271	23	16	low	low	ADJ
fcis-11271	23	17	-	-	PUNCT
fcis-11271	23	18	level	level	NOUN
fcis-11271	23	19	features	feature	NOUN
fcis-11271	23	20	or	or	CCONJ
fcis-11271	23	21	parse	parse	VERB
fcis-11271	23	22	a	a	DET
fcis-11271	23	23	scene	scene	NOUN
fcis-11271	23	24	into	into	ADP
fcis-11271	23	25	individual	individual	ADJ
fcis-11271	23	26	components	component	NOUN
fcis-11271	23	27	.	.	PUNCT
fcis-11271	24	1	in	in	ADP
fcis-11271	24	2	contrast	contrast	NOUN
fcis-11271	24	3	,	,	PUNCT
fcis-11271	24	4	path	path	NOUN
fcis-11271	24	5	planning	planning	NOUN
fcis-11271	24	6	and	and	CCONJ
fcis-11271	24	7	vehicle	vehicle	NOUN
fcis-11271	24	8	control	control	NOUN
fcis-11271	24	9	are	be	AUX
fcis-11271	24	10	dominated	dominate	VERB
fcis-11271	24	11	by	by	ADP
fcis-11271	24	12	classical	classical	ADJ
fcis-11271	24	13	state	state	NOUN
fcis-11271	24	14	machines	machine	NOUN
fcis-11271	24	15	,	,	PUNCT
fcis-11271	24	16	search	search	NOUN
fcis-11271	24	17	algorithms	algorithm	NOUN
fcis-11271	24	18	,	,	PUNCT
fcis-11271	24	19	and	and	CCONJ
fcis-11271	24	20	control	control	NOUN
fcis-11271	24	21	models	model	NOUN
fcis-11271	24	22	.	.	PUNCT
fcis-11271	25	1	an	an	DET
fcis-11271	25	2	alternative	alternative	NOUN
fcis-11271	25	3	to	to	ADP
fcis-11271	25	4	a	a	DET
fcis-11271	25	5	modular	modular	ADJ
fcis-11271	25	6	pipeline	pipeline	NOUN
fcis-11271	25	7	is	be	AUX
fcis-11271	25	8	an	an	DET
fcis-11271	25	9	end	end	NOUN
fcis-11271	25	10	-	-	PUNCT
fcis-11271	25	11	to	to	ADP
fcis-11271	25	12	-	-	PUNCT
fcis-11271	25	13	end	end	NOUN
fcis-11271	25	14	learning	learning	NOUN
fcis-11271	25	15	-	-	PUNCT
fcis-11271	25	16	based	base	VERB
fcis-11271	25	17	model	model	NOUN
fcis-11271	25	18	that	that	PRON
fcis-11271	25	19	attempts	attempt	VERB
fcis-11271	25	20	to	to	PART
fcis-11271	25	21	learn	learn	VERB
fcis-11271	25	22	a	a	DET
fcis-11271	25	23	strategy	strategy	NOUN
fcis-11271	25	24	that	that	PRON
fcis-11271	25	25	uses	use	VERB
fcis-11271	25	26	a	a	DET
fcis-11271	25	27	function	function	NOUN
fcis-11271	25	28	from	from	ADP
fcis-11271	25	29	observation	observation	NOUN
fcis-11271	25	30	to	to	ADP
fcis-11271	25	31	action	action	NOUN
fcis-11271	25	32	using	use	VERB
fcis-11271	25	33	a	a	DET
fcis-11271	25	34	generic	generic	ADJ
fcis-11271	25	35	model	model	NOUN
fcis-11271	25	36	such	such	ADJ
fcis-11271	25	37	as	as	ADP
fcis-11271	25	38	a	a	DET
fcis-11271	25	39	deep	deep	ADJ
fcis-11271	25	40	neural	neural	ADJ
fcis-11271	25	41	network	network	NOUN
fcis-11271	25	42	.	.	PUNCT
fcis-11271	26	1	network	network	NOUN
fcis-11271	26	2	parameters	parameter	NOUN
fcis-11271	26	3	can	can	AUX
fcis-11271	26	4	be	be	AUX
fcis-11271	26	5	learned	learn	VERB
fcis-11271	26	6	by	by	ADP
fcis-11271	26	7	mimicking	mimic	VERB
fcis-11271	26	8	a	a	DET
fcis-11271	26	9	teacher	teacher	NOUN
fcis-11271	26	10	's	's	PART
fcis-11271	26	11	behavior	behavior	NOUN
fcis-11271	26	12	,	,	PUNCT
fcis-11271	26	13	or	or	CCONJ
fcis-11271	26	14	reinforcement	reinforcement	NOUN
fcis-11271	26	15	learning	learning	NOUN
fcis-11271	26	16	can	can	AUX
fcis-11271	26	17	be	be	AUX
fcis-11271	26	18	used	use	VERB
fcis-11271	26	19	by	by	ADP
fcis-11271	26	20	exploring	explore	VERB
fcis-11271	26	21	the	the	DET
fcis-11271	26	22	world	world	NOUN
fcis-11271	26	23	and	and	CCONJ
fcis-11271	26	24	taking	take	VERB
fcis-11271	26	25	actions	action	NOUN
fcis-11271	26	26	that	that	PRON
fcis-11271	26	27	are	be	AUX
fcis-11271	26	28	likely	likely	ADJ
fcis-11271	26	29	to	to	PART
fcis-11271	26	30	produce	produce	VERB
fcis-11271	26	31	high	high	ADJ
fcis-11271	26	32	userspecified	userspecified	ADJ
fcis-11271	26	33	rewards	reward	NOUN
fcis-11271	26	34	.	.	PUNCT
fcis-11271	27	1	however	however	ADV
fcis-11271	27	2	,	,	PUNCT
fcis-11271	27	3	reinforcement	reinforcement	NOUN
fcis-11271	27	4	learning	learning	NOUN
fcis-11271	27	5	methods	method	NOUN
fcis-11271	27	6	have	have	VERB
fcis-11271	27	7	problems	problem	NOUN
fcis-11271	27	8	with	with	ADP
fcis-11271	27	9	point	point	NOUN
fcis-11271	27	10	allocation	allocation	NOUN
fcis-11271	27	11	and	and	CCONJ
fcis-11271	27	12	reward	reward	NOUN
fcis-11271	27	13	shaping	shaping	NOUN
fcis-11271	27	14	,	,	PUNCT
fcis-11271	27	15	are	be	AUX
fcis-11271	27	16	generally	generally	ADV
fcis-11271	27	17	slow	slow	ADJ
fcis-11271	27	18	,	,	PUNCT
fcis-11271	27	19	and	and	CCONJ
fcis-11271	27	20	can	can	AUX
fcis-11271	27	21	only	only	ADV
fcis-11271	27	22	be	be	AUX
fcis-11271	27	23	applied	apply	VERB
fcis-11271	27	24	in	in	ADP
fcis-11271	27	25	non	non	ADJ
fcis-11271	27	26	-	-	ADJ
fcis-11271	27	27	safety	safety	NOUN
fcis-11271	27	28	-	-	PUNCT
fcis-11271	27	29	critical	critical	ADJ
fcis-11271	27	30	simulation	simulation	NOUN
fcis-11271	27	31	environments	environment	NOUN
fcis-11271	27	32	.	.	PUNCT
fcis-11271	28	1	imitation	imitation	NOUN
fcis-11271	28	2	learning	learning	NOUN
fcis-11271	28	3	,	,	PUNCT
fcis-11271	28	4	on	on	ADP
fcis-11271	28	5	the	the	DET
fcis-11271	28	6	other	other	ADJ
fcis-11271	28	7	hand	hand	NOUN
fcis-11271	28	8	,	,	PUNCT
fcis-11271	28	9	suffers	suffer	VERB
fcis-11271	28	10	from	from	ADP
fcis-11271	28	11	over	over	ADV
fcis-11271	28	12	-	-	PUNCT
fcis-11271	28	13	fitting	fit	VERB
fcis-11271	28	14	and	and	CCONJ
fcis-11271	28	15	is	be	AUX
fcis-11271	28	16	not	not	PART
fcis-11271	28	17	easy	easy	ADJ
fcis-11271	28	18	to	to	PART
fcis-11271	28	19	generalize	generalize	VERB
fcis-11271	28	20	to	to	ADP
fcis-11271	28	21	new	new	ADJ
fcis-11271	28	22	scenarios	scenario	NOUN
fcis-11271	28	23	.	.	PUNCT
fcis-11271	29	1	furthermore	furthermore	ADV
fcis-11271	29	2	,	,	PUNCT
fcis-11271	29	3	methods	method	NOUN
fcis-11271	29	4	based	base	VERB
fcis-11271	29	5	on	on	ADP
fcis-11271	29	6	global	global	ADJ
fcis-11271	29	7	neural	neural	ADJ
fcis-11271	29	8	networks	network	NOUN
fcis-11271	29	9	are	be	AUX
fcis-11271	29	10	often	often	ADV
fcis-11271	29	11	difficult	difficult	ADJ
fcis-11271	29	12	to	to	PART
fcis-11271	29	13	interpret	interpret	VERB
fcis-11271	29	14	because	because	SCONJ
fcis-11271	29	15	they	they	PRON
fcis-11271	29	16	present	present	VERB
fcis-11271	29	17	themselves	themselves	PRON
fcis-11271	29	18	as	as	ADP
fcis-11271	29	19	a	a	DET
fcis-11271	29	20	"	"	PUNCT
fcis-11271	29	21	black	black	ADJ
fcis-11271	29	22	box	box	NOUN
fcis-11271	29	23	"	"	PUNCT
fcis-11271	29	24	for	for	ADP
fcis-11271	29	25	the	the	DET
fcis-11271	29	26	user	user	NOUN
fcis-11271	29	27	and	and	CCONJ
fcis-11271	29	28	can	can	AUX
fcis-11271	29	29	not	not	PART
fcis-11271	29	30	reveal	reveal	VERB
fcis-11271	29	31	why	why	SCONJ
fcis-11271	29	32	a	a	DET
fcis-11271	29	33	certain	certain	ADJ
fcis-11271	29	34	error	error	NOUN
fcis-11271	29	35	occurred	occur	VERB
fcis-11271	29	36	.	.	PUNCT
fcis-11271	30	1	2	2	X
fcis-11271	30	2	.	.	X
fcis-11271	30	3	the	the	DET
fcis-11271	30	4	history	history	NOUN
fcis-11271	30	5	of	of	ADP
fcis-11271	30	6	autonomous	autonomous	ADJ
fcis-11271	30	7	driving	driving	NOUN
fcis-11271	30	8	similar	similar	ADJ
fcis-11271	30	9	to	to	ADP
fcis-11271	30	10	carl	carl	PROPN
fcis-11271	30	11	benz	benz	PROPN
fcis-11271	30	12	's	's	PART
fcis-11271	30	13	invention	invention	NOUN
fcis-11271	30	14	of	of	ADP
fcis-11271	30	15	the	the	DET
fcis-11271	30	16	automobile	automobile	NOUN
fcis-11271	30	17	in	in	ADP
fcis-11271	30	18	1886	1886	NUM
fcis-11271	30	19	,	,	PUNCT
fcis-11271	30	20	autonomous	autonomous	ADJ
fcis-11271	30	21	driving	driving	NOUN
fcis-11271	30	22	technology	technology	NOUN
fcis-11271	30	23	promises	promise	VERB
fcis-11271	30	24	to	to	PART
fcis-11271	30	25	profoundly	profoundly	ADV
fcis-11271	30	26	affect	affect	VERB
fcis-11271	30	27	our	our	PRON
fcis-11271	30	28	mobility	mobility	NOUN
fcis-11271	30	29	.	.	PUNCT
fcis-11271	31	1	in	in	ADP
fcis-11271	31	2	this	this	DET
fcis-11271	31	3	chapter	chapter	NOUN
fcis-11271	31	4	,	,	PUNCT
fcis-11271	31	5	we	we	PRON
fcis-11271	31	6	briefly	briefly	ADV
fcis-11271	31	7	review	review	VERB
fcis-11271	31	8	the	the	DET
fcis-11271	31	9	history	history	NOUN
fcis-11271	31	10	of	of	ADP
fcis-11271	31	11	driverless	driverless	NOUN
fcis-11271	31	12	and	and	CCONJ
fcis-11271	31	13	autonomous	autonomous	ADJ
fcis-11271	31	14	vehicles	vehicle	NOUN
fcis-11271	31	15	from	from	ADP
fcis-11271	31	16	1925	1925	NUM
fcis-11271	31	17	to	to	ADP
fcis-11271	31	18	2019	2019	NUM
fcis-11271	31	19	.	.	PUNCT
fcis-11271	32	1	in	in	ADP
fcis-11271	32	2	1925	1925	NUM
fcis-11271	32	3	,	,	PUNCT
fcis-11271	32	4	houdina	houdina	PROPN
fcis-11271	32	5	radio	radio	NOUN
fcis-11271	32	6	controls	control	NOUN
fcis-11271	32	7	demonstrated	demonstrate	VERB
fcis-11271	32	8	the	the	DET
fcis-11271	32	9	"	"	PUNCT
fcis-11271	32	10	american	american	ADJ
fcis-11271	32	11	wonder	wonder	NOUN
fcis-11271	32	12	,	,	PUNCT
fcis-11271	32	13	"	"	PUNCT
fcis-11271	32	14	a	a	DET
fcis-11271	32	15	remote	remote	ADV
fcis-11271	32	16	-	-	PUNCT
fcis-11271	32	17	controlled	control	VERB
fcis-11271	32	18	car	car	NOUN
fcis-11271	32	19	that	that	PRON
fcis-11271	32	20	drove	drive	VERB
fcis-11271	32	21	down	down	ADP
fcis-11271	32	22	broadway	broadway	NOUN
fcis-11271	32	23	in	in	ADP
fcis-11271	32	24	new	new	PROPN
fcis-11271	32	25	york	york	PROPN
fcis-11271	32	26	city	city	PROPN
fcis-11271	32	27	,	,	PUNCT
fcis-11271	32	28	followed	follow	VERB
fcis-11271	32	29	by	by	ADP
fcis-11271	32	30	the	the	DET
fcis-11271	32	31	driver	driver	NOUN
fcis-11271	32	32	of	of	ADP
fcis-11271	32	33	another	another	DET
fcis-11271	32	34	vehicle	vehicle	NOUN
fcis-11271	32	35	.	.	PUNCT
fcis-11271	33	1	in	in	ADP
fcis-11271	33	2	1986	1986	NUM
fcis-11271	33	3	,	,	PUNCT
fcis-11271	33	4	the	the	DET
fcis-11271	33	5	first	first	ADJ
fcis-11271	33	6	prototype	prototype	NOUN
fcis-11271	33	7	of	of	ADP
fcis-11271	33	8	a	a	DET
fcis-11271	33	9	self	self	NOUN
fcis-11271	33	10	-	-	PUNCT
fcis-11271	33	11	driving	drive	VERB
fcis-11271	33	12	car	car	NOUN
fcis-11271	33	13	that	that	PRON
fcis-11271	33	14	did	do	AUX
fcis-11271	33	15	not	not	PART
fcis-11271	33	16	rely	rely	VERB
fcis-11271	33	17	on	on	ADP
fcis-11271	33	18	dedicated	dedicated	ADJ
fcis-11271	33	19	infrastructure	infrastructure	NOUN
fcis-11271	33	20	began	begin	VERB
fcis-11271	33	21	hitting	hit	VERB
fcis-11271	33	22	the	the	DET
fcis-11271	33	23	road	road	NOUN
fcis-11271	33	24	.	.	PUNCT
fcis-11271	34	1	this	this	DET
fcis-11271	34	2	pioneering	pioneer	VERB
fcis-11271	34	3	work	work	NOUN
fcis-11271	34	4	was	be	AUX
fcis-11271	34	5	led	lead	VERB
fcis-11271	34	6	by	by	ADP
fcis-11271	34	7	the	the	DET
fcis-11271	34	8	navlab	navlab	NOUN
fcis-11271	34	9	team	team	NOUN
fcis-11271	34	10	at	at	ADP
fcis-11271	34	11	cmu	cmu	ADV
fcis-11271	34	12	in	in	ADP
fcis-11271	34	13	the	the	DET
fcis-11271	34	14	united	united	PROPN
fcis-11271	34	15	states	states	PROPN
fcis-11271	34	16	and	and	CCONJ
fcis-11271	34	17	the	the	DET
fcis-11271	34	18	ernst	ernst	PROPN
fcis-11271	34	19	dickmann	dickmann	NOUN
fcis-11271	34	20	team	team	NOUN
fcis-11271	34	21	at	at	ADP
fcis-11271	34	22	the	the	DET
fcis-11271	34	23	bundeswehr	bundeswehr	PROPN
fcis-11271	34	24	university	university	PROPN
fcis-11271	34	25	in	in	ADP
fcis-11271	34	26	munich	munich	PROPN
fcis-11271	34	27	,	,	PUNCT
fcis-11271	34	28	germany	germany	PROPN
fcis-11271	34	29	.	.	PUNCT
fcis-11271	35	1	while	while	SCONJ
fcis-11271	35	2	fully	fully	ADV
fcis-11271	35	3	autonomous	autonomous	ADJ
fcis-11271	35	4	driving	driving	NOUN
fcis-11271	35	5	remains	remain	VERB
fcis-11271	35	6	unsolved	unsolved	ADJ
fcis-11271	35	7	to	to	ADP
fcis-11271	35	8	this	this	DET
fcis-11271	35	9	day	day	NOUN
fcis-11271	35	10	,	,	PUNCT
fcis-11271	35	11	driver	driver	NOUN
fcis-11271	35	12	assistance	assistance	NOUN
fcis-11271	35	13	systems	system	NOUN
fcis-11271	35	14	have	have	AUX
fcis-11271	35	15	been	be	AUX
fcis-11271	35	16	commercially	commercially	ADV
fcis-11271	35	17	successful	successful	ADJ
fcis-11271	35	18	,	,	PUNCT
fcis-11271	35	19	145	145	NUM
fcis-11271	35	20	improving	improve	VERB
fcis-11271	35	21	the	the	DET
fcis-11271	35	22	comfort	comfort	NOUN
fcis-11271	35	23	and	and	CCONJ
fcis-11271	35	24	safety	safety	NOUN
fcis-11271	35	25	of	of	ADP
fcis-11271	35	26	driving	drive	VERB
fcis-11271	35	27	.	.	PUNCT
fcis-11271	36	1	in	in	ADP
fcis-11271	36	2	1995	1995	NUM
fcis-11271	36	3	,	,	PUNCT
fcis-11271	36	4	mitsubishi	mitsubishi	PROPN
fcis-11271	36	5	proposed	propose	VERB
fcis-11271	36	6	the	the	DET
fcis-11271	36	7	first	first	ADJ
fcis-11271	36	8	lidar	lidar	NOUN
fcis-11271	36	9	based	base	VERB
fcis-11271	36	10	range	range	NOUN
fcis-11271	36	11	control	control	NOUN
fcis-11271	36	12	,	,	PUNCT
fcis-11271	36	13	and	and	CCONJ
fcis-11271	36	14	in	in	ADP
fcis-11271	36	15	1999	1999	NUM
fcis-11271	36	16	mercedes	mercede	NOUN
fcis-11271	36	17	-	-	PUNCT
fcis-11271	36	18	benz	benz	PROPN
fcis-11271	36	19	implemented	implement	VERB
fcis-11271	36	20	radar	radar	NOUN
fcis-11271	36	21	-	-	PUNCT
fcis-11271	36	22	assisted	assist	VERB
fcis-11271	36	23	adaptive	adaptive	ADJ
fcis-11271	36	24	cruise	cruise	NOUN
fcis-11271	36	25	control	control	NOUN
fcis-11271	36	26	.	.	PUNCT
fcis-11271	37	1	in	in	ADP
fcis-11271	37	2	2000	2000	NUM
fcis-11271	37	3	,	,	PUNCT
fcis-11271	37	4	navigation	navigation	NOUN
fcis-11271	37	5	systems	system	NOUN
fcis-11271	37	6	and	and	CCONJ
fcis-11271	37	7	digital	digital	ADJ
fcis-11271	37	8	road	road	NOUN
fcis-11271	37	9	maps	map	NOUN
fcis-11271	37	10	were	be	AUX
fcis-11271	37	11	introduced	introduce	VERB
fcis-11271	37	12	.	.	PUNCT
fcis-11271	38	1	today	today	NOUN
fcis-11271	38	2	,	,	PUNCT
fcis-11271	38	3	differential	differential	ADJ
fcis-11271	38	4	gps	gps	PROPN
fcis-11271	38	5	,	,	PUNCT
fcis-11271	38	6	combined	combine	VERB
fcis-11271	38	7	with	with	ADP
fcis-11271	38	8	an	an	DET
fcis-11271	38	9	inertial	inertial	ADJ
fcis-11271	38	10	measurement	measurement	NOUN
fcis-11271	38	11	unit	unit	NOUN
fcis-11271	38	12	(	(	PUNCT
fcis-11271	38	13	imu	imu	NOUN
fcis-11271	38	14	)	)	PUNCT
fcis-11271	38	15	,	,	PUNCT
fcis-11271	38	16	can	can	AUX
fcis-11271	38	17	position	position	VERB
fcis-11271	38	18	with	with	ADP
fcis-11271	38	19	5	5	NUM
fcis-11271	38	20	cm	cm	NOUN
fcis-11271	38	21	accuracy	accuracy	NOUN
fcis-11271	38	22	under	under	ADP
fcis-11271	38	23	good	good	ADJ
fcis-11271	38	24	conditions	condition	NOUN
fcis-11271	38	25	,	,	PUNCT
fcis-11271	38	26	enabling	enable	VERB
fcis-11271	38	27	the	the	DET
fcis-11271	38	28	use	use	NOUN
fcis-11271	38	29	of	of	ADP
fcis-11271	38	30	detailed	detailed	ADJ
fcis-11271	38	31	lane	lane	NOUN
fcis-11271	38	32	-	-	PUNCT
fcis-11271	38	33	level	level	NOUN
fcis-11271	38	34	road	road	NOUN
fcis-11271	38	35	maps	map	NOUN
fcis-11271	38	36	(	(	PUNCT
fcis-11271	38	37	hd	hd	NOUN
fcis-11271	38	38	maps	map	NOUN
fcis-11271	38	39	)	)	PUNCT
fcis-11271	38	40	and	and	CCONJ
fcis-11271	38	41	providing	provide	VERB
fcis-11271	38	42	redundancy	redundancy	NOUN
fcis-11271	38	43	for	for	ADP
fcis-11271	38	44	vision	vision	NOUN
fcis-11271	38	45	-	-	PUNCT
fcis-11271	38	46	based	base	VERB
fcis-11271	38	47	noise	noise	NOUN
fcis-11271	38	48	positioning	positioning	NOUN
fcis-11271	38	49	.	.	PUNCT
fcis-11271	39	1	in	in	ADP
fcis-11271	39	2	2019	2019	NUM
fcis-11271	39	3	,	,	PUNCT
fcis-11271	39	4	bosch	bosch	PROPN
fcis-11271	39	5	and	and	CCONJ
fcis-11271	39	6	daimler	daimler	PROPN
fcis-11271	39	7	announced	announce	VERB
fcis-11271	39	8	the	the	DET
fcis-11271	39	9	formation	formation	NOUN
fcis-11271	39	10	of	of	ADP
fcis-11271	39	11	a	a	DET
fcis-11271	39	12	fleet	fleet	NOUN
fcis-11271	39	13	of	of	ADP
fcis-11271	39	14	autonomous	autonomous	ADJ
fcis-11271	39	15	vehicles	vehicle	NOUN
fcis-11271	39	16	to	to	PART
fcis-11271	39	17	provide	provide	VERB
fcis-11271	39	18	automated	automate	VERB
fcis-11271	39	19	vehicle	vehicle	NOUN
fcis-11271	39	20	transfers	transfer	NOUN
fcis-11271	39	21	to	to	ADP
fcis-11271	39	22	customers	customer	NOUN
fcis-11271	39	23	on	on	ADP
fcis-11271	39	24	selected	select	VERB
fcis-11271	39	25	routes	route	NOUN
fcis-11271	39	26	in	in	ADP
fcis-11271	39	27	california	california	PROPN
fcis-11271	39	28	.	.	PUNCT
fcis-11271	40	1	3	3	X
fcis-11271	40	2	.	.	PUNCT
fcis-11271	40	3	key	key	ADJ
fcis-11271	40	4	technologies	technology	NOUN
fcis-11271	40	5	for	for	ADP
fcis-11271	40	6	autonomous	autonomous	ADJ
fcis-11271	40	7	driving	drive	VERB
fcis-11271	40	8	3.1	3.1	NUM
fcis-11271	40	9	.	.	PUNCT
fcis-11271	41	1	perception	perception	NOUN
fcis-11271	41	2	perception	perception	NOUN
fcis-11271	41	3	refers	refer	VERB
fcis-11271	41	4	to	to	ADP
fcis-11271	41	5	the	the	DET
fcis-11271	41	6	process	process	NOUN
fcis-11271	41	7	by	by	ADP
fcis-11271	41	8	which	which	PRON
fcis-11271	41	9	an	an	DET
fcis-11271	41	10	autonomous	autonomous	ADJ
fcis-11271	41	11	driving	driving	NOUN
fcis-11271	41	12	system	system	NOUN
fcis-11271	41	13	collects	collect	VERB
fcis-11271	41	14	information	information	NOUN
fcis-11271	41	15	from	from	ADP
fcis-11271	41	16	the	the	DET
fcis-11271	41	17	environment	environment	NOUN
fcis-11271	41	18	and	and	CCONJ
fcis-11271	41	19	extracts	extract	VERB
fcis-11271	41	20	relevant	relevant	ADJ
fcis-11271	41	21	knowledge	knowledge	NOUN
fcis-11271	41	22	from	from	ADP
fcis-11271	41	23	it	it	PRON
fcis-11271	41	24	.	.	PUNCT
fcis-11271	42	1	it	it	PRON
fcis-11271	42	2	is	be	AUX
fcis-11271	42	3	responsible	responsible	ADJ
fcis-11271	42	4	for	for	ADP
fcis-11271	42	5	estimating	estimate	VERB
fcis-11271	42	6	the	the	DET
fcis-11271	42	7	state	state	NOUN
fcis-11271	42	8	of	of	ADP
fcis-11271	42	9	the	the	DET
fcis-11271	42	10	vehicle	vehicle	NOUN
fcis-11271	42	11	and	and	CCONJ
fcis-11271	42	12	using	use	VERB
fcis-11271	42	13	the	the	DET
fcis-11271	42	14	data	datum	NOUN
fcis-11271	42	15	acquired	acquire	VERB
fcis-11271	42	16	by	by	ADP
fcis-11271	42	17	the	the	DET
fcis-11271	42	18	onboard	onboard	ADJ
fcis-11271	42	19	sensors	sensor	NOUN
fcis-11271	42	20	to	to	PART
fcis-11271	42	21	interact	interact	VERB
fcis-11271	42	22	with	with	ADP
fcis-11271	42	23	the	the	DET
fcis-11271	42	24	vehicle	vehicle	NOUN
fcis-11271	42	25	control	control	NOUN
fcis-11271	42	26	system	system	NOUN
fcis-11271	42	27	and	and	CCONJ
fcis-11271	42	28	decision	decision	NOUN
fcis-11271	42	29	-	-	PUNCT
fcis-11271	42	30	making	make	VERB
fcis-11271	42	31	unit	unit	NOUN
fcis-11271	42	32	.	.	PUNCT
fcis-11271	43	1	at	at	ADP
fcis-11271	43	2	the	the	DET
fcis-11271	43	3	same	same	ADJ
fcis-11271	43	4	time	time	NOUN
fcis-11271	43	5	,	,	PUNCT
fcis-11271	43	6	the	the	DET
fcis-11271	43	7	prior	prior	ADJ
fcis-11271	43	8	information	information	NOUN
fcis-11271	43	9	of	of	ADP
fcis-11271	43	10	road	road	NOUN
fcis-11271	43	11	network	network	NOUN
fcis-11271	43	12	,	,	PUNCT
fcis-11271	43	13	traffic	traffic	NOUN
fcis-11271	43	14	rules	rule	NOUN
fcis-11271	43	15	and	and	CCONJ
fcis-11271	43	16	vehicle	vehicle	NOUN
fcis-11271	43	17	dynamics	dynamic	NOUN
fcis-11271	43	18	is	be	AUX
fcis-11271	43	19	used	use	VERB
fcis-11271	43	20	to	to	PART
fcis-11271	43	21	plan	plan	VERB
fcis-11271	43	22	and	and	CCONJ
fcis-11271	43	23	control	control	NOUN
fcis-11271	43	24	vehicles	vehicle	NOUN
fcis-11271	43	25	.	.	PUNCT
fcis-11271	44	1	it	it	PRON
fcis-11271	44	2	usually	usually	ADV
fcis-11271	44	3	consists	consist	VERB
fcis-11271	44	4	of	of	ADP
fcis-11271	44	5	two	two	NUM
fcis-11271	44	6	parts	part	NOUN
fcis-11271	44	7	:	:	PUNCT
fcis-11271	44	8	environment	environment	NOUN
fcis-11271	44	9	awareness	awareness	NOUN
fcis-11271	44	10	and	and	CCONJ
fcis-11271	44	11	localization	localization	NOUN
fcis-11271	44	12	.	.	PUNCT
fcis-11271	45	1	among	among	ADP
fcis-11271	45	2	them	they	PRON
fcis-11271	45	3	,	,	PUNCT
fcis-11271	45	4	environmental	environmental	ADJ
fcis-11271	45	5	perception	perception	NOUN
fcis-11271	45	6	(	(	PUNCT
fcis-11271	45	7	ep	ep	PROPN
fcis-11271	45	8	)	)	PUNCT
fcis-11271	45	9	is	be	AUX
fcis-11271	45	10	the	the	DET
fcis-11271	45	11	ability	ability	NOUN
fcis-11271	45	12	to	to	PART
fcis-11271	45	13	understand	understand	VERB
fcis-11271	45	14	the	the	DET
fcis-11271	45	15	environmental	environmental	ADJ
fcis-11271	45	16	scene	scene	NOUN
fcis-11271	45	17	,	,	PUNCT
fcis-11271	45	18	such	such	ADJ
fcis-11271	45	19	as	as	ADP
fcis-11271	45	20	the	the	DET
fcis-11271	45	21	type	type	NOUN
fcis-11271	45	22	of	of	ADP
fcis-11271	45	23	obstacles	obstacle	NOUN
fcis-11271	45	24	,	,	PUNCT
fcis-11271	45	25	road	road	NOUN
fcis-11271	45	26	signs	sign	NOUN
fcis-11271	45	27	and	and	CCONJ
fcis-11271	45	28	routes	route	NOUN
fcis-11271	45	29	,	,	PUNCT
fcis-11271	45	30	pedestrian	pedestrian	NOUN
fcis-11271	45	31	and	and	CCONJ
fcis-11271	45	32	vehicle	vehicle	NOUN
fcis-11271	45	33	detection	detection	NOUN
fcis-11271	45	34	,	,	PUNCT
fcis-11271	45	35	semantic	semantic	ADJ
fcis-11271	45	36	classification	classification	NOUN
fcis-11271	45	37	of	of	ADP
fcis-11271	45	38	traffic	traffic	NOUN
fcis-11271	45	39	signals	signal	NOUN
fcis-11271	45	40	and	and	CCONJ
fcis-11271	45	41	other	other	ADJ
fcis-11271	45	42	data	datum	NOUN
fcis-11271	45	43	.	.	PUNCT
fcis-11271	46	1	localization	localization	NOUN
fcis-11271	46	2	is	be	AUX
fcis-11271	46	3	the	the	DET
fcis-11271	46	4	post	post	ADJ
fcis-11271	46	5	-	-	ADJ
fcis-11271	46	6	processing	processing	NOUN
fcis-11271	46	7	of	of	ADP
fcis-11271	46	8	perceptual	perceptual	ADJ
fcis-11271	46	9	results	result	NOUN
fcis-11271	46	10	.	.	PUNCT
fcis-11271	47	1	localization	localization	NOUN
fcis-11271	47	2	can	can	AUX
fcis-11271	47	3	help	help	VERB
fcis-11271	47	4	autonomous	autonomous	ADJ
fcis-11271	47	5	cars	car	NOUN
fcis-11271	47	6	understand	understand	VERB
fcis-11271	47	7	their	their	PRON
fcis-11271	47	8	position	position	NOUN
fcis-11271	47	9	relative	relative	ADJ
fcis-11271	47	10	to	to	ADP
fcis-11271	47	11	the	the	DET
fcis-11271	47	12	environment	environment	NOUN
fcis-11271	47	13	through	through	ADP
fcis-11271	47	14	localization	localization	NOUN
fcis-11271	47	15	.	.	PUNCT
fcis-11271	48	1	the	the	DET
fcis-11271	48	2	camera	camera	NOUN
fcis-11271	48	3	is	be	AUX
fcis-11271	48	4	a	a	DET
fcis-11271	48	5	kind	kind	NOUN
fcis-11271	48	6	of	of	ADP
fcis-11271	48	7	environment	environment	NOUN
fcis-11271	48	8	sensing	sense	VERB
fcis-11271	48	9	device	device	NOUN
fcis-11271	48	10	closest	close	ADJ
fcis-11271	48	11	to	to	ADP
fcis-11271	48	12	the	the	DET
fcis-11271	48	13	human	human	ADJ
fcis-11271	48	14	eye	eye	NOUN
fcis-11271	48	15	.	.	PUNCT
fcis-11271	49	1	common	common	ADJ
fcis-11271	49	2	vehicle	vehicle	NOUN
fcis-11271	49	3	-	-	PUNCT
fcis-11271	49	4	mounted	mount	VERB
fcis-11271	49	5	cameras	camera	NOUN
fcis-11271	49	6	include	include	VERB
fcis-11271	49	7	monocular	monocular	ADJ
fcis-11271	49	8	cameras	camera	NOUN
fcis-11271	49	9	,	,	PUNCT
fcis-11271	49	10	binocular	binocular	ADJ
fcis-11271	49	11	cameras	camera	NOUN
fcis-11271	49	12	,	,	PUNCT
fcis-11271	49	13	and	and	CCONJ
fcis-11271	49	14	round	round	ADJ
fcis-11271	49	15	-	-	PUNCT
fcis-11271	49	16	view	view	NOUN
fcis-11271	49	17	cameras	camera	NOUN
fcis-11271	49	18	.	.	PUNCT
fcis-11271	50	1	the	the	DET
fcis-11271	50	2	monocular	monocular	ADJ
fcis-11271	50	3	camera	camera	NOUN
fcis-11271	50	4	is	be	AUX
fcis-11271	50	5	generally	generally	ADV
fcis-11271	50	6	the	the	DET
fcis-11271	50	7	top	top	NOUN
fcis-11271	50	8	of	of	ADP
fcis-11271	50	9	the	the	DET
fcis-11271	50	10	car	car	NOUN
fcis-11271	50	11	,	,	PUNCT
fcis-11271	50	12	which	which	PRON
fcis-11271	50	13	is	be	AUX
fcis-11271	50	14	responsible	responsible	ADJ
fcis-11271	50	15	for	for	ADP
fcis-11271	50	16	monitoring	monitor	VERB
fcis-11271	50	17	the	the	DET
fcis-11271	50	18	roadblocks	roadblock	NOUN
fcis-11271	50	19	ahead	ahead	ADV
fcis-11271	50	20	,	,	PUNCT
fcis-11271	50	21	but	but	CCONJ
fcis-11271	50	22	is	be	AUX
fcis-11271	50	23	less	less	ADV
fcis-11271	50	24	sensitive	sensitive	ADJ
fcis-11271	50	25	to	to	ADP
fcis-11271	50	26	distance	distance	NOUN
fcis-11271	50	27	perception	perception	NOUN
fcis-11271	50	28	.	.	PUNCT
fcis-11271	51	1	the	the	DET
fcis-11271	51	2	binocular	binocular	ADJ
fcis-11271	51	3	camera	camera	NOUN
fcis-11271	51	4	can	can	AUX
fcis-11271	51	5	use	use	VERB
fcis-11271	51	6	the	the	DET
fcis-11271	51	7	difference	difference	NOUN
fcis-11271	51	8	of	of	ADP
fcis-11271	51	9	visual	visual	ADJ
fcis-11271	51	10	distance	distance	NOUN
fcis-11271	51	11	to	to	PART
fcis-11271	51	12	obtain	obtain	VERB
fcis-11271	51	13	the	the	DET
fcis-11271	51	14	distance	distance	NOUN
fcis-11271	51	15	between	between	ADP
fcis-11271	51	16	the	the	DET
fcis-11271	51	17	obstacle	obstacle	NOUN
fcis-11271	51	18	and	and	CCONJ
fcis-11271	51	19	the	the	DET
fcis-11271	51	20	vehicle	vehicle	NOUN
fcis-11271	51	21	through	through	ADP
fcis-11271	51	22	the	the	DET
fcis-11271	51	23	triangulation	triangulation	NOUN
fcis-11271	51	24	technology	technology	NOUN
fcis-11271	51	25	.	.	PUNCT
fcis-11271	52	1	for	for	ADP
fcis-11271	52	2	example	example	NOUN
fcis-11271	52	3	,	,	PUNCT
fcis-11271	52	4	p1	p1	NOUN
fcis-11271	52	5	and	and	CCONJ
fcis-11271	52	6	p2	p2	PROPN
fcis-11271	52	7	are	be	AUX
fcis-11271	52	8	two	two	NUM
fcis-11271	52	9	cameras	camera	NOUN
fcis-11271	52	10	,	,	PUNCT
fcis-11271	52	11	and	and	CCONJ
fcis-11271	52	12	p	p	NOUN
fcis-11271	52	13	is	be	AUX
fcis-11271	52	14	an	an	DET
fcis-11271	52	15	obstacle	obstacle	NOUN
fcis-11271	52	16	.	.	PUNCT
fcis-11271	53	1	the	the	DET
fcis-11271	53	2	distance	distance	NOUN
fcis-11271	53	3	from	from	ADP
fcis-11271	53	4	p	p	NOUN
fcis-11271	53	5	to	to	ADP
fcis-11271	53	6	the	the	DET
fcis-11271	53	7	vehicle	vehicle	NOUN
fcis-11271	53	8	can	can	AUX
fcis-11271	53	9	be	be	AUX
fcis-11271	53	10	obtained	obtain	VERB
fcis-11271	53	11	by	by	ADP
fcis-11271	53	12	triangulation	triangulation	NOUN
fcis-11271	53	13	.	.	PUNCT
fcis-11271	54	1	and	and	CCONJ
fcis-11271	54	2	lidar	lidar	NOUN
fcis-11271	54	3	,	,	PUNCT
fcis-11271	54	4	also	also	ADV
fcis-11271	54	5	known	know	VERB
fcis-11271	54	6	as	as	ADP
fcis-11271	54	7	lidar	lidar	NOUN
fcis-11271	54	8	,	,	PUNCT
fcis-11271	54	9	his	his	PRON
fcis-11271	54	10	core	core	NOUN
fcis-11271	54	11	principle	principle	NOUN
fcis-11271	54	12	is	be	AUX
fcis-11271	54	13	to	to	PART
fcis-11271	54	14	send	send	VERB
fcis-11271	54	15	a	a	DET
fcis-11271	54	16	light	light	NOUN
fcis-11271	54	17	,	,	PUNCT
fcis-11271	54	18	the	the	DET
fcis-11271	54	19	light	light	NOUN
fcis-11271	54	20	will	will	AUX
fcis-11271	54	21	bounce	bounce	VERB
fcis-11271	54	22	back	back	ADV
fcis-11271	54	23	when	when	SCONJ
fcis-11271	54	24	it	it	PRON
fcis-11271	54	25	encounters	encounter	VERB
fcis-11271	54	26	an	an	DET
fcis-11271	54	27	obstacle	obstacle	NOUN
fcis-11271	54	28	,	,	PUNCT
fcis-11271	54	29	and	and	CCONJ
fcis-11271	54	30	judge	judge	VERB
fcis-11271	54	31	the	the	DET
fcis-11271	54	32	distance	distance	NOUN
fcis-11271	54	33	by	by	ADP
fcis-11271	54	34	the	the	DET
fcis-11271	54	35	time	time	NOUN
fcis-11271	54	36	difference	difference	NOUN
fcis-11271	54	37	between	between	ADP
fcis-11271	54	38	the	the	DET
fcis-11271	54	39	two	two	NUM
fcis-11271	54	40	.	.	PUNCT
fcis-11271	55	1	through	through	ADP
fcis-11271	55	2	lidar	lidar	NOUN
fcis-11271	55	3	data	data	PROPN
fcis-11271	55	4	acquisition	acquisition	NOUN
fcis-11271	55	5	,	,	PUNCT
fcis-11271	55	6	point	point	NOUN
fcis-11271	55	7	cloud	cloud	NOUN
fcis-11271	55	8	map	map	NOUN
fcis-11271	55	9	can	can	AUX
fcis-11271	55	10	be	be	AUX
fcis-11271	55	11	drawn	draw	VERB
fcis-11271	55	12	,	,	PUNCT
fcis-11271	55	13	so	so	SCONJ
fcis-11271	55	14	as	as	SCONJ
fcis-11271	55	15	to	to	PART
fcis-11271	55	16	achieve	achieve	VERB
fcis-11271	55	17	the	the	DET
fcis-11271	55	18	shape	shape	NOUN
fcis-11271	55	19	,	,	PUNCT
fcis-11271	55	20	size	size	NOUN
fcis-11271	55	21	and	and	CCONJ
fcis-11271	55	22	distance	distance	NOUN
fcis-11271	55	23	of	of	ADP
fcis-11271	55	24	obstacles	obstacle	NOUN
fcis-11271	55	25	.	.	PUNCT
fcis-11271	56	1	one	one	NUM
fcis-11271	56	2	of	of	ADP
fcis-11271	56	3	the	the	DET
fcis-11271	56	4	main	main	ADJ
fcis-11271	56	5	problems	problem	NOUN
fcis-11271	56	6	with	with	ADP
fcis-11271	56	7	lidar	lidar	NOUN
fcis-11271	56	8	is	be	AUX
fcis-11271	56	9	that	that	SCONJ
fcis-11271	56	10	it	it	PRON
fcis-11271	56	11	is	be	AUX
fcis-11271	56	12	easily	easily	ADV
fcis-11271	56	13	affected	affect	VERB
fcis-11271	56	14	by	by	ADP
fcis-11271	56	15	the	the	DET
fcis-11271	56	16	weather	weather	NOUN
fcis-11271	56	17	,	,	PUNCT
fcis-11271	56	18	for	for	ADP
fcis-11271	56	19	example	example	NOUN
fcis-11271	56	20	,	,	PUNCT
fcis-11271	56	21	in	in	ADP
fcis-11271	56	22	rainy	rainy	ADJ
fcis-11271	56	23	weather	weather	NOUN
fcis-11271	56	24	,	,	PUNCT
fcis-11271	56	25	water	water	NOUN
fcis-11271	56	26	droplets	droplet	NOUN
fcis-11271	56	27	can	can	AUX
fcis-11271	56	28	easily	easily	ADV
fcis-11271	56	29	affect	affect	VERB
fcis-11271	56	30	the	the	DET
fcis-11271	56	31	effect	effect	NOUN
fcis-11271	56	32	of	of	ADP
fcis-11271	56	33	lidar	lidar	NOUN
fcis-11271	56	34	.	.	PUNCT
fcis-11271	57	1	environmental	environmental	ADJ
fcis-11271	57	2	perception	perception	NOUN
fcis-11271	57	3	technology	technology	NOUN
fcis-11271	57	4	mainly	mainly	ADV
fcis-11271	57	5	helps	help	VERB
fcis-11271	57	6	vehicles	vehicle	NOUN
fcis-11271	57	7	to	to	PART
fcis-11271	57	8	obtain	obtain	VERB
fcis-11271	57	9	road	road	NOUN
fcis-11271	57	10	condition	condition	NOUN
fcis-11271	57	11	information	information	NOUN
fcis-11271	57	12	,	,	PUNCT
fcis-11271	57	13	and	and	CCONJ
fcis-11271	57	14	positioning	positioning	NOUN
fcis-11271	57	15	service	service	NOUN
fcis-11271	57	16	can	can	AUX
fcis-11271	57	17	help	help	VERB
fcis-11271	57	18	vehicles	vehicle	NOUN
fcis-11271	57	19	to	to	PART
fcis-11271	57	20	obtain	obtain	VERB
fcis-11271	57	21	the	the	DET
fcis-11271	57	22	specific	specific	ADJ
fcis-11271	57	23	coordinates	coordinate	NOUN
fcis-11271	57	24	of	of	ADP
fcis-11271	57	25	the	the	DET
fcis-11271	57	26	vehicle	vehicle	NOUN
fcis-11271	57	27	,	,	PUNCT
fcis-11271	57	28	providing	provide	VERB
fcis-11271	57	29	a	a	DET
fcis-11271	57	30	basis	basis	NOUN
fcis-11271	57	31	for	for	ADP
fcis-11271	57	32	vehicle	vehicle	NOUN
fcis-11271	57	33	decision	decision	NOUN
fcis-11271	57	34	-	-	PUNCT
fcis-11271	57	35	making	making	NOUN
fcis-11271	57	36	and	and	CCONJ
fcis-11271	57	37	planning	planning	NOUN
fcis-11271	57	38	.	.	PUNCT
fcis-11271	58	1	common	common	ADJ
fcis-11271	58	2	positioning	positioning	NOUN
fcis-11271	58	3	systems	system	NOUN
fcis-11271	58	4	include	include	VERB
fcis-11271	58	5	satellite	satellite	NOUN
fcis-11271	58	6	positioning	positioning	NOUN
fcis-11271	58	7	,	,	PUNCT
fcis-11271	58	8	differential	differential	ADJ
fcis-11271	58	9	positioning	positioning	NOUN
fcis-11271	58	10	and	and	CCONJ
fcis-11271	58	11	inertial	inertial	ADJ
fcis-11271	58	12	navigation	navigation	NOUN
fcis-11271	58	13	positioning	positioning	NOUN
fcis-11271	58	14	.	.	PUNCT
fcis-11271	59	1	the	the	DET
fcis-11271	59	2	basic	basic	ADJ
fcis-11271	59	3	principle	principle	NOUN
fcis-11271	59	4	of	of	ADP
fcis-11271	59	5	satellite	satellite	NOUN
fcis-11271	59	6	positioning	positioning	NOUN
fcis-11271	59	7	is	be	AUX
fcis-11271	59	8	that	that	SCONJ
fcis-11271	59	9	through	through	ADP
fcis-11271	59	10	the	the	DET
fcis-11271	59	11	triangulation	triangulation	NOUN
fcis-11271	59	12	scheme	scheme	NOUN
fcis-11271	59	13	,	,	PUNCT
fcis-11271	59	14	at	at	ADP
fcis-11271	59	15	least	least	ADJ
fcis-11271	59	16	3	3	NUM
fcis-11271	59	17	satellites	satellite	NOUN
fcis-11271	59	18	are	be	AUX
fcis-11271	59	19	connected	connect	VERB
fcis-11271	59	20	with	with	ADP
fcis-11271	59	21	the	the	DET
fcis-11271	59	22	ground	ground	NOUN
fcis-11271	59	23	vehicle	vehicle	NOUN
fcis-11271	59	24	at	at	ADP
fcis-11271	59	25	the	the	DET
fcis-11271	59	26	same	same	ADJ
fcis-11271	59	27	time	time	NOUN
fcis-11271	59	28	,	,	PUNCT
fcis-11271	59	29	and	and	CCONJ
fcis-11271	59	30	the	the	DET
fcis-11271	59	31	accurate	accurate	ADJ
fcis-11271	59	32	vehicle	vehicle	NOUN
fcis-11271	59	33	coordinates	coordinate	NOUN
fcis-11271	59	34	can	can	AUX
fcis-11271	59	35	be	be	AUX
fcis-11271	59	36	calculated	calculate	VERB
fcis-11271	59	37	.	.	PUNCT
fcis-11271	60	1	3.2	3.2	NUM
fcis-11271	60	2	.	.	PUNCT
fcis-11271	61	1	planning	planning	NOUN
fcis-11271	61	2	planning	planning	NOUN
fcis-11271	61	3	is	be	AUX
fcis-11271	61	4	the	the	DET
fcis-11271	61	5	process	process	NOUN
fcis-11271	61	6	of	of	ADP
fcis-11271	61	7	making	make	VERB
fcis-11271	61	8	decisions	decision	NOUN
fcis-11271	61	9	and	and	CCONJ
fcis-11271	61	10	planning	plan	VERB
fcis-11271	61	11	in	in	ADP
fcis-11271	61	12	order	order	NOUN
fcis-11271	61	13	to	to	PART
fcis-11271	61	14	achieve	achieve	VERB
fcis-11271	61	15	goals	goal	NOUN
fcis-11271	61	16	.	.	PUNCT
fcis-11271	62	1	for	for	ADP
fcis-11271	62	2	self	self	NOUN
fcis-11271	62	3	-	-	PUNCT
fcis-11271	62	4	driving	drive	VERB
fcis-11271	62	5	cars	car	NOUN
fcis-11271	62	6	,	,	PUNCT
fcis-11271	62	7	this	this	DET
fcis-11271	62	8	process	process	NOUN
fcis-11271	62	9	typically	typically	ADV
fcis-11271	62	10	involves	involve	VERB
fcis-11271	62	11	getting	get	VERB
fcis-11271	62	12	from	from	ADP
fcis-11271	62	13	origin	origin	NOUN
fcis-11271	62	14	to	to	ADP
fcis-11271	62	15	destination	destination	NOUN
fcis-11271	62	16	,	,	PUNCT
fcis-11271	62	17	avoiding	avoid	VERB
fcis-11271	62	18	obstacles	obstacle	NOUN
fcis-11271	62	19	,	,	PUNCT
fcis-11271	62	20	and	and	CCONJ
fcis-11271	62	21	constantly	constantly	ADV
fcis-11271	62	22	optimizing	optimize	VERB
fcis-11271	62	23	routes	route	NOUN
fcis-11271	62	24	and	and	CCONJ
fcis-11271	62	25	behaviors	behavior	NOUN
fcis-11271	62	26	to	to	PART
fcis-11271	62	27	keep	keep	VERB
fcis-11271	62	28	you	you	PRON
fcis-11271	62	29	safe	safe	ADJ
fcis-11271	62	30	and	and	CCONJ
fcis-11271	62	31	comfortable	comfortable	ADJ
fcis-11271	62	32	.	.	PUNCT
fcis-11271	63	1	the	the	DET
fcis-11271	63	2	planning	planning	NOUN
fcis-11271	63	3	layer	layer	NOUN
fcis-11271	63	4	is	be	AUX
fcis-11271	63	5	usually	usually	ADV
fcis-11271	63	6	divided	divide	VERB
fcis-11271	63	7	into	into	ADP
fcis-11271	63	8	three	three	NUM
fcis-11271	63	9	layers	layer	NOUN
fcis-11271	63	10	:	:	PUNCT
fcis-11271	63	11	task	task	NOUN
fcis-11271	63	12	planning	planning	NOUN
fcis-11271	63	13	(	(	PUNCT
fcis-11271	63	14	mp	mp	PROPN
fcis-11271	63	15	)	)	PUNCT
fcis-11271	63	16	,	,	PUNCT
fcis-11271	63	17	behavior	behavior	NOUN
fcis-11271	63	18	planning	planning	NOUN
fcis-11271	63	19	(	(	PUNCT
fcis-11271	63	20	bp	bp	PROPN
fcis-11271	63	21	)	)	PUNCT
fcis-11271	63	22	and	and	CCONJ
fcis-11271	63	23	motion	motion	NOUN
fcis-11271	63	24	planning	planning	NOUN
fcis-11271	63	25	(	(	PUNCT
fcis-11271	63	26	mp	mp	PROPN
fcis-11271	63	27	)	)	PUNCT
fcis-11271	63	28	.	.	PUNCT
fcis-11271	64	1	the	the	DET
fcis-11271	64	2	layered	layered	ADJ
fcis-11271	64	3	structure	structure	NOUN
fcis-11271	64	4	design	design	NOUN
fcis-11271	64	5	originated	originate	VERB
fcis-11271	64	6	from	from	ADP
fcis-11271	64	7	the	the	DET
fcis-11271	64	8	dapra	dapra	NOUN
fcis-11271	64	9	urban	urban	ADJ
fcis-11271	64	10	challenge	challenge	NOUN
fcis-11271	64	11	held	hold	VERB
fcis-11271	64	12	in	in	ADP
fcis-11271	64	13	the	the	DET
fcis-11271	64	14	united	united	PROPN
fcis-11271	64	15	states	states	PROPN
fcis-11271	64	16	in	in	ADP
fcis-11271	64	17	2007	2007	NUM
fcis-11271	64	18	.	.	PUNCT
fcis-11271	65	1	according	accord	VERB
fcis-11271	65	2	to	to	ADP
fcis-11271	65	3	the	the	DET
fcis-11271	65	4	papers	paper	NOUN
fcis-11271	65	5	published	publish	VERB
fcis-11271	65	6	by	by	ADP
fcis-11271	65	7	the	the	DET
fcis-11271	65	8	participating	participate	VERB
fcis-11271	65	9	teams	team	NOUN
fcis-11271	65	10	,	,	PUNCT
fcis-11271	65	11	most	most	ADJ
fcis-11271	65	12	of	of	ADP
fcis-11271	65	13	the	the	DET
fcis-11271	65	14	participating	participate	VERB
fcis-11271	65	15	teams	team	NOUN
fcis-11271	65	16	divided	divide	VERB
fcis-11271	65	17	the	the	DET
fcis-11271	65	18	autonomous	autonomous	ADJ
fcis-11271	65	19	vehicle	vehicle	NOUN
fcis-11271	65	20	planning	planning	NOUN
fcis-11271	65	21	module	module	NOUN
fcis-11271	65	22	into	into	ADP
fcis-11271	65	23	the	the	DET
fcis-11271	65	24	above	above	ADJ
fcis-11271	65	25	three	three	NUM
fcis-11271	65	26	layers	layer	NOUN
fcis-11271	65	27	.	.	PUNCT
fcis-11271	66	1	path	path	NOUN
fcis-11271	66	2	planning	planning	NOUN
fcis-11271	66	3	is	be	AUX
fcis-11271	66	4	actually	actually	ADV
fcis-11271	66	5	a	a	DET
fcis-11271	66	6	technique	technique	NOUN
fcis-11271	66	7	in	in	ADP
fcis-11271	66	8	the	the	DET
fcis-11271	66	9	field	field	NOUN
fcis-11271	66	10	of	of	ADP
fcis-11271	66	11	high	high	ADJ
fcis-11271	66	12	precision	precision	NOUN
fcis-11271	66	13	mapping	mapping	NOUN
fcis-11271	66	14	.	.	PUNCT
fcis-11271	67	1	in	in	ADP
fcis-11271	67	2	the	the	DET
fcis-11271	67	3	traditional	traditional	ADJ
fcis-11271	67	4	human	human	ADJ
fcis-11271	67	5	driving	driving	NOUN
fcis-11271	67	6	mode	mode	NOUN
fcis-11271	67	7	,	,	PUNCT
fcis-11271	67	8	if	if	SCONJ
fcis-11271	67	9	there	there	PRON
fcis-11271	67	10	is	be	VERB
fcis-11271	67	11	a	a	DET
fcis-11271	67	12	mistake	mistake	NOUN
fcis-11271	67	13	in	in	ADP
fcis-11271	67	14	the	the	DET
fcis-11271	67	15	map	map	NOUN
fcis-11271	67	16	navigation	navigation	NOUN
fcis-11271	67	17	,	,	PUNCT
fcis-11271	67	18	it	it	PRON
fcis-11271	67	19	can	can	AUX
fcis-11271	67	20	actually	actually	ADV
fcis-11271	67	21	be	be	AUX
fcis-11271	67	22	corrected	correct	VERB
fcis-11271	67	23	by	by	ADP
fcis-11271	67	24	human	human	ADJ
fcis-11271	67	25	flesh	flesh	NOUN
fcis-11271	67	26	.	.	PUNCT
fcis-11271	68	1	in	in	ADP
fcis-11271	68	2	the	the	DET
fcis-11271	68	3	era	era	NOUN
fcis-11271	68	4	of	of	ADP
fcis-11271	68	5	autonomous	autonomous	ADJ
fcis-11271	68	6	driving	driving	NOUN
fcis-11271	68	7	,	,	PUNCT
fcis-11271	68	8	the	the	DET
fcis-11271	68	9	accuracy	accuracy	NOUN
fcis-11271	68	10	of	of	ADP
fcis-11271	68	11	maps	map	NOUN
fcis-11271	68	12	and	and	CCONJ
fcis-11271	68	13	the	the	DET
fcis-11271	68	14	accuracy	accuracy	NOUN
fcis-11271	68	15	of	of	ADP
fcis-11271	68	16	navigation	navigation	NOUN
fcis-11271	68	17	will	will	AUX
fcis-11271	68	18	be	be	AUX
fcis-11271	68	19	directly	directly	ADV
fcis-11271	68	20	related	relate	VERB
fcis-11271	68	21	to	to	ADP
fcis-11271	68	22	safety	safety	NOUN
fcis-11271	68	23	,	,	PUNCT
fcis-11271	68	24	so	so	CCONJ
fcis-11271	68	25	the	the	DET
fcis-11271	68	26	high	high	ADJ
fcis-11271	68	27	-	-	PUNCT
fcis-11271	68	28	precision	precision	NOUN
fcis-11271	68	29	map	map	NOUN
fcis-11271	68	30	technology	technology	NOUN
fcis-11271	68	31	in	in	ADP
fcis-11271	68	32	the	the	DET
fcis-11271	68	33	era	era	NOUN
fcis-11271	68	34	of	of	ADP
fcis-11271	68	35	autonomous	autonomous	ADJ
fcis-11271	68	36	driving	driving	NOUN
fcis-11271	68	37	is	be	AUX
fcis-11271	68	38	very	very	ADV
fcis-11271	68	39	important	important	ADJ
fcis-11271	68	40	.	.	PUNCT
fcis-11271	69	1	because	because	SCONJ
fcis-11271	69	2	the	the	DET
fcis-11271	69	3	vehicle	vehicle	NOUN
fcis-11271	69	4	autonomous	autonomous	ADJ
fcis-11271	69	5	driving	driving	NOUN
fcis-11271	69	6	problem	problem	NOUN
fcis-11271	69	7	is	be	AUX
fcis-11271	69	8	not	not	PART
fcis-11271	69	9	a	a	DET
fcis-11271	69	10	single	single	ADJ
fcis-11271	69	11	variable	variable	ADJ
fcis-11271	69	12	problem	problem	NOUN
fcis-11271	69	13	,	,	PUNCT
fcis-11271	69	14	the	the	DET
fcis-11271	69	15	vehicle	vehicle	NOUN
fcis-11271	69	16	in	in	ADP
fcis-11271	69	17	the	the	DET
fcis-11271	69	18	formal	formal	ADJ
fcis-11271	69	19	process	process	NOUN
fcis-11271	69	20	includes	include	VERB
fcis-11271	69	21	not	not	PART
fcis-11271	69	22	only	only	ADV
fcis-11271	69	23	the	the	DET
fcis-11271	69	24	behavior	behavior	NOUN
fcis-11271	69	25	of	of	ADP
fcis-11271	69	26	the	the	DET
fcis-11271	69	27	car	car	NOUN
fcis-11271	69	28	itself	itself	PRON
fcis-11271	69	29	,	,	PUNCT
fcis-11271	69	30	but	but	CCONJ
fcis-11271	69	31	also	also	ADV
fcis-11271	69	32	the	the	DET
fcis-11271	69	33	behavior	behavior	NOUN
fcis-11271	69	34	of	of	ADP
fcis-11271	69	35	other	other	ADJ
fcis-11271	69	36	pedestrians	pedestrian	NOUN
fcis-11271	69	37	and	and	CCONJ
fcis-11271	69	38	cars	car	NOUN
fcis-11271	69	39	on	on	ADP
fcis-11271	69	40	the	the	DET
fcis-11271	69	41	road	road	NOUN
fcis-11271	69	42	.	.	PUNCT
fcis-11271	70	1	therefore	therefore	ADV
fcis-11271	70	2	,	,	PUNCT
fcis-11271	70	3	behavioral	behavioral	ADJ
fcis-11271	70	4	decision	decision	NOUN
fcis-11271	70	5	mainly	mainly	ADV
fcis-11271	70	6	includes	include	VERB
fcis-11271	70	7	two	two	NUM
fcis-11271	70	8	aspects	aspect	NOUN
fcis-11271	70	9	,	,	PUNCT
fcis-11271	70	10	one	one	NUM
fcis-11271	70	11	is	be	AUX
fcis-11271	70	12	the	the	DET
fcis-11271	70	13	formal	formal	ADJ
fcis-11271	70	14	decision	decision	NOUN
fcis-11271	70	15	of	of	ADP
fcis-11271	70	16	the	the	DET
fcis-11271	70	17	vehicle	vehicle	NOUN
fcis-11271	70	18	itself	itself	PRON
fcis-11271	70	19	,	,	PUNCT
fcis-11271	70	20	and	and	CCONJ
fcis-11271	70	21	the	the	DET
fcis-11271	70	22	other	other	ADJ
fcis-11271	70	23	is	be	AUX
fcis-11271	70	24	the	the	DET
fcis-11271	70	25	prediction	prediction	NOUN
fcis-11271	70	26	of	of	ADP
fcis-11271	70	27	the	the	DET
fcis-11271	70	28	behavior	behavior	NOUN
fcis-11271	70	29	of	of	ADP
fcis-11271	70	30	other	other	ADJ
fcis-11271	70	31	driving	driving	NOUN
fcis-11271	70	32	vehicles	vehicle	NOUN
fcis-11271	70	33	.	.	PUNCT
fcis-11271	71	1	3.3	3.3	NUM
fcis-11271	71	2	.	.	PUNCT
fcis-11271	71	3	execution	execution	NOUN
fcis-11271	71	4	control	control	NOUN
fcis-11271	71	5	control	control	NOUN
fcis-11271	71	6	is	be	AUX
fcis-11271	71	7	the	the	DET
fcis-11271	71	8	execution	execution	NOUN
fcis-11271	71	9	process	process	NOUN
fcis-11271	71	10	of	of	ADP
fcis-11271	71	11	transforming	transform	VERB
fcis-11271	71	12	the	the	DET
fcis-11271	71	13	plan	plan	NOUN
fcis-11271	71	14	into	into	ADP
fcis-11271	71	15	action	action	NOUN
fcis-11271	71	16	,	,	PUNCT
fcis-11271	71	17	mainly	mainly	ADV
fcis-11271	71	18	providing	provide	VERB
fcis-11271	71	19	the	the	DET
fcis-11271	71	20	necessary	necessary	ADJ
fcis-11271	71	21	input	input	NOUN
fcis-11271	71	22	to	to	ADP
fcis-11271	71	23	the	the	DET
fcis-11271	71	24	hardware	hardware	NOUN
fcis-11271	71	25	to	to	PART
fcis-11271	71	26	execute	execute	VERB
fcis-11271	71	27	the	the	DET
fcis-11271	71	28	plan	plan	NOUN
fcis-11271	71	29	information	information	NOUN
fcis-11271	71	30	and	and	CCONJ
fcis-11271	71	31	produce	produce	VERB
fcis-11271	71	32	the	the	DET
fcis-11271	71	33	desired	desire	VERB
fcis-11271	71	34	action	action	NOUN
fcis-11271	71	35	.	.	PUNCT
fcis-11271	72	1	typically	typically	ADV
fcis-11271	72	2	,	,	PUNCT
fcis-11271	72	3	controllers	controller	NOUN
fcis-11271	72	4	map	map	VERB
fcis-11271	72	5	real	real	ADJ
fcis-11271	72	6	-	-	PUNCT
fcis-11271	72	7	world	world	NOUN
fcis-11271	72	8	interactions	interaction	NOUN
fcis-11271	72	9	based	base	VERB
fcis-11271	72	10	on	on	ADP
fcis-11271	72	11	hardware	hardware	NOUN
fcis-11271	72	12	torque	torque	NOUN
fcis-11271	72	13	and	and	CCONJ
fcis-11271	72	14	energy	energy	NOUN
fcis-11271	72	15	.	.	PUNCT
fcis-11271	73	1	feedback	feedback	NOUN
fcis-11271	73	2	control	control	NOUN
fcis-11271	73	3	is	be	AUX
fcis-11271	73	4	one	one	NUM
fcis-11271	73	5	of	of	ADP
fcis-11271	73	6	the	the	DET
fcis-11271	73	7	most	most	ADV
fcis-11271	73	8	common	common	ADJ
fcis-11271	73	9	control	control	NOUN
fcis-11271	73	10	structures	structure	NOUN
fcis-11271	73	11	in	in	ADP
fcis-11271	73	12	the	the	DET
fcis-11271	73	13	control	control	NOUN
fcis-11271	73	14	field	field	NOUN
fcis-11271	73	15	.	.	PUNCT
fcis-11271	74	1	it	it	PRON
fcis-11271	74	2	refers	refer	VERB
fcis-11271	74	3	to	to	ADP
fcis-11271	74	4	measuring	measure	VERB
fcis-11271	74	5	the	the	DET
fcis-11271	74	6	system	system	NOUN
fcis-11271	74	7	response	response	NOUN
fcis-11271	74	8	and	and	CCONJ
fcis-11271	74	9	actively	actively	ADV
fcis-11271	74	10	compensating	compensate	VERB
fcis-11271	74	11	for	for	ADP
fcis-11271	74	12	any	any	DET
fcis-11271	74	13	deviation	deviation	NOUN
fcis-11271	74	14	from	from	ADP
fcis-11271	74	15	the	the	DET
fcis-11271	74	16	desired	desire	VERB
fcis-11271	74	17	behavior	behavior	NOUN
fcis-11271	74	18	.	.	PUNCT
fcis-11271	75	1	the	the	DET
fcis-11271	75	2	most	most	ADV
fcis-11271	75	3	common	common	ADJ
fcis-11271	75	4	form	form	NOUN
fcis-11271	75	5	of	of	ADP
fcis-11271	75	6	classical	classical	ADJ
fcis-11271	75	7	feedback	feedback	NOUN
fcis-11271	75	8	control	control	NOUN
fcis-11271	75	9	is	be	AUX
fcis-11271	75	10	the	the	DET
fcis-11271	75	11	proportional	proportional	ADJ
fcis-11271	75	12	-	-	PUNCT
fcis-11271	75	13	integral	integral	ADJ
fcis-11271	75	14	-	-	PUNCT
fcis-11271	75	15	differential	differential	NOUN
fcis-11271	75	16	controller	controller	NOUN
fcis-11271	75	17	(	(	PUNCT
fcis-11271	75	18	pid	pid	NOUN
fcis-11271	75	19	)	)	PUNCT
fcis-11271	75	20	.	.	PUNCT
fcis-11271	76	1	pid	pid	NOUN
fcis-11271	76	2	controller	controller	NOUN
fcis-11271	76	3	is	be	AUX
fcis-11271	76	4	the	the	DET
fcis-11271	76	5	most	most	ADV
fcis-11271	76	6	widely	widely	ADV
fcis-11271	76	7	used	use	VERB
fcis-11271	76	8	controller	controller	NOUN
fcis-11271	76	9	in	in	ADP
fcis-11271	76	10	process	process	NOUN
fcis-11271	76	11	control	control	NOUN
fcis-11271	76	12	industry	industry	NOUN
fcis-11271	76	13	.	.	PUNCT
fcis-11271	77	1	the	the	DET
fcis-11271	77	2	concept	concept	NOUN
fcis-11271	77	3	of	of	ADP
fcis-11271	77	4	pid	pid	NOUN
fcis-11271	77	5	control	control	NOUN
fcis-11271	77	6	is	be	AUX
fcis-11271	77	7	relatively	relatively	ADV
fcis-11271	77	8	simple	simple	ADJ
fcis-11271	77	9	.	.	PUNCT
fcis-11271	78	1	the	the	DET
fcis-11271	78	2	method	method	NOUN
fcis-11271	78	3	does	do	AUX
fcis-11271	78	4	not	not	PART
fcis-11271	78	5	require	require	VERB
fcis-11271	78	6	a	a	DET
fcis-11271	78	7	system	system	NOUN
fcis-11271	78	8	model	model	NOUN
fcis-11271	78	9	and	and	CCONJ
fcis-11271	78	10	the	the	DET
fcis-11271	78	11	control	control	NOUN
fcis-11271	78	12	law	law	NOUN
fcis-11271	78	13	is	be	AUX
fcis-11271	78	14	based	base	VERB
fcis-11271	78	15	on	on	ADP
fcis-11271	78	16	error	error	NOUN
fcis-11271	78	17	signals	signal	NOUN
fcis-11271	78	18	.	.	PUNCT
fcis-11271	79	1	model	model	NOUN
fcis-11271	79	2	control	control	PROPN
fcis-11271	79	3	prediction	prediction	NOUN
fcis-11271	79	4	refers	refer	VERB
fcis-11271	79	5	to	to	ADP
fcis-11271	79	6	the	the	DET
fcis-11271	79	7	method	method	NOUN
fcis-11271	79	8	of	of	ADP
fcis-11271	79	9	using	use	VERB
fcis-11271	79	10	the	the	DET
fcis-11271	79	11	vehicle	vehicle	NOUN
fcis-11271	79	12	motion	motion	NOUN
fcis-11271	79	13	model	model	NOUN
fcis-11271	79	14	to	to	PART
fcis-11271	79	15	predict	predict	VERB
fcis-11271	79	16	the	the	DET
fcis-11271	79	17	future	future	ADJ
fcis-11271	79	18	motion	motion	NOUN
fcis-11271	79	19	of	of	ADP
fcis-11271	79	20	a	a	DET
fcis-11271	79	21	certain	certain	ADJ
fcis-11271	79	22	period	period	NOUN
fcis-11271	79	23	of	of	ADP
fcis-11271	79	24	time	time	NOUN
fcis-11271	79	25	,	,	PUNCT
fcis-11271	79	26	and	and	CCONJ
fcis-11271	79	27	fitting	fit	VERB
fcis-11271	79	28	a	a	DET
fcis-11271	79	29	series	series	NOUN
fcis-11271	79	30	of	of	ADP
fcis-11271	79	31	motions	motion	NOUN
fcis-11271	79	32	by	by	ADP
fcis-11271	79	33	optimizing	optimize	VERB
fcis-11271	79	34	the	the	DET
fcis-11271	79	35	control	control	NOUN
fcis-11271	79	36	parameters	parameter	NOUN
fcis-11271	79	37	continuously	continuously	ADV
fcis-11271	79	38	.	.	PUNCT
fcis-11271	80	1	in	in	ADP
fcis-11271	80	2	general	general	ADJ
fcis-11271	80	3	,	,	PUNCT
fcis-11271	80	4	the	the	DET
fcis-11271	80	5	period	period	NOUN
fcis-11271	80	6	of	of	ADP
fcis-11271	80	7	model	model	NOUN
fcis-11271	80	8	prediction	prediction	NOUN
fcis-11271	80	9	is	be	AUX
fcis-11271	80	10	relatively	relatively	ADV
fcis-11271	80	11	short	short	ADJ
fcis-11271	80	12	.	.	PUNCT
fcis-11271	81	1	model	model	NOUN
fcis-11271	81	2	predictive	predictive	PROPN
fcis-11271	81	3	control	control	NOUN
fcis-11271	81	4	has	have	AUX
fcis-11271	81	5	achieved	achieve	VERB
fcis-11271	81	6	great	great	ADJ
fcis-11271	81	7	success	success	NOUN
fcis-11271	81	8	in	in	ADP
fcis-11271	81	9	industrial	industrial	ADJ
fcis-11271	81	10	process	process	NOUN
fcis-11271	81	11	control	control	NOUN
fcis-11271	81	12	applications	application	NOUN
fcis-11271	81	13	,	,	PUNCT
fcis-11271	81	14	mainly	mainly	ADV
fcis-11271	81	15	due	due	ADP
fcis-11271	81	16	to	to	ADP
fcis-11271	81	17	its	its	PRON
fcis-11271	81	18	simple	simple	ADJ
fcis-11271	81	19	concept	concept	NOUN
fcis-11271	81	20	and	and	CCONJ
fcis-11271	81	21	ability	ability	NOUN
fcis-11271	81	22	to	to	PART
fcis-11271	81	23	handle	handle	VERB
fcis-11271	81	24	complex	complex	ADJ
fcis-11271	81	25	process	process	NOUN
fcis-11271	81	26	models	model	NOUN
fcis-11271	81	27	with	with	ADP
fcis-11271	81	28	input	input	NOUN
fcis-11271	81	29	constraints	constraint	NOUN
fcis-11271	81	30	and	and	CCONJ
fcis-11271	81	31	nonlinearities	nonlinearitie	NOUN
fcis-11271	81	32	.	.	PUNCT
fcis-11271	82	1	model	model	PROPN
fcis-11271	82	2	predictive	predictive	PROPN
fcis-11271	82	3	control	control	PROPN
fcis-11271	82	4	has	have	AUX
fcis-11271	82	5	also	also	ADV
fcis-11271	82	6	been	be	AUX
fcis-11271	82	7	widely	widely	ADV
fcis-11271	82	8	used	use	VERB
fcis-11271	82	9	in	in	ADP
fcis-11271	82	10	the	the	DET
fcis-11271	82	11	automotive	automotive	ADJ
fcis-11271	82	12	field	field	NOUN
fcis-11271	82	13	.	.	PUNCT
fcis-11271	83	1	the	the	DET
fcis-11271	83	2	operation	operation	NOUN
fcis-11271	83	3	of	of	ADP
fcis-11271	83	4	the	the	DET
fcis-11271	83	5	entire	entire	ADJ
fcis-11271	83	6	vehicle	vehicle	NOUN
fcis-11271	83	7	system	system	NOUN
fcis-11271	83	8	must	must	AUX
fcis-11271	83	9	be	be	AUX
fcis-11271	83	10	optimal	optimal	ADJ
fcis-11271	83	11	across	across	ADP
fcis-11271	83	12	the	the	DET
fcis-11271	83	13	entire	entire	ADJ
fcis-11271	83	14	operating	operating	NOUN
fcis-11271	83	15	range	range	NOUN
fcis-11271	83	16	to	to	PART
fcis-11271	83	17	improve	improve	VERB
fcis-11271	83	18	fuel	fuel	NOUN
fcis-11271	83	19	economy	economy	NOUN
fcis-11271	83	20	,	,	PUNCT
fcis-11271	83	21	emissions	emission	NOUN
fcis-11271	83	22	and	and	CCONJ
fcis-11271	83	23	safety	safety	NOUN
fcis-11271	83	24	performance	performance	NOUN
fcis-11271	83	25	.	.	PUNCT
fcis-11271	84	1	however	however	ADV
fcis-11271	84	2	,	,	PUNCT
fcis-11271	84	3	the	the	DET
fcis-11271	84	4	challenges	challenge	NOUN
fcis-11271	84	5	of	of	ADP
fcis-11271	84	6	applying	apply	VERB
fcis-11271	84	7	model	model	NOUN
fcis-11271	84	8	predictive	predictive	ADJ
fcis-11271	84	9	controllers	controller	NOUN
fcis-11271	84	10	to	to	ADP
fcis-11271	84	11	automotive	automotive	ADJ
fcis-11271	84	12	systems	system	NOUN
fcis-11271	84	13	are	be	AUX
fcis-11271	84	14	different	different	ADJ
fcis-11271	84	15	from	from	ADP
fcis-11271	84	16	those	those	PRON
fcis-11271	84	17	faced	face	VERB
fcis-11271	84	18	by	by	ADP
fcis-11271	84	19	the	the	DET
fcis-11271	84	20	process	process	NOUN
fcis-11271	84	21	control	control	NOUN
fcis-11271	84	22	industry	industry	NOUN
fcis-11271	84	23	.	.	PUNCT
fcis-11271	85	1	processes	process	NOUN
fcis-11271	85	2	inside	inside	ADP
fcis-11271	85	3	the	the	DET
fcis-11271	85	4	car	car	NOUN
fcis-11271	85	5	are	be	AUX
fcis-11271	85	6	sampled	sample	VERB
fcis-11271	85	7	in	in	ADP
fcis-11271	85	8	milliseconds	millisecond	NOUN
fcis-11271	85	9	,	,	PUNCT
fcis-11271	85	10	and	and	CCONJ
fcis-11271	85	11	the	the	DET
fcis-11271	85	12	amount	amount	NOUN
fcis-11271	85	13	of	of	ADP
fcis-11271	85	14	available	available	ADJ
fcis-11271	85	15	computing	compute	VERB
fcis-11271	85	16	resources	resource	NOUN
fcis-11271	85	17	is	be	AUX
fcis-11271	85	18	limited	limit	VERB
fcis-11271	85	19	by	by	ADP
fcis-11271	85	20	space	space	NOUN
fcis-11271	85	21	.	.	PUNCT
fcis-11271	86	1	therefore	therefore	ADV
fcis-11271	86	2	,	,	PUNCT
fcis-11271	86	3	advances	advance	NOUN
fcis-11271	86	4	in	in	ADP
fcis-11271	86	5	processor	processor	NOUN
fcis-11271	86	6	speed	speed	NOUN
fcis-11271	86	7	and	and	CCONJ
fcis-11271	86	8	memory	memory	NOUN
fcis-11271	86	9	,	,	PUNCT
fcis-11271	86	10	as	as	ADV
fcis-11271	86	11	well	well	ADV
fcis-11271	86	12	as	as	ADP
fcis-11271	86	13	the	the	DET
fcis-11271	86	14	development	development	NOUN
fcis-11271	86	15	of	of	ADP
fcis-11271	86	16	new	new	ADJ
fcis-11271	86	17	algorithms	algorithm	NOUN
fcis-11271	86	18	,	,	PUNCT
fcis-11271	86	19	are	be	AUX
fcis-11271	86	20	important	important	ADJ
fcis-11271	86	21	in	in	ADP
fcis-11271	86	22	driving	drive	VERB
fcis-11271	86	23	mpc	mpc	NOUN
fcis-11271	86	24	adoption	adoption	NOUN
fcis-11271	86	25	in	in	ADP
fcis-11271	86	26	the	the	DET
fcis-11271	86	27	automotive	automotive	ADJ
fcis-11271	86	28	industry	industry	NOUN
fcis-11271	86	29	,	,	PUNCT
fcis-11271	86	30	and	and	CCONJ
fcis-11271	86	31	therefore	therefore	ADV
fcis-11271	86	32	have	have	VERB
fcis-11271	86	33	a	a	DET
fcis-11271	86	34	profound	profound	ADJ
fcis-11271	86	35	impact	impact	NOUN
fcis-11271	86	36	on	on	ADP
fcis-11271	86	37	the	the	DET
fcis-11271	86	38	use	use	NOUN
fcis-11271	86	39	of	of	ADP
fcis-11271	86	40	traction	traction	NOUN
fcis-11271	86	41	control	control	NOUN
fcis-11271	86	42	,	,	PUNCT
fcis-11271	86	43	braking	braking	NOUN
fcis-11271	86	44	and	and	CCONJ
fcis-11271	86	45	146	146	NUM
fcis-11271	86	46	steering	steering	NOUN
fcis-11271	86	47	,	,	PUNCT
fcis-11271	86	48	lane	lane	NOUN
fcis-11271	86	49	keeping	keeping	NOUN
fcis-11271	86	50	,	,	PUNCT
fcis-11271	86	51	and	and	CCONJ
fcis-11271	86	52	more	more	ADJ
fcis-11271	86	53	.	.	PUNCT
fcis-11271	87	1	4	4	X
fcis-11271	87	2	.	.	X
fcis-11271	87	3	conclusion	conclusion	NOUN
fcis-11271	87	4	driverless	driverless	NOUN
fcis-11271	87	5	car	car	NOUN
fcis-11271	87	6	is	be	AUX
fcis-11271	87	7	an	an	DET
fcis-11271	87	8	important	important	ADJ
fcis-11271	87	9	application	application	NOUN
fcis-11271	87	10	of	of	ADP
fcis-11271	87	11	outdoor	outdoor	ADJ
fcis-11271	87	12	wheeled	wheel	VERB
fcis-11271	87	13	mobile	mobile	ADJ
fcis-11271	87	14	robot	robot	NOUN
fcis-11271	87	15	in	in	ADP
fcis-11271	87	16	the	the	DET
fcis-11271	87	17	field	field	NOUN
fcis-11271	87	18	of	of	ADP
fcis-11271	87	19	transportation	transportation	NOUN
fcis-11271	87	20	.	.	PUNCT
fcis-11271	88	1	it	it	PRON
fcis-11271	88	2	fundamentally	fundamentally	ADV
fcis-11271	88	3	changes	change	VERB
fcis-11271	88	4	the	the	DET
fcis-11271	88	5	traditional	traditional	ADJ
fcis-11271	88	6	vehicle	vehicle	NOUN
fcis-11271	88	7	control	control	NOUN
fcis-11271	88	8	mode	mode	NOUN
fcis-11271	88	9	and	and	CCONJ
fcis-11271	88	10	can	can	AUX
fcis-11271	88	11	greatly	greatly	ADV
fcis-11271	88	12	improve	improve	VERB
fcis-11271	88	13	the	the	DET
fcis-11271	88	14	efficiency	efficiency	NOUN
fcis-11271	88	15	and	and	CCONJ
fcis-11271	88	16	safety	safety	NOUN
fcis-11271	88	17	of	of	ADP
fcis-11271	88	18	the	the	DET
fcis-11271	88	19	transportation	transportation	NOUN
fcis-11271	88	20	system	system	NOUN
fcis-11271	88	21	.	.	PUNCT
fcis-11271	89	1	in	in	ADP
fcis-11271	89	2	addition	addition	NOUN
fcis-11271	89	3	,	,	PUNCT
fcis-11271	89	4	with	with	ADP
fcis-11271	89	5	the	the	DET
fcis-11271	89	6	continuous	continuous	ADJ
fcis-11271	89	7	expansion	expansion	NOUN
fcis-11271	89	8	of	of	ADP
fcis-11271	89	9	the	the	DET
fcis-11271	89	10	system	system	NOUN
fcis-11271	89	11	scale	scale	NOUN
fcis-11271	89	12	and	and	CCONJ
fcis-11271	89	13	the	the	DET
fcis-11271	89	14	increase	increase	NOUN
fcis-11271	89	15	in	in	ADP
fcis-11271	89	16	the	the	DET
fcis-11271	89	17	number	number	NOUN
fcis-11271	89	18	of	of	ADP
fcis-11271	89	19	driverless	driverless	NOUN
fcis-11271	89	20	vehicles	vehicle	NOUN
fcis-11271	89	21	,	,	PUNCT
fcis-11271	89	22	how	how	SCONJ
fcis-11271	89	23	to	to	PART
fcis-11271	89	24	effectively	effectively	ADV
fcis-11271	89	25	use	use	VERB
fcis-11271	89	26	workshop	workshop	NOUN
fcis-11271	89	27	communication	communication	NOUN
fcis-11271	89	28	and	and	CCONJ
fcis-11271	89	29	multi	multi	ADJ
fcis-11271	89	30	-	-	ADJ
fcis-11271	89	31	vehicle	vehicle	NOUN
fcis-11271	89	32	coordination	coordination	NOUN
fcis-11271	89	33	,	,	PUNCT
fcis-11271	89	34	reduce	reduce	VERB
fcis-11271	89	35	the	the	DET
fcis-11271	89	36	incidence	incidence	NOUN
fcis-11271	89	37	of	of	ADP
fcis-11271	89	38	traffic	traffic	NOUN
fcis-11271	89	39	accidents	accident	NOUN
fcis-11271	89	40	,	,	PUNCT
fcis-11271	89	41	and	and	CCONJ
fcis-11271	89	42	improve	improve	VERB
fcis-11271	89	43	the	the	DET
fcis-11271	89	44	efficiency	efficiency	NOUN
fcis-11271	89	45	of	of	ADP
fcis-11271	89	46	traffic	traffic	NOUN
fcis-11271	89	47	systems	system	NOUN
fcis-11271	89	48	is	be	AUX
fcis-11271	89	49	also	also	ADV
fcis-11271	89	50	an	an	DET
fcis-11271	89	51	important	important	ADJ
fcis-11271	89	52	topic	topic	NOUN
fcis-11271	89	53	of	of	ADP
fcis-11271	89	54	future	future	ADJ
fcis-11271	89	55	driverless	driverless	NOUN
fcis-11271	89	56	research	research	NOUN
fcis-11271	89	57	.	.	PUNCT
fcis-11271	90	1	in	in	ADP
fcis-11271	90	2	the	the	DET
fcis-11271	90	3	future	future	ADJ
fcis-11271	90	4	life	life	NOUN
fcis-11271	90	5	,	,	PUNCT
fcis-11271	90	6	people	people	NOUN
fcis-11271	90	7	will	will	AUX
fcis-11271	90	8	travel	travel	VERB
fcis-11271	90	9	directly	directly	ADV
fcis-11271	90	10	with	with	ADP
fcis-11271	90	11	autonomous	autonomous	ADJ
fcis-11271	90	12	vehicles	vehicle	NOUN
fcis-11271	90	13	,	,	PUNCT
fcis-11271	90	14	without	without	ADP
fcis-11271	90	15	manually	manually	ADV
fcis-11271	90	16	controlling	control	VERB
fcis-11271	90	17	the	the	DET
fcis-11271	90	18	vehicle	vehicle	NOUN
fcis-11271	90	19	.	.	PUNCT
fcis-11271	91	1	but	but	CCONJ
fcis-11271	91	2	because	because	SCONJ
fcis-11271	91	3	the	the	DET
fcis-11271	91	4	technology	technology	NOUN
fcis-11271	91	5	is	be	AUX
fcis-11271	91	6	not	not	PART
fcis-11271	91	7	yet	yet	ADV
fcis-11271	91	8	mature	mature	ADJ
fcis-11271	91	9	,	,	PUNCT
fcis-11271	91	10	it	it	PRON
fcis-11271	91	11	will	will	AUX
fcis-11271	91	12	take	take	VERB
fcis-11271	91	13	a	a	DET
fcis-11271	91	14	lot	lot	NOUN
fcis-11271	91	15	of	of	ADP
fcis-11271	91	16	time	time	NOUN
fcis-11271	91	17	to	to	PART
fcis-11271	91	18	explore	explore	VERB
fcis-11271	91	19	and	and	CCONJ
fcis-11271	91	20	experiment	experiment	NOUN
fcis-11271	91	21	in	in	ADP
fcis-11271	91	22	the	the	DET
fcis-11271	91	23	future	future	NOUN
fcis-11271	91	24	,	,	PUNCT
fcis-11271	91	25	references	reference	NOUN
fcis-11271	91	26	[	[	X
fcis-11271	91	27	1	1	NUM
fcis-11271	91	28	]	]	PUNCT
fcis-11271	91	29	david	david	PROPN
fcis-11271	91	30	acuna	acuna	PROPN
fcis-11271	91	31	,	,	PUNCT
fcis-11271	91	32	huan	huan	PROPN
fcis-11271	91	33	ling	ling	PROPN
fcis-11271	91	34	,	,	PUNCT
fcis-11271	91	35	amlan	amlan	NOUN
fcis-11271	91	36	kar	kar	PROPN
fcis-11271	91	37	,	,	PUNCT
fcis-11271	91	38	and	and	CCONJ
fcis-11271	91	39	sanja	sanja	PROPN
fcis-11271	91	40	fidler	fidler	NOUN
fcis-11271	91	41	.	.	PUNCT
fcis-11271	92	1	“	"	PUNCT
fcis-11271	92	2	efficient	efficient	ADJ
fcis-11271	92	3	interactive	interactive	ADJ
fcis-11271	92	4	annotation	annotation	NOUN
fcis-11271	92	5	of	of	ADP
fcis-11271	92	6	segmentation	segmentation	NOUN
fcis-11271	92	7	datasets	dataset	NOUN
fcis-11271	92	8	with	with	ADP
fcis-11271	92	9	polygon	polygon	NOUN
fcis-11271	92	10	-	-	PUNCT
fcis-11271	92	11	rnn++	rnn++	NOUN
fcis-11271	92	12	”	"	PUNCT
fcis-11271	92	13	.	.	PUNCT
fcis-11271	93	1	in	in	ADP
fcis-11271	93	2	:	:	PUNCT
fcis-11271	93	3	proc	proc	NOUN
fcis-11271	93	4	.	.	PUNCT
fcis-11271	93	5	ieee	ieee	NOUN
fcis-11271	93	6	conf	conf	NOUN
fcis-11271	93	7	.	.	PUNCT
fcis-11271	94	1	on	on	ADP
fcis-11271	94	2	computer	computer	NOUN
fcis-11271	94	3	vision	vision	NOUN
fcis-11271	94	4	and	and	CCONJ
fcis-11271	94	5	pattern	pattern	NOUN
fcis-11271	94	6	recognition	recognition	NOUN
fcis-11271	94	7	(	(	PUNCT
fcis-11271	94	8	cvpr	cvpr	NOUN
fcis-11271	94	9	)	)	PUNCT
fcis-11271	94	10	.	.	PUNCT
fcis-11271	95	1	2018	2018	NUM
fcis-11271	95	2	.	.	PUNCT
fcis-11271	96	1	[	[	X
fcis-11271	96	2	2	2	NUM
fcis-11271	96	3	]	]	X
fcis-11271	96	4	sameer	sameer	PROPN
fcis-11271	96	5	agarwal	agarwal	PROPN
fcis-11271	96	6	,	,	PUNCT
fcis-11271	96	7	noah	noah	PROPN
fcis-11271	96	8	snavely	snavely	PROPN
fcis-11271	96	9	,	,	PUNCT
fcis-11271	96	10	ian	ian	PROPN
fcis-11271	96	11	simon	simon	PROPN
fcis-11271	96	12	,	,	PUNCT
fcis-11271	96	13	steven	steven	PROPN
fcis-11271	96	14	m.	m.	PROPN
fcis-11271	96	15	seitz	seitz	PROPN
fcis-11271	96	16	,	,	PUNCT
fcis-11271	96	17	and	and	CCONJ
fcis-11271	96	18	richard	richard	PROPN
fcis-11271	96	19	szeliski	szeliski	PROPN
fcis-11271	96	20	.	.	PUNCT
fcis-11271	97	1	“	"	PUNCT
fcis-11271	97	2	building	build	VERB
fcis-11271	97	3	rome	rome	PROPN
fcis-11271	97	4	in	in	ADP
fcis-11271	97	5	a	a	DET
fcis-11271	97	6	day	day	NOUN
fcis-11271	97	7	”	"	PUNCT
fcis-11271	97	8	.	.	PUNCT
fcis-11271	98	1	in	in	ADP
fcis-11271	98	2	:	:	PUNCT
fcis-11271	98	3	proc	proc	NOUN
fcis-11271	98	4	.	.	PUNCT
fcis-11271	99	1	of	of	ADP
fcis-11271	99	2	the	the	DET
fcis-11271	99	3	ieee	ieee	NOUN
fcis-11271	99	4	international	international	ADJ
fcis-11271	99	5	conf	conf	NOUN
fcis-11271	99	6	.	.	PUNCT
fcis-11271	100	1	on	on	ADP
fcis-11271	100	2	computer	computer	NOUN
fcis-11271	100	3	vision	vision	NOUN
fcis-11271	100	4	(	(	PUNCT
fcis-11271	100	5	iccv	iccv	PROPN
fcis-11271	100	6	)	)	PUNCT
fcis-11271	100	7	.	.	PUNCT
fcis-11271	101	1	2009	2009	NUM
fcis-11271	101	2	.	.	PUNCT
fcis-11271	102	1	[	[	X
fcis-11271	102	2	3	3	X
fcis-11271	102	3	]	]	X
fcis-11271	102	4	hamed	hamed	PROPN
fcis-11271	102	5	habibi	habibi	PROPN
fcis-11271	102	6	aghdam	aghdam	PROPN
fcis-11271	102	7	,	,	PUNCT
fcis-11271	102	8	elnaz	elnaz	ADJ
fcis-11271	102	9	jahani	jahani	VERB
fcis-11271	102	10	heravi	heravi	NOUN
fcis-11271	102	11	,	,	PUNCT
fcis-11271	102	12	and	and	CCONJ
fcis-11271	102	13	domenec	domenec	NOUN
fcis-11271	102	14	puig	puig	VERB
fcis-11271	102	15	.	.	PUNCT
fcis-11271	103	1	“	"	PUNCT
fcis-11271	103	2	a	a	DET
fcis-11271	103	3	practical	practical	ADJ
fcis-11271	103	4	approach	approach	NOUN
fcis-11271	103	5	for	for	ADP
fcis-11271	103	6	detection	detection	NOUN
fcis-11271	103	7	and	and	CCONJ
fcis-11271	103	8	classification	classification	NOUN
fcis-11271	103	9	of	of	ADP
fcis-11271	103	10	traffic	traffic	NOUN
fcis-11271	103	11	signs	sign	NOUN
fcis-11271	103	12	using	use	VERB
fcis-11271	103	13	convolutional	convolutional	ADJ
fcis-11271	103	14	neural	neural	ADJ
fcis-11271	103	15	networks	network	NOUN
fcis-11271	103	16	”	"	PUNCT
fcis-11271	103	17	.	.	PUNCT
fcis-11271	104	1	in	in	ADP
fcis-11271	104	2	:	:	PUNCT
fcis-11271	104	3	robotics	robotic	NOUN
fcis-11271	104	4	and	and	CCONJ
fcis-11271	104	5	autonomous	autonomous	ADJ
fcis-11271	104	6	systems	system	NOUN
fcis-11271	104	7	(	(	PUNCT
fcis-11271	104	8	ras	ras	NOUN
fcis-11271	104	9	)	)	PUNCT
fcis-11271	104	10	84	84	NUM
fcis-11271	104	11	(	(	PUNCT
fcis-11271	104	12	2016	2016	NUM
fcis-11271	104	13	)	)	PUNCT
fcis-11271	104	14	,	,	PUNCT
fcis-11271	104	15	pp	pp	PROPN
fcis-11271	104	16	.	.	PUNCT
fcis-11271	105	1	97	97	NUM
fcis-11271	105	2	–	–	PUNCT
fcis-11271	105	3	112	112	NUM
fcis-11271	105	4	.	.	PUNCT
fcis-11271	106	1	[	[	X
fcis-11271	106	2	4	4	NUM
fcis-11271	106	3	]	]	PUNCT
fcis-11271	106	4	jos´e	jos´e	PROPN
fcis-11271	106	5	manuel	manuel	PROPN
fcis-11271	106	6	alvarez	alvarez	PROPN
fcis-11271	106	7	and	and	CCONJ
fcis-11271	106	8	antonio	antonio	PROPN
fcis-11271	106	9	m.	m.	PROPN
fcis-11271	106	10	l´opez	l´opez	NOUN
fcis-11271	106	11	.	.	PUNCT
fcis-11271	107	1	“	"	PUNCT
fcis-11271	107	2	road	road	NOUN
fcis-11271	107	3	detection	detection	NOUN
fcis-11271	107	4	based	base	VERB
fcis-11271	107	5	on	on	ADP
fcis-11271	107	6	´	´	NOUN
fcis-11271	107	7	illuminant	illuminant	ADJ
fcis-11271	107	8	invariance	invariance	NOUN
fcis-11271	107	9	”	"	PUNCT
fcis-11271	107	10	.	.	PUNCT
fcis-11271	108	1	in	in	ADP
fcis-11271	108	2	:	:	PUNCT
fcis-11271	108	3	ieee	ieee	NOUN
fcis-11271	108	4	trans	trans	PROPN
fcis-11271	108	5	.	.	PUNCT
fcis-11271	109	1	on	on	ADP
fcis-11271	109	2	intelligent	intelligent	ADJ
fcis-11271	109	3	transportation	transportation	NOUN
fcis-11271	109	4	systems	system	NOUN
fcis-11271	109	5	(	(	PUNCT
fcis-11271	109	6	t	t	PROPN
fcis-11271	109	7	-	-	PUNCT
fcis-11271	109	8	its	its	PRON
fcis-11271	109	9	)	)	PUNCT
fcis-11271	109	10	12.1	12.1	NUM
fcis-11271	109	11	(	(	PUNCT
fcis-11271	109	12	2011	2011	NUM
fcis-11271	109	13	)	)	PUNCT
fcis-11271	109	14	,	,	PUNCT
fcis-11271	109	15	pp	pp	ADP
fcis-11271	109	16	.	.	PUNCT
fcis-11271	110	1	184–193	184–193	NUM
fcis-11271	110	2	.	.	PUNCT
fcis-11271	111	1	[	[	X
fcis-11271	111	2	5	5	NUM
fcis-11271	111	3	]	]	PUNCT
fcis-11271	111	4	bertozzi	bertozzi	NOUN
fcis-11271	111	5	m	m	PROPN
fcis-11271	111	6	,	,	PUNCT
fcis-11271	111	7	broggi	broggi	VERB
fcis-11271	111	8	a	a	DET
fcis-11271	111	9	,	,	PUNCT
fcis-11271	111	10	fascioli	fascioli	X
fcis-11271	111	11	a.	a.	NOUN
fcis-11271	111	12	vision	vision	NOUN
fcis-11271	111	13	-	-	PUNCT
fcis-11271	111	14	based	base	VERB
fcis-11271	111	15	intelligent	intelligent	ADJ
fcis-11271	111	16	vehicles	vehicle	NOUN
fcis-11271	111	17	:	:	PUNCT
fcis-11271	111	18	state	state	NOUN
fcis-11271	111	19	of	of	ADP
fcis-11271	111	20	the	the	DET
fcis-11271	111	21	art	art	NOUN
fcis-11271	111	22	and	and	CCONJ
fcis-11271	111	23	perspectives	perspective	NOUN
fcis-11271	112	1	[	[	X
fcis-11271	112	2	j	j	X
fcis-11271	112	3	]	]	X
fcis-11271	112	4	.	.	PUNCT
fcis-11271	113	1	robotics	robotic	NOUN
fcis-11271	113	2	and	and	CCONJ
fcis-11271	113	3	autonomous	autonomous	ADJ
fcis-11271	113	4	systems	system	NOUN
fcis-11271	113	5	,	,	PUNCT
fcis-11271	113	6	2000	2000	NUM
fcis-11271	113	7	,	,	PUNCT
fcis-11271	113	8	32	32	NUM
fcis-11271	113	9	:	:	SYM
fcis-11271	113	10	1	1	NUM
fcis-11271	113	11	-	-	SYM
fcis-11271	113	12	16	16	NUM
fcis-11271	113	13	.	.	PUNCT