id	sid	tid	token	lemma	pos
fcis-17637	1	1	frontiers	frontier	NOUN
fcis-17637	1	2	in	in	ADP
fcis-17637	1	3	computing	computing	NOUN
fcis-17637	1	4	and	and	CCONJ
fcis-17637	1	5	intelligent	intelligent	ADJ
fcis-17637	1	6	systems	system	NOUN
fcis-17637	1	7	issn	issn	VERB
fcis-17637	1	8	:	:	PUNCT
fcis-17637	1	9	2832	2832	NUM
fcis-17637	1	10	-	-	SYM
fcis-17637	1	11	6024	6024	NUM
fcis-17637	1	12	|	|	NOUN
fcis-17637	1	13	vol	vol	NOUN
fcis-17637	1	14	.	.	PROPN
fcis-17637	2	1	7	7	NUM
fcis-17637	2	2	,	,	PUNCT
fcis-17637	2	3	no	no	INTJ
fcis-17637	2	4	.	.	NOUN
fcis-17637	2	5	2	2	NUM
fcis-17637	2	6	,	,	PUNCT
fcis-17637	2	7	2024	2024	NUM
fcis-17637	2	8	21	21	NUM
fcis-17637	2	9	a	a	DET
fcis-17637	2	10	point	point	NOUN
fcis-17637	2	11	cloud	cloud	NOUN
fcis-17637	2	12	contour	contour	NOUN
fcis-17637	2	13	extraction	extraction	NOUN
fcis-17637	2	14	method	method	NOUN
fcis-17637	2	15	based	base	VERB
fcis-17637	2	16	on	on	ADP
fcis-17637	2	17	plane	plane	NOUN
fcis-17637	2	18	segmentation	segmentation	NOUN
fcis-17637	2	19	lei	lei	PROPN
fcis-17637	2	20	lu	lu	PROPN
fcis-17637	2	21	1	1	NUM
fcis-17637	2	22	,	,	PUNCT
fcis-17637	2	23	ran	run	VERB
fcis-17637	2	24	gao	gao	PROPN
fcis-17637	2	25	1	1	NUM
fcis-17637	2	26	,	,	PUNCT
fcis-17637	2	27	wei	wei	PROPN
fcis-17637	2	28	pan	pan	PROPN
fcis-17637	2	29	2	2	NUM
fcis-17637	2	30	,	,	PUNCT
fcis-17637	2	31	*	*	PUNCT
fcis-17637	2	32	and	and	CCONJ
fcis-17637	2	33	wenming	wenme	VERB
fcis-17637	2	34	tang	tang	PROPN
fcis-17637	2	35	3	3	NUM
fcis-17637	2	36	1	1	NUM
fcis-17637	2	37	college	college	NOUN
fcis-17637	2	38	of	of	ADP
fcis-17637	2	39	information	information	NOUN
fcis-17637	2	40	science	science	NOUN
fcis-17637	2	41	and	and	CCONJ
fcis-17637	2	42	engineering	engineering	NOUN
fcis-17637	2	43	,	,	PUNCT
fcis-17637	2	44	henan	henan	PROPN
fcis-17637	2	45	university	university	PROPN
fcis-17637	2	46	of	of	ADP
fcis-17637	2	47	technology	technology	PROPN
fcis-17637	2	48	,	,	PUNCT
fcis-17637	2	49	zhengzhou	zhengzhou	PROPN
fcis-17637	2	50	henan	henan	PROPN
fcis-17637	2	51	,	,	PUNCT
fcis-17637	2	52	450001	450001	NUM
fcis-17637	2	53	,	,	PUNCT
fcis-17637	2	54	china	china	PROPN
fcis-17637	2	55	2	2	NUM
fcis-17637	2	56	research	research	NOUN
fcis-17637	2	57	and	and	CCONJ
fcis-17637	2	58	development	development	NOUN
fcis-17637	2	59	department	department	PROPN
fcis-17637	2	60	,	,	PUNCT
fcis-17637	2	61	opt	opt	VERB
fcis-17637	2	62	machine	machine	NOUN
fcis-17637	2	63	vision	vision	PROPN
fcis-17637	2	64	tech	tech	PROPN
fcis-17637	2	65	co.	co.	PROPN
fcis-17637	2	66	,	,	PUNCT
fcis-17637	2	67	ltd	ltd	PROPN
fcis-17637	2	68	,	,	PUNCT
fcis-17637	2	69	dongguan	dongguan	PROPN
fcis-17637	2	70	guangdong	guangdong	PROPN
fcis-17637	2	71	,	,	PUNCT
fcis-17637	2	72	523850	523850	NUM
fcis-17637	2	73	,	,	PUNCT
fcis-17637	2	74	china	china	PROPN
fcis-17637	2	75	3	3	NUM
fcis-17637	2	76	college	college	NOUN
fcis-17637	2	77	of	of	ADP
fcis-17637	2	78	intelligent	intelligent	ADJ
fcis-17637	2	79	manufacturing	manufacturing	NOUN
fcis-17637	2	80	and	and	CCONJ
fcis-17637	2	81	equipment	equipment	NOUN
fcis-17637	2	82	,	,	PUNCT
fcis-17637	2	83	shenzhen	shenzhen	PROPN
fcis-17637	2	84	institute	institute	PROPN
fcis-17637	2	85	of	of	ADP
fcis-17637	2	86	information	information	PROPN
fcis-17637	2	87	technology	technology	PROPN
fcis-17637	2	88	,	,	PUNCT
fcis-17637	2	89	shenzhen	shenzhen	PROPN
fcis-17637	2	90	,	,	PUNCT
fcis-17637	2	91	guangdong	guangdong	PROPN
fcis-17637	2	92	,	,	PUNCT
fcis-17637	2	93	518172	518172	NUM
fcis-17637	2	94	,	,	PUNCT
fcis-17637	2	95	china	china	PROPN
fcis-17637	2	96	*	*	PUNCT
fcis-17637	2	97	corresponding	correspond	VERB
fcis-17637	2	98	author	author	NOUN
fcis-17637	2	99	:	:	PUNCT
fcis-17637	2	100	wei	wei	PROPN
fcis-17637	2	101	pan	pan	PROPN
fcis-17637	2	102	abstract	abstract	PROPN
fcis-17637	2	103	:	:	PUNCT
fcis-17637	2	104	a	a	DET
fcis-17637	2	105	method	method	NOUN
fcis-17637	2	106	based	base	VERB
fcis-17637	2	107	on	on	ADP
fcis-17637	2	108	plane	plane	NOUN
fcis-17637	2	109	segmentation	segmentation	NOUN
fcis-17637	2	110	and	and	CCONJ
fcis-17637	2	111	dimensionality	dimensionality	NOUN
fcis-17637	2	112	reduction	reduction	NOUN
fcis-17637	2	113	for	for	ADP
fcis-17637	2	114	extracting	extract	VERB
fcis-17637	2	115	incomplete	incomplete	ADJ
fcis-17637	2	116	and	and	CCONJ
fcis-17637	2	117	slow	slow	VERB
fcis-17637	2	118	contour	contour	NOUN
fcis-17637	2	119	features	feature	NOUN
fcis-17637	2	120	of	of	ADP
fcis-17637	2	121	object	object	NOUN
fcis-17637	2	122	point	point	NOUN
fcis-17637	2	123	clouds	cloud	NOUN
fcis-17637	2	124	is	be	AUX
fcis-17637	2	125	proposed	propose	VERB
fcis-17637	2	126	.	.	PUNCT
fcis-17637	3	1	the	the	DET
fcis-17637	3	2	method	method	NOUN
fcis-17637	3	3	consists	consist	VERB
fcis-17637	3	4	of	of	ADP
fcis-17637	3	5	two	two	NUM
fcis-17637	3	6	main	main	ADJ
fcis-17637	3	7	steps	step	NOUN
fcis-17637	3	8	:	:	PUNCT
fcis-17637	3	9	plane	plane	NOUN
fcis-17637	3	10	segmentation	segmentation	NOUN
fcis-17637	3	11	and	and	CCONJ
fcis-17637	3	12	contour	contour	NOUN
fcis-17637	3	13	extraction	extraction	NOUN
fcis-17637	3	14	.	.	PUNCT
fcis-17637	4	1	in	in	ADP
fcis-17637	4	2	plane	plane	NOUN
fcis-17637	4	3	segmentation	segmentation	NOUN
fcis-17637	4	4	,	,	PUNCT
fcis-17637	4	5	the	the	DET
fcis-17637	4	6	random	random	ADJ
fcis-17637	4	7	sample	sample	NOUN
fcis-17637	4	8	consensus	consensus	NOUN
fcis-17637	4	9	(	(	PUNCT
fcis-17637	4	10	random	random	ADJ
fcis-17637	4	11	sample	sample	NOUN
fcis-17637	4	12	consensus	consensus	NOUN
fcis-17637	4	13	,	,	PUNCT
fcis-17637	4	14	ransac	ransac	NOUN
fcis-17637	4	15	)	)	PUNCT
fcis-17637	4	16	algorithm	algorithm	NOUN
fcis-17637	4	17	is	be	AUX
fcis-17637	4	18	optimized	optimize	VERB
fcis-17637	4	19	based	base	VERB
fcis-17637	4	20	on	on	ADP
fcis-17637	4	21	principal	principal	ADJ
fcis-17637	4	22	component	component	NOUN
fcis-17637	4	23	analysis	analysis	NOUN
fcis-17637	4	24	(	(	PUNCT
fcis-17637	4	25	principal	principal	ADJ
fcis-17637	4	26	component	component	NOUN
fcis-17637	4	27	analysis	analysis	NOUN
fcis-17637	4	28	,	,	PUNCT
fcis-17637	4	29	pca	pca	PROPN
fcis-17637	4	30	)	)	PUNCT
fcis-17637	4	31	;	;	PUNCT
fcis-17637	4	32	the	the	DET
fcis-17637	4	33	optimized	optimize	VERB
fcis-17637	4	34	planar	planar	ADJ
fcis-17637	4	35	point	point	NOUN
fcis-17637	4	36	cloud	cloud	NOUN
fcis-17637	4	37	is	be	AUX
fcis-17637	4	38	then	then	ADV
fcis-17637	4	39	subjected	subject	VERB
fcis-17637	4	40	to	to	ADP
fcis-17637	4	41	dimensionality	dimensionality	NOUN
fcis-17637	4	42	reduction	reduction	NOUN
fcis-17637	4	43	,	,	PUNCT
fcis-17637	4	44	and	and	CCONJ
fcis-17637	4	45	the	the	DET
fcis-17637	4	46	contour	contour	NOUN
fcis-17637	4	47	features	feature	NOUN
fcis-17637	4	48	are	be	AUX
fcis-17637	4	49	extracted	extract	VERB
fcis-17637	4	50	using	use	VERB
fcis-17637	4	51	gradients	gradient	NOUN
fcis-17637	4	52	.	.	PUNCT
fcis-17637	5	1	experimental	experimental	ADJ
fcis-17637	5	2	results	result	NOUN
fcis-17637	5	3	show	show	VERB
fcis-17637	5	4	that	that	SCONJ
fcis-17637	5	5	the	the	DET
fcis-17637	5	6	method	method	NOUN
fcis-17637	5	7	can	can	AUX
fcis-17637	5	8	effectively	effectively	ADV
fcis-17637	5	9	segment	segment	VERB
fcis-17637	5	10	point	point	NOUN
fcis-17637	5	11	clouds	cloud	NOUN
fcis-17637	5	12	and	and	CCONJ
fcis-17637	5	13	extract	extract	VERB
fcis-17637	5	14	the	the	DET
fcis-17637	5	15	contours	contours	NOUN
fcis-17637	5	16	of	of	ADP
fcis-17637	5	17	target	target	NOUN
fcis-17637	5	18	surfaces	surface	NOUN
fcis-17637	5	19	,	,	PUNCT
fcis-17637	5	20	and	and	CCONJ
fcis-17637	5	21	has	have	VERB
fcis-17637	5	22	great	great	ADJ
fcis-17637	5	23	potential	potential	NOUN
fcis-17637	5	24	for	for	ADP
fcis-17637	5	25	application	application	NOUN
fcis-17637	5	26	in	in	ADP
fcis-17637	5	27	industrial	industrial	ADJ
fcis-17637	5	28	inspection	inspection	NOUN
fcis-17637	5	29	and	and	CCONJ
fcis-17637	5	30	other	other	ADJ
fcis-17637	5	31	fields	field	NOUN
fcis-17637	5	32	.	.	PUNCT
fcis-17637	6	1	keywords	keyword	NOUN
fcis-17637	6	2	:	:	PUNCT
fcis-17637	6	3	three	three	NUM
fcis-17637	6	4	-	-	PUNCT
fcis-17637	6	5	dimensional	dimensional	ADJ
fcis-17637	6	6	image	image	NOUN
fcis-17637	6	7	processing	processing	NOUN
fcis-17637	6	8	;	;	PUNCT
fcis-17637	6	9	object	object	NOUN
fcis-17637	6	10	detection	detection	NOUN
fcis-17637	6	11	;	;	PUNCT
fcis-17637	6	12	random	random	ADJ
fcis-17637	6	13	sample	sample	NOUN
fcis-17637	6	14	consensus	consensus	NOUN
fcis-17637	6	15	;	;	PUNCT
fcis-17637	6	16	contour	contour	NOUN
fcis-17637	6	17	extraction	extraction	NOUN
fcis-17637	6	18	;	;	PUNCT
fcis-17637	6	19	point	point	NOUN
fcis-17637	6	20	cloud	cloud	NOUN
fcis-17637	6	21	processing	processing	NOUN
fcis-17637	6	22	.	.	PUNCT
fcis-17637	7	1	1	1	X
fcis-17637	7	2	.	.	X
fcis-17637	7	3	introduction	introduction	NOUN
fcis-17637	7	4	point	point	NOUN
fcis-17637	7	5	cloud	cloud	ADJ
fcis-17637	7	6	contour	contour	NOUN
fcis-17637	7	7	feature	feature	NOUN
fcis-17637	7	8	extraction	extraction	NOUN
fcis-17637	7	9	is	be	AUX
fcis-17637	7	10	a	a	DET
fcis-17637	7	11	research	research	NOUN
fcis-17637	7	12	hotspot	hotspot	NOUN
fcis-17637	7	13	in	in	ADP
fcis-17637	7	14	fields	field	NOUN
fcis-17637	7	15	such	such	ADJ
fcis-17637	7	16	as	as	ADP
fcis-17637	7	17	machine	machine	NOUN
fcis-17637	7	18	vision	vision	NOUN
fcis-17637	7	19	and	and	CCONJ
fcis-17637	7	20	computer	computer	NOUN
fcis-17637	7	21	graphics	graphic	NOUN
fcis-17637	7	22	,	,	PUNCT
fcis-17637	7	23	widely	widely	ADV
fcis-17637	7	24	used	use	VERB
fcis-17637	7	25	in	in	ADP
fcis-17637	7	26	industrial	industrial	ADJ
fcis-17637	7	27	inspection	inspection	NOUN
fcis-17637	7	28	,	,	PUNCT
fcis-17637	7	29	robot	robot	NOUN
fcis-17637	7	30	operations	operation	NOUN
fcis-17637	7	31	,	,	PUNCT
fcis-17637	7	32	and	and	CCONJ
fcis-17637	7	33	other	other	ADJ
fcis-17637	7	34	fields	field	NOUN
fcis-17637	7	35	[	[	X
fcis-17637	7	36	1	1	NUM
fcis-17637	7	37	-	-	SYM
fcis-17637	7	38	2	2	NUM
fcis-17637	7	39	]	]	PUNCT
fcis-17637	7	40	.	.	PUNCT
fcis-17637	8	1	due	due	ADP
fcis-17637	8	2	to	to	ADP
fcis-17637	8	3	factors	factor	NOUN
fcis-17637	8	4	such	such	ADJ
fcis-17637	8	5	as	as	ADP
fcis-17637	8	6	equipment	equipment	NOUN
fcis-17637	8	7	or	or	CCONJ
fcis-17637	8	8	environment	environment	NOUN
fcis-17637	8	9	,	,	PUNCT
fcis-17637	8	10	the	the	DET
fcis-17637	8	11	obtained	obtain	VERB
fcis-17637	8	12	point	point	NOUN
fcis-17637	8	13	cloud	cloud	NOUN
fcis-17637	8	14	contains	contain	VERB
fcis-17637	8	15	noise	noise	NOUN
fcis-17637	8	16	and	and	CCONJ
fcis-17637	8	17	lacks	lack	VERB
fcis-17637	8	18	topological	topological	ADJ
fcis-17637	8	19	relationships	relationship	NOUN
fcis-17637	8	20	,	,	PUNCT
fcis-17637	8	21	which	which	PRON
fcis-17637	8	22	poses	pose	VERB
fcis-17637	8	23	challenges	challenge	NOUN
fcis-17637	8	24	for	for	ADP
fcis-17637	8	25	contour	contour	NOUN
fcis-17637	8	26	detection	detection	NOUN
fcis-17637	8	27	.	.	PUNCT
fcis-17637	9	1	in	in	ADP
fcis-17637	9	2	order	order	NOUN
fcis-17637	9	3	to	to	PART
fcis-17637	9	4	expand	expand	VERB
fcis-17637	9	5	the	the	DET
fcis-17637	9	6	application	application	NOUN
fcis-17637	9	7	scope	scope	NOUN
fcis-17637	9	8	of	of	ADP
fcis-17637	9	9	point	point	NOUN
fcis-17637	9	10	cloud	cloud	NOUN
fcis-17637	9	11	data	datum	NOUN
fcis-17637	9	12	in	in	ADP
fcis-17637	9	13	engineering	engineering	NOUN
fcis-17637	9	14	projects	project	NOUN
fcis-17637	9	15	,	,	PUNCT
fcis-17637	9	16	efficiently	efficiently	ADV
fcis-17637	9	17	and	and	CCONJ
fcis-17637	9	18	accurately	accurately	ADV
fcis-17637	9	19	analyzing	analyze	VERB
fcis-17637	9	20	object	object	NOUN
fcis-17637	9	21	point	point	NOUN
fcis-17637	9	22	cloud	cloud	NOUN
fcis-17637	9	23	data	datum	NOUN
fcis-17637	9	24	and	and	CCONJ
fcis-17637	9	25	rapidly	rapidly	ADV
fcis-17637	9	26	extracting	extract	VERB
fcis-17637	9	27	contour	contour	NOUN
fcis-17637	9	28	features	feature	NOUN
fcis-17637	9	29	[	[	X
fcis-17637	9	30	3	3	NUM
fcis-17637	9	31	-	-	SYM
fcis-17637	9	32	4	4	NUM
fcis-17637	9	33	]	]	PUNCT
fcis-17637	9	34	have	have	AUX
fcis-17637	9	35	become	become	VERB
fcis-17637	9	36	urgent	urgent	ADJ
fcis-17637	9	37	issues	issue	NOUN
fcis-17637	9	38	that	that	PRON
fcis-17637	9	39	need	need	VERB
fcis-17637	9	40	to	to	PART
fcis-17637	9	41	be	be	AUX
fcis-17637	9	42	resolved	resolve	VERB
fcis-17637	9	43	.	.	PUNCT
fcis-17637	10	1	the	the	DET
fcis-17637	10	2	hough	hough	PROPN
fcis-17637	10	3	transform	transform	NOUN
fcis-17637	10	4	is	be	AUX
fcis-17637	10	5	a	a	DET
fcis-17637	10	6	traditional	traditional	ADJ
fcis-17637	10	7	method	method	NOUN
fcis-17637	10	8	for	for	ADP
fcis-17637	10	9	predicting	predict	VERB
fcis-17637	10	10	parameter	parameter	NOUN
fcis-17637	10	11	models	model	NOUN
fcis-17637	10	12	.	.	PUNCT
fcis-17637	11	1	dorit	dorit	PROPN
fcis-17637	11	2	borrmann	borrmann	PROPN
fcis-17637	11	3	et	et	PROPN
fcis-17637	11	4	al	al	PROPN
fcis-17637	11	5	.	.	PROPN
fcis-17637	11	6	evaluated	evaluate	VERB
fcis-17637	11	7	the	the	DET
fcis-17637	11	8	applicability	applicability	NOUN
fcis-17637	11	9	of	of	ADP
fcis-17637	11	10	different	different	ADJ
fcis-17637	11	11	hough	hough	PROPN
fcis-17637	11	12	transforms	transform	VERB
fcis-17637	11	13	and	and	CCONJ
fcis-17637	11	14	proposed	propose	VERB
fcis-17637	11	15	the	the	DET
fcis-17637	11	16	design	design	NOUN
fcis-17637	11	17	of	of	ADP
fcis-17637	11	18	the	the	DET
fcis-17637	11	19	accumulator	accumulator	NOUN
fcis-17637	11	20	ball	ball	NOUN
fcis-17637	11	21	,	,	PUNCT
fcis-17637	11	22	which	which	PRON
fcis-17637	11	23	proved	prove	VERB
fcis-17637	11	24	the	the	DET
fcis-17637	11	25	high	high	ADJ
fcis-17637	11	26	performance	performance	NOUN
fcis-17637	11	27	of	of	ADP
fcis-17637	11	28	the	the	DET
fcis-17637	11	29	stochastic	stochastic	ADJ
fcis-17637	11	30	hough	hough	NOUN
fcis-17637	11	31	transform	transform	VERB
fcis-17637	11	32	prediction	prediction	NOUN
fcis-17637	11	33	plane	plane	NOUN
fcis-17637	11	34	[	[	X
fcis-17637	11	35	5	5	NUM
fcis-17637	11	36	]	]	PUNCT
fcis-17637	11	37	.	.	PUNCT
fcis-17637	12	1	anne	anne	PROPN
fcis-17637	12	2	-	-	PUNCT
fcis-17637	12	3	laure	laure	PROPN
fcis-17637	12	4	chauve	chauve	PROPN
fcis-17637	12	5	et	et	PROPN
fcis-17637	12	6	al	al	PROPN
fcis-17637	12	7	.	.	PROPN
fcis-17637	12	8	combined	combine	VERB
fcis-17637	12	9	a	a	DET
fcis-17637	12	10	priori	priori	ADJ
fcis-17637	12	11	urban	urban	ADJ
fcis-17637	12	12	and	and	CCONJ
fcis-17637	12	13	architectural	architectural	ADJ
fcis-17637	12	14	scenarios	scenario	NOUN
fcis-17637	12	15	to	to	PART
fcis-17637	12	16	use	use	VERB
fcis-17637	12	17	iterative	iterative	NOUN
fcis-17637	12	18	area	area	NOUN
fcis-17637	12	19	growth	growth	NOUN
fcis-17637	12	20	algorithms	algorithm	NOUN
fcis-17637	12	21	for	for	ADP
fcis-17637	12	22	plane	plane	NOUN
fcis-17637	12	23	prediction	prediction	NOUN
fcis-17637	12	24	and	and	CCONJ
fcis-17637	12	25	post	post	ADJ
fcis-17637	12	26	-	-	ADJ
fcis-17637	12	27	processing	processing	NOUN
fcis-17637	12	28	for	for	ADP
fcis-17637	12	29	sharp	sharp	ADJ
fcis-17637	12	30	locations	location	NOUN
fcis-17637	12	31	[	[	X
fcis-17637	12	32	6	6	NUM
fcis-17637	12	33	]	]	PUNCT
fcis-17637	12	34	.	.	PUNCT
fcis-17637	13	1	liangliang	liangliang	PROPN
fcis-17637	13	2	nan	nan	PROPN
fcis-17637	13	3	et	et	PROPN
fcis-17637	13	4	al	al	PROPN
fcis-17637	13	5	.	.	PROPN
fcis-17637	13	6	employed	employ	VERB
fcis-17637	13	7	the	the	DET
fcis-17637	13	8	iterative	iterative	ADJ
fcis-17637	13	9	ransac	ransac	NOUN
fcis-17637	13	10	to	to	PART
fcis-17637	13	11	predict	predict	VERB
fcis-17637	13	12	the	the	DET
fcis-17637	13	13	plane	plane	NOUN
fcis-17637	13	14	[	[	X
fcis-17637	13	15	7	7	X
fcis-17637	13	16	]	]	PUNCT
fcis-17637	13	17	and	and	CCONJ
fcis-17637	13	18	it	it	PRON
fcis-17637	13	19	works	work	VERB
fcis-17637	13	20	well	well	ADV
fcis-17637	13	21	for	for	ADP
fcis-17637	13	22	the	the	DET
fcis-17637	13	23	light	light	ADJ
fcis-17637	13	24	weight	weight	NOUN
fcis-17637	13	25	point	point	NOUN
fcis-17637	13	26	cloud	cloud	NOUN
fcis-17637	13	27	.	.	PUNCT
fcis-17637	14	1	for	for	ADP
fcis-17637	14	2	boundary	boundary	ADJ
fcis-17637	14	3	extraction	extraction	NOUN
fcis-17637	14	4	,	,	PUNCT
fcis-17637	14	5	based	base	VERB
fcis-17637	14	6	on	on	ADP
fcis-17637	14	7	the	the	DET
fcis-17637	14	8	triangular	triangular	NOUN
fcis-17637	14	9	mesh	mesh	NOUN
fcis-17637	14	10	constructed	construct	VERB
fcis-17637	14	11	by	by	ADP
fcis-17637	14	12	the	the	DET
fcis-17637	14	13	original	original	ADJ
fcis-17637	14	14	point	point	NOUN
fcis-17637	14	15	cloud	cloud	NOUN
fcis-17637	14	16	,	,	PUNCT
fcis-17637	14	17	mencl	mencl	PROPN
fcis-17637	14	18	robert	robert	PROPN
fcis-17637	14	19	transferred	transfer	VERB
fcis-17637	14	20	the	the	DET
fcis-17637	14	21	point	point	NOUN
fcis-17637	14	22	cloud	cloud	NOUN
fcis-17637	14	23	data	datum	NOUN
fcis-17637	14	24	to	to	ADP
fcis-17637	14	25	the	the	DET
fcis-17637	14	26	triangular	triangular	NOUN
fcis-17637	14	27	mesh	mesh	NOUN
fcis-17637	14	28	firstly	firstly	ADV
fcis-17637	14	29	and	and	CCONJ
fcis-17637	14	30	achieved	achieve	VERB
fcis-17637	14	31	boundary	boundary	ADJ
fcis-17637	14	32	feature	feature	NOUN
fcis-17637	14	33	extraction	extraction	NOUN
fcis-17637	14	34	by	by	ADP
fcis-17637	14	35	restricting	restrict	VERB
fcis-17637	14	36	the	the	DET
fcis-17637	14	37	angle	angle	NOUN
fcis-17637	14	38	between	between	ADP
fcis-17637	14	39	the	the	DET
fcis-17637	14	40	edges	edge	NOUN
fcis-17637	14	41	[	[	X
fcis-17637	14	42	8	8	NUM
fcis-17637	14	43	]	]	PUNCT
fcis-17637	14	44	.	.	PUNCT
fcis-17637	15	1	xijiang	xijiang	PROPN
fcis-17637	15	2	chen	chen	PROPN
fcis-17637	15	3	et	et	PROPN
fcis-17637	15	4	al	al	PROPN
fcis-17637	15	5	.	.	PROPN
fcis-17637	15	6	proposed	propose	VERB
fcis-17637	15	7	to	to	PART
fcis-17637	15	8	use	use	VERB
fcis-17637	15	9	the	the	DET
fcis-17637	15	10	point	point	NOUN
fcis-17637	15	11	cloud	cloud	NOUN
fcis-17637	15	12	breakline	breakline	NOUN
fcis-17637	15	13	and	and	CCONJ
fcis-17637	15	14	regularization	regularization	NOUN
fcis-17637	15	15	method	method	NOUN
fcis-17637	15	16	to	to	PART
fcis-17637	15	17	sort	sort	VERB
fcis-17637	15	18	the	the	DET
fcis-17637	15	19	points	point	NOUN
fcis-17637	15	20	according	accord	VERB
fcis-17637	15	21	to	to	ADP
fcis-17637	15	22	the	the	DET
fcis-17637	15	23	vector	vector	NOUN
fcis-17637	15	24	deflection	deflection	NOUN
fcis-17637	15	25	angle	angle	NOUN
fcis-17637	15	26	and	and	CCONJ
fcis-17637	15	27	distance	distance	NOUN
fcis-17637	15	28	;	;	PUNCT
fcis-17637	15	29	then	then	ADV
fcis-17637	15	30	,	,	PUNCT
fcis-17637	15	31	the	the	PRON
fcis-17637	15	32	improved	improve	VERB
fcis-17637	15	33	the	the	DET
fcis-17637	15	34	cubic	cubic	ADJ
fcis-17637	15	35	b	b	NOUN
fcis-17637	15	36	-	-	PUNCT
fcis-17637	15	37	spline	spline	NOUN
fcis-17637	15	38	curve	curve	NOUN
fcis-17637	15	39	fitting	fitting	ADJ
fcis-17637	15	40	algorithm	algorithm	NOUN
fcis-17637	15	41	is	be	AUX
fcis-17637	15	42	employed	employ	VERB
fcis-17637	15	43	to	to	PART
fcis-17637	15	44	complete	complete	VERB
fcis-17637	15	45	the	the	DET
fcis-17637	15	46	boundary	boundary	ADJ
fcis-17637	15	47	extraction	extraction	NOUN
fcis-17637	16	1	[	[	X
fcis-17637	16	2	9	9	NUM
fcis-17637	16	3	]	]	PUNCT
fcis-17637	16	4	.	.	PUNCT
fcis-17637	17	1	the	the	DET
fcis-17637	17	2	alpha	alpha	PROPN
fcis-17637	17	3	shape	shape	NOUN
fcis-17637	17	4	algorithm	algorithm	NOUN
fcis-17637	17	5	proposed	propose	VERB
fcis-17637	17	6	by	by	ADP
fcis-17637	17	7	herbert	herbert	PROPN
fcis-17637	17	8	edelsbrunner	edelsbrunner	PROPN
fcis-17637	17	9	et	et	PROPN
fcis-17637	17	10	al	al	PROPN
fcis-17637	17	11	.	.	PROPN
fcis-17637	17	12	is	be	AUX
fcis-17637	17	13	a	a	DET
fcis-17637	17	14	scattered	scatter	VERB
fcis-17637	17	15	contour	contour	NOUN
fcis-17637	17	16	extraction	extraction	NOUN
fcis-17637	17	17	algorithm	algorithm	NOUN
fcis-17637	17	18	,	,	PUNCT
fcis-17637	17	19	which	which	PRON
fcis-17637	17	20	can	can	AUX
fcis-17637	17	21	be	be	AUX
fcis-17637	17	22	applied	apply	VERB
fcis-17637	17	23	to	to	ADP
fcis-17637	17	24	the	the	DET
fcis-17637	17	25	extraction	extraction	NOUN
fcis-17637	17	26	of	of	ADP
fcis-17637	17	27	polygon	polygon	PROPN
fcis-17637	17	28	inner	inner	ADJ
fcis-17637	17	29	and	and	CCONJ
fcis-17637	17	30	outer	outer	ADJ
fcis-17637	17	31	contour	contour	NOUN
fcis-17637	17	32	points	point	NOUN
fcis-17637	17	33	,	,	PUNCT
fcis-17637	17	34	but	but	CCONJ
fcis-17637	17	35	for	for	ADP
fcis-17637	17	36	point	point	NOUN
fcis-17637	17	37	clouds	cloud	NOUN
fcis-17637	17	38	with	with	ADP
fcis-17637	17	39	large	large	ADJ
fcis-17637	17	40	data	datum	NOUN
fcis-17637	17	41	volume	volume	NOUN
fcis-17637	17	42	,	,	PUNCT
fcis-17637	17	43	the	the	DET
fcis-17637	17	44	time	time	NOUN
fcis-17637	17	45	complexity	complexity	NOUN
fcis-17637	17	46	of	of	ADP
fcis-17637	17	47	the	the	DET
fcis-17637	17	48	algorithm	algorithm	NOUN
fcis-17637	17	49	is	be	AUX
fcis-17637	17	50	high	high	ADJ
fcis-17637	17	51	[	[	X
fcis-17637	17	52	10	10	NUM
fcis-17637	17	53	]	]	PUNCT
fcis-17637	17	54	.	.	PUNCT
fcis-17637	18	1	this	this	DET
fcis-17637	18	2	article	article	NOUN
fcis-17637	18	3	proposes	propose	VERB
fcis-17637	18	4	an	an	DET
fcis-17637	18	5	effective	effective	ADJ
fcis-17637	18	6	method	method	NOUN
fcis-17637	18	7	for	for	ADP
fcis-17637	18	8	extracting	extract	VERB
fcis-17637	18	9	contour	contour	NOUN
fcis-17637	18	10	features	feature	NOUN
fcis-17637	18	11	of	of	ADP
fcis-17637	18	12	various	various	ADJ
fcis-17637	18	13	surfaces	surface	NOUN
fcis-17637	18	14	of	of	ADP
fcis-17637	18	15	object	object	NOUN
fcis-17637	18	16	point	point	NOUN
fcis-17637	18	17	clouds	cloud	NOUN
fcis-17637	18	18	.	.	PUNCT
fcis-17637	19	1	the	the	DET
fcis-17637	19	2	method	method	NOUN
fcis-17637	19	3	involves	involve	VERB
fcis-17637	19	4	fusing	fuse	VERB
fcis-17637	19	5	the	the	DET
fcis-17637	19	6	random	random	ADJ
fcis-17637	19	7	sample	sample	NOUN
fcis-17637	19	8	consensus	consensus	NOUN
fcis-17637	19	9	(	(	PUNCT
fcis-17637	19	10	ransac	ransac	NOUN
fcis-17637	19	11	)	)	PUNCT
fcis-17637	19	12	algorithm	algorithm	NOUN
fcis-17637	19	13	and	and	CCONJ
fcis-17637	19	14	principal	principal	ADJ
fcis-17637	19	15	component	component	NOUN
fcis-17637	19	16	analysis	analysis	NOUN
fcis-17637	19	17	(	(	PUNCT
fcis-17637	19	18	pca	pca	NOUN
fcis-17637	19	19	)	)	PUNCT
fcis-17637	19	20	for	for	ADP
fcis-17637	19	21	plane	plane	NOUN
fcis-17637	19	22	segmentation	segmentation	NOUN
fcis-17637	19	23	,	,	PUNCT
fcis-17637	19	24	thereby	thereby	ADV
fcis-17637	19	25	enhancing	enhance	VERB
fcis-17637	19	26	the	the	DET
fcis-17637	19	27	robustness	robustness	NOUN
fcis-17637	19	28	and	and	CCONJ
fcis-17637	19	29	accuracy	accuracy	NOUN
fcis-17637	19	30	of	of	ADP
fcis-17637	19	31	point	point	NOUN
fcis-17637	19	32	cloud	cloud	ADJ
fcis-17637	19	33	plane	plane	NOUN
fcis-17637	19	34	segmentation	segmentation	NOUN
fcis-17637	19	35	.	.	PUNCT
fcis-17637	20	1	additionally	additionally	ADV
fcis-17637	20	2	,	,	PUNCT
fcis-17637	20	3	the	the	DET
fcis-17637	20	4	method	method	NOUN
fcis-17637	20	5	includes	include	VERB
fcis-17637	20	6	dimensionality	dimensionality	NOUN
fcis-17637	20	7	reduction	reduction	NOUN
fcis-17637	20	8	of	of	ADP
fcis-17637	20	9	the	the	DET
fcis-17637	20	10	point	point	NOUN
fcis-17637	20	11	cloud	cloud	NOUN
fcis-17637	20	12	data	datum	NOUN
fcis-17637	20	13	to	to	PART
fcis-17637	20	14	transform	transform	VERB
fcis-17637	20	15	3d	3d	NUM
fcis-17637	20	16	point	point	NOUN
fcis-17637	20	17	clouds	cloud	NOUN
fcis-17637	20	18	into	into	ADP
fcis-17637	20	19	2d	2d	NUM
fcis-17637	20	20	images	image	NOUN
fcis-17637	20	21	,	,	PUNCT
fcis-17637	20	22	thereby	thereby	ADV
fcis-17637	20	23	improving	improve	VERB
fcis-17637	20	24	boundary	boundary	ADJ
fcis-17637	20	25	extraction	extraction	NOUN
fcis-17637	20	26	speed	speed	NOUN
fcis-17637	20	27	and	and	CCONJ
fcis-17637	20	28	achieving	achieve	VERB
fcis-17637	20	29	contour	contour	NOUN
fcis-17637	20	30	feature	feature	NOUN
fcis-17637	20	31	extraction	extraction	NOUN
fcis-17637	20	32	of	of	ADP
fcis-17637	20	33	object	object	NOUN
fcis-17637	20	34	point	point	NOUN
fcis-17637	20	35	clouds	cloud	NOUN
fcis-17637	20	36	.	.	PUNCT
fcis-17637	21	1	2	2	X
fcis-17637	21	2	.	.	NUM
fcis-17637	21	3	proposed	propose	VERB
fcis-17637	21	4	method	method	NOUN
fcis-17637	21	5	figure	figure	NOUN
fcis-17637	21	6	1	1	NUM
fcis-17637	21	7	.	.	PUNCT
fcis-17637	21	8	schematic	schematic	ADJ
fcis-17637	21	9	diagram	diagram	NOUN
fcis-17637	21	10	of	of	ADP
fcis-17637	21	11	the	the	DET
fcis-17637	21	12	algorithm	algorithm	NOUN
fcis-17637	21	13	flow	flow	NOUN
fcis-17637	21	14	22	22	NUM
fcis-17637	21	15	the	the	DET
fcis-17637	21	16	proposed	propose	VERB
fcis-17637	21	17	method	method	NOUN
fcis-17637	21	18	in	in	ADP
fcis-17637	21	19	this	this	DET
fcis-17637	21	20	paper	paper	NOUN
fcis-17637	21	21	is	be	AUX
fcis-17637	21	22	mainly	mainly	ADV
fcis-17637	21	23	divided	divide	VERB
fcis-17637	21	24	into	into	ADP
fcis-17637	21	25	two	two	NUM
fcis-17637	21	26	stages	stage	NOUN
fcis-17637	21	27	,	,	PUNCT
fcis-17637	21	28	and	and	CCONJ
fcis-17637	21	29	the	the	DET
fcis-17637	21	30	algorithm	algorithm	NOUN
fcis-17637	21	31	flow	flow	NOUN
fcis-17637	21	32	is	be	AUX
fcis-17637	21	33	shown	show	VERB
fcis-17637	21	34	in	in	ADP
fcis-17637	21	35	figure	figure	NOUN
fcis-17637	21	36	1	1	NUM
fcis-17637	21	37	.	.	PUNCT
fcis-17637	22	1	the	the	DET
fcis-17637	22	2	first	first	ADJ
fcis-17637	22	3	stage	stage	NOUN
fcis-17637	22	4	is	be	AUX
fcis-17637	22	5	the	the	DET
fcis-17637	22	6	plane	plane	NOUN
fcis-17637	22	7	segmentation	segmentation	NOUN
fcis-17637	22	8	stage	stage	NOUN
fcis-17637	22	9	,	,	PUNCT
fcis-17637	22	10	mainly	mainly	ADV
fcis-17637	22	11	through	through	ADP
fcis-17637	22	12	the	the	DET
fcis-17637	22	13	fusion	fusion	NOUN
fcis-17637	22	14	of	of	ADP
fcis-17637	22	15	ransac	ransac	NOUN
fcis-17637	22	16	and	and	CCONJ
fcis-17637	22	17	pca	pca	NOUN
fcis-17637	22	18	algorithm	algorithm	NOUN
fcis-17637	22	19	based	base	VERB
fcis-17637	22	20	on	on	ADP
fcis-17637	22	21	plane	plane	NOUN
fcis-17637	22	22	features	feature	NOUN
fcis-17637	22	23	to	to	PART
fcis-17637	22	24	complete	complete	VERB
fcis-17637	22	25	the	the	DET
fcis-17637	22	26	plane	plane	NOUN
fcis-17637	22	27	point	point	NOUN
fcis-17637	22	28	cloud	cloud	NOUN
fcis-17637	22	29	segmentation	segmentation	NOUN
fcis-17637	22	30	.	.	PUNCT
fcis-17637	23	1	the	the	DET
fcis-17637	23	2	second	second	ADJ
fcis-17637	23	3	stage	stage	NOUN
fcis-17637	23	4	is	be	AUX
fcis-17637	23	5	contour	contour	NOUN
fcis-17637	23	6	extraction	extraction	NOUN
fcis-17637	23	7	,	,	PUNCT
fcis-17637	23	8	which	which	PRON
fcis-17637	23	9	mainly	mainly	ADV
fcis-17637	23	10	converts	convert	VERB
fcis-17637	23	11	the	the	DET
fcis-17637	23	12	point	point	NOUN
fcis-17637	23	13	cloud	cloud	NOUN
fcis-17637	23	14	into	into	ADP
fcis-17637	23	15	a	a	DET
fcis-17637	23	16	two	two	NUM
fcis-17637	23	17	-	-	PUNCT
fcis-17637	23	18	dimensional	dimensional	ADJ
fcis-17637	23	19	image	image	NOUN
fcis-17637	23	20	through	through	ADP
fcis-17637	23	21	dimensionality	dimensionality	NOUN
fcis-17637	23	22	reduction	reduction	NOUN
fcis-17637	23	23	processing	processing	NOUN
fcis-17637	23	24	,	,	PUNCT
fcis-17637	23	25	calculates	calculate	VERB
fcis-17637	23	26	the	the	DET
fcis-17637	23	27	twodimensional	twodimensional	ADJ
fcis-17637	23	28	boundary	boundary	ADJ
fcis-17637	23	29	points	point	NOUN
fcis-17637	23	30	through	through	ADP
fcis-17637	23	31	gradient	gradient	NOUN
fcis-17637	23	32	,	,	PUNCT
fcis-17637	23	33	and	and	CCONJ
fcis-17637	23	34	then	then	ADV
fcis-17637	23	35	converts	convert	VERB
fcis-17637	23	36	the	the	DET
fcis-17637	23	37	corresponding	correspond	VERB
fcis-17637	23	38	positions	position	NOUN
fcis-17637	23	39	in	in	ADP
fcis-17637	23	40	three	three	NUM
fcis-17637	23	41	-	-	PUNCT
fcis-17637	23	42	dimensional	dimensional	ADJ
fcis-17637	23	43	space	space	NOUN
fcis-17637	23	44	to	to	PART
fcis-17637	23	45	complete	complete	VERB
fcis-17637	23	46	the	the	DET
fcis-17637	23	47	contour	contour	NOUN
fcis-17637	23	48	extraction	extraction	NOUN
fcis-17637	23	49	of	of	ADP
fcis-17637	23	50	the	the	DET
fcis-17637	23	51	point	point	NOUN
fcis-17637	23	52	cloud	cloud	NOUN
fcis-17637	23	53	.	.	PUNCT
fcis-17637	24	1	2.1	2.1	NUM
fcis-17637	24	2	.	.	PUNCT
fcis-17637	25	1	the	the	DET
fcis-17637	25	2	planar	planar	ADJ
fcis-17637	25	3	segmentation	segmentation	NOUN
fcis-17637	25	4	based	base	VERB
fcis-17637	25	5	on	on	ADP
fcis-17637	25	6	pca	pca	NOUN
fcis-17637	25	7	and	and	CCONJ
fcis-17637	25	8	ransac	ransac	VERB
fcis-17637	25	9	with	with	ADP
fcis-17637	25	10	the	the	DET
fcis-17637	25	11	obtained	obtain	VERB
fcis-17637	25	12	point	point	NOUN
fcis-17637	25	13	cloud	cloud	NOUN
fcis-17637	25	14	data	datum	NOUN
fcis-17637	25	15	,	,	PUNCT
fcis-17637	25	16	the	the	DET
fcis-17637	25	17	initial	initial	ADJ
fcis-17637	25	18	planar	planar	ADJ
fcis-17637	25	19	set	set	NOUN
fcis-17637	25	20	is	be	AUX
fcis-17637	25	21	extracted	extract	VERB
fcis-17637	25	22	based	base	VERB
fcis-17637	25	23	on	on	ADP
fcis-17637	25	24	ransac	ransac	NOUN
fcis-17637	25	25	firstly	firstly	ADV
fcis-17637	25	26	.	.	PUNCT
fcis-17637	26	1	assumes	assume	VERB
fcis-17637	26	2	that	that	SCONJ
fcis-17637	26	3	p	p	PROPN
fcis-17637	26	4	is	be	AUX
fcis-17637	26	5	an	an	DET
fcis-17637	26	6	initial	initial	ADJ
fcis-17637	26	7	point	point	NOUN
fcis-17637	26	8	cloud	cloud	NOUN
fcis-17637	26	9	containing	contain	VERB
fcis-17637	26	10	n	n	NUM
fcis-17637	26	11	points	point	NOUN
fcis-17637	26	12	and	and	CCONJ
fcis-17637	26	13	each	each	DET
fcis-17637	26	14	point	point	NOUN
fcis-17637	26	15	is	be	AUX
fcis-17637	26	16	represented	represent	VERB
fcis-17637	26	17	as	as	ADP
fcis-17637	26	18			PROPN
fcis-17637	26	19			PROPN
fcis-17637	26	20	,	,	PUNCT
fcis-17637	26	21	,	,	PUNCT
fcis-17637	26	22	i	i	PRON
fcis-17637	27	1	i	i	PRON
fcis-17637	27	2	i	i	PRON
fcis-17637	27	3	ip	ip	VERB
fcis-17637	27	4	x	x	VERB
fcis-17637	27	5	y	y	PROPN
fcis-17637	27	6	z	z	PROPN
fcis-17637	27	7	,	,	PUNCT
fcis-17637	27	8			VERB
fcis-17637	27	9	0	0	NOUN
fcis-17637	27	10	1	1	NUM
fcis-17637	27	11	2	2	NUM
fcis-17637	27	12	1	1	NUM
fcis-17637	27	13	,	,	PUNCT
fcis-17637	27	14	,	,	PUNCT
fcis-17637	27	15	,	,	PUNCT
fcis-17637	27	16	,	,	PUNCT
fcis-17637	27	17	i	i	PRON
fcis-17637	27	18	n	n	VERB
fcis-17637	27	19			NOUN
fcis-17637	27	20	.	.	PUNCT
fcis-17637	28	1	three	three	NUM
fcis-17637	28	2	points	point	NOUN
fcis-17637	28	3	that	that	PRON
fcis-17637	28	4	are	be	AUX
fcis-17637	28	5	far	far	ADV
fcis-17637	28	6	away	away	ADV
fcis-17637	28	7	from	from	ADP
fcis-17637	28	8	each	each	DET
fcis-17637	28	9	other	other	ADJ
fcis-17637	28	10	are	be	AUX
fcis-17637	28	11	randomly	randomly	ADV
fcis-17637	28	12	selected	select	VERB
fcis-17637	28	13	as	as	SCONJ
fcis-17637	28	14	the	the	DET
fcis-17637	28	15	sample	sample	NOUN
fcis-17637	28	16	point	point	NOUN
fcis-17637	28	17	set	set	VERB
fcis-17637	28	18	s	s	PART
fcis-17637	28	19	.	.	PUNCT
fcis-17637	29	1	a	a	DET
fcis-17637	29	2	plane	plane	NOUN
fcis-17637	29	3	is	be	AUX
fcis-17637	29	4	fitted	fit	VERB
fcis-17637	29	5	based	base	VERB
fcis-17637	29	6	on	on	ADP
fcis-17637	29	7	s	s	PRON
fcis-17637	29	8	and	and	CCONJ
fcis-17637	29	9	is	be	AUX
fcis-17637	29	10	described	describe	VERB
fcis-17637	29	11	in	in	ADP
fcis-17637	29	12	eq	eq	ADP
fcis-17637	29	13	.	.	PUNCT
fcis-17637	30	1	(	(	PUNCT
fcis-17637	30	2	1	1	NUM
fcis-17637	30	3	):	):	PUNCT
fcis-17637	30	4	ax+	ax+	ADJ
fcis-17637	30	5	by	by	ADP
fcis-17637	30	6	+	+	ADJ
fcis-17637	30	7	cz	cz	NOUN
fcis-17637	30	8	+	+	X
fcis-17637	30	9	d	d	NOUN
fcis-17637	30	10	=	=	SYM
fcis-17637	30	11	0	0	NUM
fcis-17637	30	12	,	,	PUNCT
fcis-17637	30	13	(	(	PUNCT
fcis-17637	30	14	1	1	X
fcis-17637	30	15	)	)	PUNCT
fcis-17637	30	16	where	where	SCONJ
fcis-17637	30	17	a	a	DET
fcis-17637	30	18	,	,	PUNCT
fcis-17637	30	19	b	b	NOUN
fcis-17637	30	20	,	,	PUNCT
fcis-17637	30	21	c	c	NOUN
fcis-17637	30	22	,	,	PUNCT
fcis-17637	30	23	d	d	X
fcis-17637	30	24	are	be	AUX
fcis-17637	30	25	the	the	DET
fcis-17637	30	26	coefficients	coefficient	NOUN
fcis-17637	30	27	of	of	ADP
fcis-17637	30	28	the	the	DET
fcis-17637	30	29	plane	plane	NOUN
fcis-17637	30	30	.	.	PUNCT
fcis-17637	31	1	rewrite	rewrite	VERB
fcis-17637	31	2	eq	eq	ADP
fcis-17637	31	3	.	.	PUNCT
fcis-17637	32	1	(	(	PUNCT
fcis-17637	32	2	1	1	X
fcis-17637	32	3	)	)	PUNCT
fcis-17637	32	4	to	to	ADP
fcis-17637	32	5	eq	eq	NOUN
fcis-17637	32	6	.	.	PUNCT
fcis-17637	33	1	(	(	PUNCT
fcis-17637	33	2	2	2	NUM
fcis-17637	33	3	):	):	PUNCT
fcis-17637	33	4	a	a	DET
fcis-17637	33	5	b	b	NOUN
fcis-17637	33	6	d	d	NOUN
fcis-17637	33	7	z	z	NOUN
fcis-17637	33	8	x	x	X
fcis-17637	34	1	y	y	NOUN
fcis-17637	34	2	c	c	NOUN
fcis-17637	34	3	c	c	NOUN
fcis-17637	34	4	c	c	PROPN
fcis-17637	34	5			NOUN
fcis-17637	34	6			PROPN
fcis-17637	34	7			NOUN
fcis-17637	34	8			PROPN
fcis-17637	34	9			PROPN
fcis-17637	34	10			X
fcis-17637	35	1			PROPN
fcis-17637	35	2			VERB
fcis-17637	35	3			PROPN
fcis-17637	35	4			SYM
fcis-17637	35	5			PROPN
fcis-17637	35	6			PROPN
fcis-17637	36	1			PROPN
fcis-17637	37	1			INTJ
fcis-17637	38	1			PROPN
fcis-17637	38	2			PROPN
fcis-17637	39	1			ADJ
fcis-17637	39	2			PROPN
fcis-17637	39	3			PROPN
fcis-17637	39	4			NOUN
fcis-17637	39	5			PROPN
fcis-17637	39	6			NOUN
fcis-17637	39	7	,	,	PUNCT
fcis-17637	39	8	(	(	PUNCT
fcis-17637	39	9	2	2	X
fcis-17637	39	10	)	)	PUNCT
fcis-17637	39	11	suppose	suppose	VERB
fcis-17637	39	12	0	0	PUNCT
fcis-17637	40	1	a	a	PRON
fcis-17637	40	2	a	a	PRON
fcis-17637	40	3	c	c	PROPN
fcis-17637	40	4			NOUN
fcis-17637	40	5			PROPN
fcis-17637	41	1			PROPN
fcis-17637	41	2			PROPN
fcis-17637	42	1			PROPN
fcis-17637	42	2			NOUN
fcis-17637	42	3	,	,	PUNCT
fcis-17637	42	4	1	1	NUM
fcis-17637	42	5	b	b	PROPN
fcis-17637	42	6	a	a	PRON
fcis-17637	42	7	c	c	PROPN
fcis-17637	42	8			NOUN
fcis-17637	42	9			PROPN
fcis-17637	43	1			PROPN
fcis-17637	43	2			PROPN
fcis-17637	44	1			PROPN
fcis-17637	44	2			NOUN
fcis-17637	44	3	,	,	PUNCT
fcis-17637	44	4	2	2	NUM
fcis-17637	44	5	d	d	PROPN
fcis-17637	44	6	a	a	PRON
fcis-17637	44	7	c	c	PROPN
fcis-17637	44	8			NOUN
fcis-17637	44	9			PROPN
fcis-17637	45	1			PROPN
fcis-17637	45	2			PROPN
fcis-17637	46	1			ADJ
fcis-17637	46	2			NOUN
fcis-17637	46	3	and	and	CCONJ
fcis-17637	46	4	the	the	DET
fcis-17637	46	5	variance	variance	NOUN
fcis-17637	46	6	of	of	ADP
fcis-17637	46	7	the	the	DET
fcis-17637	46	8	distance	distance	NOUN
fcis-17637	46	9	from	from	ADP
fcis-17637	46	10	all	all	DET
fcis-17637	46	11	points	point	NOUN
fcis-17637	46	12	to	to	ADP
fcis-17637	46	13	the	the	DET
fcis-17637	46	14	plane	plane	NOUN
fcis-17637	46	15	is	be	AUX
fcis-17637	46	16	f	f	NOUN
fcis-17637	46	17	:	:	PUNCT
fcis-17637	46	18			NOUN
fcis-17637	46	19			SYM
fcis-17637	46	20	1	1	NUM
fcis-17637	46	21	2	2	NUM
fcis-17637	46	22	0	0	NUM
fcis-17637	46	23	1	1	NUM
fcis-17637	46	24	2	2	NUM
fcis-17637	46	25	0	0	NUM
fcis-17637	46	26	n	n	NOUN
fcis-17637	47	1	i	i	PRON
fcis-17637	47	2	i	i	PRON
fcis-17637	48	1	i	i	PRON
fcis-17637	49	1	i	i	PRON
fcis-17637	49	2	f	f	VERB
fcis-17637	50	1	a	a	DET
fcis-17637	50	2	x	x	X
fcis-17637	50	3	a	a	DET
fcis-17637	50	4	y	y	PROPN
fcis-17637	50	5	a	a	DET
fcis-17637	50	6	z	z	NOUN
fcis-17637	50	7			PROPN
fcis-17637	50	8			PROPN
fcis-17637	50	9			PROPN
fcis-17637	50	10			ADV
fcis-17637	50	11			PUNCT
fcis-17637	50	12			X
fcis-17637	50	13	,	,	PUNCT
fcis-17637	50	14	(	(	PUNCT
fcis-17637	50	15	3	3	X
fcis-17637	50	16	)	)	PUNCT
fcis-17637	50	17	for	for	ADP
fcis-17637	50	18	each	each	DET
fcis-17637	50	19	point	point	NOUN
fcis-17637	50	20	in	in	ADP
fcis-17637	50	21	s	s	AUX
fcis-17637	50	22	minimizing	minimize	VERB
fcis-17637	50	23	f	f	X
fcis-17637	50	24	,	,	PUNCT
fcis-17637	50	25	we	we	PRON
fcis-17637	50	26	have	have	VERB
fcis-17637	50	27	0	0	NUM
fcis-17637	50	28	0	0	NUM
fcis-17637	50	29	f	f	PROPN
fcis-17637	50	30	a	a	DET
fcis-17637	50	31			ADJ
fcis-17637	50	32			PROPN
fcis-17637	50	33			PROPN
fcis-17637	50	34	,	,	PUNCT
fcis-17637	50	35	1	1	NUM
fcis-17637	50	36	0	0	NUM
fcis-17637	50	37	f	f	PROPN
fcis-17637	50	38	a	a	DET
fcis-17637	50	39			ADJ
fcis-17637	50	40			PROPN
fcis-17637	50	41			ADJ
fcis-17637	50	42	,	,	PUNCT
fcis-17637	50	43	2	2	NUM
fcis-17637	50	44	0	0	NUM
fcis-17637	50	45	f	f	PROPN
fcis-17637	50	46	a	a	DET
fcis-17637	50	47			ADJ
fcis-17637	50	48			PROPN
fcis-17637	50	49			PROPN
fcis-17637	50	50	.	.	PUNCT
fcis-17637	51	1	the	the	DET
fcis-17637	51	2	parameters	parameter	NOUN
fcis-17637	51	3	0a	0a	PROPN
fcis-17637	51	4	,	,	PUNCT
fcis-17637	51	5	1a	1a	PROPN
fcis-17637	51	6	,	,	PUNCT
fcis-17637	51	7	2a	2a	NUM
fcis-17637	51	8	can	can	AUX
fcis-17637	51	9	be	be	AUX
fcis-17637	51	10	obtained	obtain	VERB
fcis-17637	51	11	by	by	ADP
fcis-17637	51	12	solving	solve	VERB
fcis-17637	51	13	eq	eq	ADJ
fcis-17637	51	14	.	.	PUNCT
fcis-17637	52	1	(	(	PUNCT
fcis-17637	52	2	4	4	NUM
fcis-17637	52	3	)	)	PUNCT
fcis-17637	52	4	and	and	CCONJ
fcis-17637	52	5	the	the	DET
fcis-17637	52	6	initial	initial	ADJ
fcis-17637	52	7	plane	plane	NOUN
fcis-17637	52	8	fitting	fitting	NOUN
fcis-17637	52	9	is	be	AUX
fcis-17637	52	10	completed	complete	VERB
fcis-17637	52	11	.	.	PUNCT
fcis-17637	53	1	0	0	NUM
fcis-17637	54	1	1	1	NUM
fcis-17637	54	2	2	2	NUM
fcis-17637	54	3	0	0	NUM
fcis-17637	54	4	0	0	NUM
fcis-17637	54	5	0	0	NUM
fcis-17637	54	6	f	f	PROPN
fcis-17637	54	7	a	a	DET
fcis-17637	54	8	f	f	X
fcis-17637	54	9	a	a	DET
fcis-17637	54	10	f	f	NOUN
fcis-17637	54	11	a	a	DET
fcis-17637	54	12			NOUN
fcis-17637	54	13			PROPN
fcis-17637	54	14			ADJ
fcis-17637	54	15			NUM
fcis-17637	54	16			PROPN
fcis-17637	54	17			NOUN
fcis-17637	54	18			NUM
fcis-17637	54	19			PROPN
fcis-17637	54	20			X
fcis-17637	54	21			NUM
fcis-17637	54	22	,	,	PUNCT
fcis-17637	54	23	(	(	PUNCT
fcis-17637	54	24	4	4	NUM
fcis-17637	54	25	)	)	PUNCT
fcis-17637	54	26	then	then	ADV
fcis-17637	54	27	the	the	DET
fcis-17637	54	28	outliers	outlier	NOUN
fcis-17637	54	29	in	in	ADP
fcis-17637	54	30	the	the	DET
fcis-17637	54	31	point	point	NOUN
fcis-17637	54	32	cloud	cloud	NOUN
fcis-17637	54	33	p	p	NOUN
fcis-17637	54	34	is	be	AUX
fcis-17637	54	35	removed	remove	VERB
fcis-17637	54	36	based	base	VERB
fcis-17637	54	37	on	on	ADP
fcis-17637	54	38	the	the	DET
fcis-17637	54	39	initial	initial	ADJ
fcis-17637	54	40	fitting	fitting	ADJ
fcis-17637	54	41	plane	plane	NOUN
fcis-17637	54	42	.	.	PUNCT
fcis-17637	55	1	first	first	ADV
fcis-17637	55	2	,	,	PUNCT
fcis-17637	55	3	the	the	DET
fcis-17637	55	4	distance	distance	NOUN
fcis-17637	55	5	i	i	PROPN
fcis-17637	55	6	d	d	PROPN
fcis-17637	55	7	from	from	ADP
fcis-17637	55	8	each	each	DET
fcis-17637	55	9	point	point	NOUN
fcis-17637	55	10	in	in	ADP
fcis-17637	55	11	p	p	NOUN
fcis-17637	55	12	to	to	ADP
fcis-17637	55	13	the	the	DET
fcis-17637	55	14	initial	initial	ADJ
fcis-17637	55	15	fitting	fitting	ADJ
fcis-17637	55	16	plane	plane	NOUN
fcis-17637	55	17	is	be	AUX
fcis-17637	55	18	obtained	obtain	VERB
fcis-17637	55	19	by	by	ADP
fcis-17637	55	20	eq	eq	PROPN
fcis-17637	55	21	.	.	PUNCT
fcis-17637	56	1	(	(	PUNCT
fcis-17637	56	2	5	5	NUM
fcis-17637	56	3	)	)	PUNCT
fcis-17637	56	4	.	.	PUNCT
fcis-17637	57	1	a	a	DET
fcis-17637	57	2	threshold	threshold	NOUN
fcis-17637	57	3	thd	thd	NOUN
fcis-17637	57	4	is	be	AUX
fcis-17637	57	5	set	set	VERB
fcis-17637	57	6	and	and	CCONJ
fcis-17637	57	7	the	the	DET
fcis-17637	57	8	point	point	NOUN
fcis-17637	57	9	is	be	AUX
fcis-17637	57	10	added	add	VERB
fcis-17637	57	11	to	to	ADP
fcis-17637	57	12	s	s	PRON
fcis-17637	57	13	if	if	SCONJ
fcis-17637	57	14	thid	thid	NOUN
fcis-17637	57	15	d	d	VERB
fcis-17637	57	16	,	,	PUNCT
fcis-17637	57	17	otherwise	otherwise	ADV
fcis-17637	57	18	,	,	PUNCT
fcis-17637	57	19	the	the	DET
fcis-17637	57	20	point	point	NOUN
fcis-17637	57	21	is	be	AUX
fcis-17637	57	22	discarded	discard	VERB
fcis-17637	57	23	.	.	PUNCT
fcis-17637	58	1	2	2	NUM
fcis-17637	58	2	2	2	NUM
fcis-17637	58	3	2	2	NUM
fcis-17637	58	4	i	i	PRON
fcis-17637	58	5	i	i	PRON
fcis-17637	59	1	i	i	PRON
fcis-17637	59	2	i	i	PRON
fcis-17637	59	3	ax	ax	VERB
fcis-17637	59	4	+	+	X
fcis-17637	60	1	by	by	ADP
fcis-17637	60	2	+	+	ADJ
fcis-17637	60	3	cz	cz	NOUN
fcis-17637	60	4	+	+	X
fcis-17637	60	5	d	d	PROPN
fcis-17637	60	6	d	d	PROPN
fcis-17637	60	7	a	a	PRON
fcis-17637	60	8	b	b	NOUN
fcis-17637	60	9	c	c	PROPN
fcis-17637	60	10			PROPN
fcis-17637	60	11			ADV
fcis-17637	60	12			X
fcis-17637	60	13	,	,	PUNCT
fcis-17637	60	14	(	(	PUNCT
fcis-17637	60	15	5	5	X
fcis-17637	60	16	)	)	PUNCT
fcis-17637	60	17	implement	implement	VERB
fcis-17637	60	18	the	the	DET
fcis-17637	60	19	above	above	ADJ
fcis-17637	60	20	steps	step	NOUN
fcis-17637	60	21	iteratively	iteratively	ADV
fcis-17637	60	22	by	by	ADP
fcis-17637	60	23	iteraten	iteraten	ADJ
fcis-17637	60	24	times	time	NOUN
fcis-17637	60	25	and	and	CCONJ
fcis-17637	60	26	select	select	VERB
fcis-17637	60	27	the	the	DET
fcis-17637	60	28	point	point	NOUN
fcis-17637	60	29	set	set	NOUN
fcis-17637	60	30	s	s	PRON
fcis-17637	60	31	including	include	VERB
fcis-17637	60	32	the	the	DET
fcis-17637	60	33	largest	large	ADJ
fcis-17637	60	34	number	number	NOUN
fcis-17637	60	35	of	of	ADP
fcis-17637	60	36	points	point	NOUN
fcis-17637	60	37	as	as	ADP
fcis-17637	60	38	the	the	DET
fcis-17637	60	39	current	current	ADJ
fcis-17637	60	40	plane	plane	NOUN
fcis-17637	60	41	prediction	prediction	NOUN
fcis-17637	60	42	result	result	NOUN
fcis-17637	60	43	.	.	PUNCT
fcis-17637	61	1	remove	remove	VERB
fcis-17637	61	2	the	the	DET
fcis-17637	61	3	current	current	ADJ
fcis-17637	61	4	plane	plane	NOUN
fcis-17637	61	5	point	point	NOUN
fcis-17637	61	6	set	set	VERB
fcis-17637	61	7	from	from	ADP
fcis-17637	61	8	the	the	DET
fcis-17637	61	9	initial	initial	ADJ
fcis-17637	61	10	point	point	NOUN
fcis-17637	61	11	cloud	cloud	NOUN
fcis-17637	61	12	p	p	NOUN
fcis-17637	61	13	and	and	CCONJ
fcis-17637	61	14	select	select	VERB
fcis-17637	61	15	a	a	DET
fcis-17637	61	16	new	new	ADJ
fcis-17637	61	17	plane	plane	NOUN
fcis-17637	61	18	s	s	VERB
fcis-17637	61	19	to	to	PART
fcis-17637	61	20	start	start	VERB
fcis-17637	61	21	a	a	DET
fcis-17637	61	22	new	new	ADJ
fcis-17637	61	23	round	round	NOUN
fcis-17637	61	24	plane	plane	NOUN
fcis-17637	61	25	prediction	prediction	NOUN
fcis-17637	61	26	until	until	SCONJ
fcis-17637	61	27	the	the	DET
fcis-17637	61	28	number	number	NOUN
fcis-17637	61	29	of	of	ADP
fcis-17637	61	30	the	the	DET
fcis-17637	61	31	points	point	NOUN
fcis-17637	61	32	is	be	AUX
fcis-17637	61	33	less	less	ADJ
fcis-17637	61	34	than	than	ADP
fcis-17637	61	35	a	a	DET
fcis-17637	61	36	threshold	threshold	NOUN
fcis-17637	61	37	minnumn	minnumn	NOUN
fcis-17637	61	38	.	.	PUNCT
fcis-17637	62	1	a	a	DET
fcis-17637	62	2	series	series	NOUN
fcis-17637	62	3	of	of	ADP
fcis-17637	62	4	point	point	NOUN
fcis-17637	62	5	cloud	cloud	NOUN
fcis-17637	62	6	sets	set	VERB
fcis-17637	62	7			PRON
fcis-17637	62	8	planearray	planearray	ADJ
fcis-17637	62	9	1	1	NUM
fcis-17637	62	10	2	2	NUM
fcis-17637	63	1	np	np	NOUN
fcis-17637	63	2	p	p	NOUN
fcis-17637	63	3	p	p	X
fcis-17637	63	4	p	p	NOUN
fcis-17637	63	5			NUM
fcis-17637	63	6	,	,	PUNCT
fcis-17637	63	7	,	,	PUNCT
fcis-17637	63	8	,	,	PUNCT
fcis-17637	63	9	can	can	AUX
fcis-17637	63	10	be	be	AUX
fcis-17637	63	11	obtained	obtain	VERB
fcis-17637	63	12	and	and	CCONJ
fcis-17637	63	13	planen	planen	NOUN
fcis-17637	63	14	is	be	AUX
fcis-17637	63	15	the	the	DET
fcis-17637	63	16	number	number	NOUN
fcis-17637	63	17	of	of	ADP
fcis-17637	63	18	extracted	extract	VERB
fcis-17637	63	19	planes	plane	NOUN
fcis-17637	63	20	.	.	PUNCT
fcis-17637	64	1	figure	figure	NOUN
fcis-17637	64	2	2	2	NUM
fcis-17637	64	3	.	.	PUNCT
fcis-17637	64	4	pca	pca	PROPN
fcis-17637	64	5	plane	plane	NOUN
fcis-17637	64	6	fitting	fitting	ADJ
fcis-17637	64	7	algorithm	algorithm	NOUN
fcis-17637	64	8	process	process	NOUN
fcis-17637	64	9	.	.	PUNCT
fcis-17637	65	1	23	23	NUM
fcis-17637	65	2	ransac	ransac	NOUN
fcis-17637	65	3	can	can	AUX
fcis-17637	65	4	achieve	achieve	VERB
fcis-17637	65	5	good	good	ADJ
fcis-17637	65	6	performance	performance	NOUN
fcis-17637	65	7	when	when	SCONJ
fcis-17637	65	8	the	the	DET
fcis-17637	65	9	point	point	NOUN
fcis-17637	65	10	cloud	cloud	NOUN
fcis-17637	65	11	has	have	VERB
fcis-17637	65	12	obvious	obvious	ADJ
fcis-17637	65	13	noise	noise	NOUN
fcis-17637	65	14	.	.	PUNCT
fcis-17637	66	1	however	however	ADV
fcis-17637	66	2	,	,	PUNCT
fcis-17637	66	3	when	when	SCONJ
fcis-17637	66	4	the	the	DET
fcis-17637	66	5	noise	noise	NOUN
fcis-17637	66	6	is	be	AUX
fcis-17637	66	7	close	close	ADJ
fcis-17637	66	8	to	to	ADP
fcis-17637	66	9	the	the	DET
fcis-17637	66	10	plane	plane	NOUN
fcis-17637	66	11	(	(	PUNCT
fcis-17637	66	12	such	such	ADJ
fcis-17637	66	13	as	as	ADP
fcis-17637	66	14	adjacent	adjacent	ADJ
fcis-17637	66	15	planes	plane	NOUN
fcis-17637	66	16	)	)	PUNCT
fcis-17637	66	17	,	,	PUNCT
fcis-17637	66	18	errors	error	NOUN
fcis-17637	66	19	will	will	AUX
fcis-17637	66	20	be	be	AUX
fcis-17637	66	21	introduced	introduce	VERB
fcis-17637	66	22	.	.	PUNCT
fcis-17637	67	1	this	this	DET
fcis-17637	67	2	paper	paper	NOUN
fcis-17637	67	3	addresses	address	VERB
fcis-17637	67	4	the	the	DET
fcis-17637	67	5	above	above	ADJ
fcis-17637	67	6	issue	issue	NOUN
fcis-17637	67	7	by	by	ADP
fcis-17637	67	8	pca	pca	PROPN
fcis-17637	67	9	based	base	VERB
fcis-17637	67	10	ransac	ransac	NOUN
fcis-17637	67	11	plane	plane	NOUN
fcis-17637	67	12	fitting	fitting	ADJ
fcis-17637	67	13	method	method	NOUN
fcis-17637	67	14	and	and	CCONJ
fcis-17637	67	15	optimization	optimization	NOUN
fcis-17637	67	16	strategy	strategy	NOUN
fcis-17637	67	17	.	.	PUNCT
fcis-17637	68	1	the	the	DET
fcis-17637	68	2	pca	pca	PROPN
fcis-17637	68	3	plane	plane	NOUN
fcis-17637	68	4	fitting	fitting	ADJ
fcis-17637	68	5	process	process	NOUN
fcis-17637	68	6	is	be	AUX
fcis-17637	68	7	shown	show	VERB
fcis-17637	68	8	in	in	ADP
fcis-17637	68	9	figure	figure	NOUN
fcis-17637	68	10	2	2	NUM
fcis-17637	68	11	.	.	PUNCT
fcis-17637	69	1	at	at	ADP
fcis-17637	69	2	first	first	ADV
fcis-17637	69	3	,	,	PUNCT
fcis-17637	69	4	pca	pca	NOUN
fcis-17637	69	5	plane	plane	NOUN
fcis-17637	69	6	fitting	fitting	NOUN
fcis-17637	69	7	is	be	AUX
fcis-17637	69	8	applied	apply	VERB
fcis-17637	69	9	to	to	ADP
fcis-17637	69	10	all	all	DET
fcis-17637	69	11	the	the	DET
fcis-17637	69	12	planes	plane	NOUN
fcis-17637	69	13	in	in	ADP
fcis-17637	69	14	point	point	NOUN
fcis-17637	69	15	cloud	cloud	NOUN
fcis-17637	69	16	sets	set	NOUN
fcis-17637	69	17	arrayp	arrayp	ADJ
fcis-17637	69	18	.	.	PUNCT
fcis-17637	70	1	suppose	suppose	VERB
fcis-17637	70	2	that	that	SCONJ
fcis-17637	70	3	there	there	PRON
fcis-17637	70	4	are	be	VERB
fcis-17637	70	5	1n	1n	NUM
fcis-17637	70	6	points	point	NOUN
fcis-17637	70	7	in	in	ADP
fcis-17637	70	8	1p	1p	NUM
fcis-17637	70	9	and	and	CCONJ
fcis-17637	70	10	the	the	DET
fcis-17637	70	11	corresponding	corresponding	ADJ
fcis-17637	70	12	coordinates	coordinate	NOUN
fcis-17637	70	13	is	be	AUX
fcis-17637	70	14			NOUN
fcis-17637	70	15	i	i	PROPN
fcis-17637	71	1	i	i	PRON
fcis-17637	71	2	ix	ix	VERB
fcis-17637	71	3	y	y	PROPN
fcis-17637	71	4	z	z	PROPN
fcis-17637	71	5	,	,	PUNCT
fcis-17637	71	6	,	,	PUNCT
fcis-17637	71	7	,	,	PUNCT
fcis-17637	71	8			ADJ
fcis-17637	71	9	11	11	NOUN
fcis-17637	71	10	2i	2i	NOUN
fcis-17637	71	11	n	n	PROPN
fcis-17637	71	12			NUM
fcis-17637	71	13	,	,	PUNCT
fcis-17637	71	14	,	,	PUNCT
fcis-17637	71	15	,	,	PUNCT
fcis-17637	71	16	.	.	PUNCT
fcis-17637	72	1	then	then	ADV
fcis-17637	72	2	the	the	DET
fcis-17637	72	3	centroid	centroid	PROPN
fcis-17637	72	4			PROPN
fcis-17637	72	5	1	1	PROPN
fcis-17637	72	6	1	1	NUM
fcis-17637	72	7	1mx	1mx	NOUN
fcis-17637	72	8	my	my	PRON
fcis-17637	72	9	mz	mz	NOUN
fcis-17637	72	10	,	,	PUNCT
fcis-17637	72	11	,	,	PUNCT
fcis-17637	72	12	of	of	ADP
fcis-17637	72	13	the	the	DET
fcis-17637	72	14	point	point	NOUN
fcis-17637	72	15	cloud	cloud	NOUN
fcis-17637	72	16	can	can	AUX
fcis-17637	72	17	be	be	AUX
fcis-17637	72	18	obtained	obtain	VERB
fcis-17637	72	19	by	by	ADP
fcis-17637	72	20	eq	eq	PROPN
fcis-17637	72	21	.	.	PUNCT
fcis-17637	73	1	(	(	PUNCT
fcis-17637	73	2	6	6	NUM
fcis-17637	73	3	):	):	PUNCT
fcis-17637	73	4			NOUN
fcis-17637	73	5			SYM
fcis-17637	73	6			NOUN
fcis-17637	73	7			NOUN
fcis-17637	73	8	1	1	NUM
fcis-17637	73	9	1	1	NUM
fcis-17637	73	10	1	1	NUM
fcis-17637	73	11	1	1	NUM
fcis-17637	73	12	11	11	NUM
fcis-17637	73	13	1	1	NUM
fcis-17637	73	14	,	,	PUNCT
fcis-17637	73	15	,	,	PUNCT
fcis-17637	73	16	,	,	PUNCT
fcis-17637	73	17	,	,	PUNCT
fcis-17637	73	18	n	n	CCONJ
fcis-17637	74	1	i	i	PRON
fcis-17637	74	2	i	i	PRON
fcis-17637	75	1	i	i	PRON
fcis-17637	76	1	i	i	PRON
fcis-17637	76	2	mx	mx	VERB
fcis-17637	77	1	my	my	PRON
fcis-17637	77	2	mz	mz	NOUN
fcis-17637	77	3	x	x	PROPN
fcis-17637	77	4	y	y	PROPN
fcis-17637	77	5	z	z	PROPN
fcis-17637	77	6	n	n	NOUN
fcis-17637	77	7			NUM
fcis-17637	77	8			ADJ
fcis-17637	77	9			X
fcis-17637	77	10	,	,	PUNCT
fcis-17637	77	11	(	(	PUNCT
fcis-17637	77	12	6	6	X
fcis-17637	77	13	)	)	PUNCT
fcis-17637	77	14	apply	apply	VERB
fcis-17637	77	15	eq	eq	ADP
fcis-17637	77	16	.	.	PUNCT
fcis-17637	78	1	(	(	PUNCT
fcis-17637	78	2	7	7	NUM
fcis-17637	78	3	)	)	PUNCT
fcis-17637	78	4	to	to	PART
fcis-17637	78	5	centralize	centralize	VERB
fcis-17637	78	6	the	the	DET
fcis-17637	78	7	point	point	NOUN
fcis-17637	78	8	cloud	cloud	NOUN
fcis-17637	78	9	and	and	CCONJ
fcis-17637	78	10	the	the	DET
fcis-17637	78	11	sample	sample	NOUN
fcis-17637	78	12	matrix	matrix	NOUN
fcis-17637	78	13	1x	1x	NUM
fcis-17637	78	14	is	be	AUX
fcis-17637	78	15	obtained	obtain	VERB
fcis-17637	78	16	:	:	PUNCT
fcis-17637	78	17	1	1	NUM
fcis-17637	78	18	1	1	NUM
fcis-17637	78	19	1	1	NUM
fcis-17637	78	20	1	1	NUM
fcis-17637	78	21	1	1	NUM
fcis-17637	78	22	1	1	NUM
fcis-17637	78	23	1	1	NUM
fcis-17637	78	24	1	1	NUM
fcis-17637	78	25	1	1	NUM
fcis-17637	78	26	2	2	NUM
fcis-17637	78	27	1	1	NUM
fcis-17637	78	28	2	2	NUM
fcis-17637	78	29	1	1	NUM
fcis-17637	78	30	2	2	NUM
fcis-17637	78	31	1	1	NUM
fcis-17637	78	32	1	1	NUM
fcis-17637	78	33	1	1	NUM
fcis-17637	78	34	1n	1n	NUM
fcis-17637	78	35	n	n	CCONJ
fcis-17637	78	36	n	n	NOUN
fcis-17637	79	1	x	x	SYM
fcis-17637	79	2	mx	mx	PROPN
fcis-17637	79	3	y	y	PROPN
fcis-17637	80	1	my	my	PRON
fcis-17637	80	2	z	z	NOUN
fcis-17637	80	3	mz	mz	NOUN
fcis-17637	80	4	x	x	SYM
fcis-17637	80	5	mx	mx	PROPN
fcis-17637	80	6	y	y	PROPN
fcis-17637	81	1	my	my	PRON
fcis-17637	81	2	z	z	NOUN
fcis-17637	81	3	mz	mz	NOUN
fcis-17637	81	4	x	x	SYM
fcis-17637	81	5	mx	mx	PROPN
fcis-17637	81	6	y	y	PROPN
fcis-17637	82	1	my	my	PRON
fcis-17637	82	2	z	z	NOUN
fcis-17637	82	3	mz	mz	PROPN
fcis-17637	82	4			PROPN
fcis-17637	82	5			PROPN
fcis-17637	82	6			NOUN
fcis-17637	82	7			NOUN
fcis-17637	82	8			NOUN
fcis-17637	82	9			NOUN
fcis-17637	82	10			PROPN
fcis-17637	82	11			PROPN
fcis-17637	82	12			PROPN
fcis-17637	82	13			NOUN
fcis-17637	82	14			NOUN
fcis-17637	82	15			NOUN
fcis-17637	82	16			NOUN
fcis-17637	82	17			NOUN
fcis-17637	82	18			PROPN
fcis-17637	82	19			PROPN
fcis-17637	82	20			PROPN
fcis-17637	82	21			PRON
fcis-17637	82	22			PROPN
fcis-17637	82	23	1x	1x	NOUN
fcis-17637	82	24	,	,	PUNCT
fcis-17637	82	25	(	(	PUNCT
fcis-17637	82	26	7	7	X
fcis-17637	82	27	)	)	PUNCT
fcis-17637	82	28	calculate	calculate	NOUN
fcis-17637	82	29	the	the	DET
fcis-17637	82	30	corresponding	correspond	VERB
fcis-17637	82	31	covariance	covariance	NOUN
fcis-17637	82	32	matrix	matrix	NOUN
fcis-17637	82	33	1e	1e	NOUN
fcis-17637	82	34	:	:	PUNCT
fcis-17637	82	35			PROPN
fcis-17637	82	36	t1	t1	PROPN
fcis-17637	82	37	11	11	NUM
fcis-17637	82	38	=	=	SYM
fcis-17637	82	39	n	n	PRON
fcis-17637	82	40	1	1	ADJ
fcis-17637	82	41	1	1	NUM
fcis-17637	82	42	1e	1e	NOUN
fcis-17637	82	43	x	x	SYM
fcis-17637	82	44	x	x	SYM
fcis-17637	82	45	,	,	PUNCT
fcis-17637	82	46	(	(	PUNCT
fcis-17637	82	47	8)	8)	NUM
fcis-17637	82	48	where	where	SCONJ
fcis-17637	82	49	t	t	PROPN
fcis-17637	82	50	1x	1x	PROPN
fcis-17637	82	51	is	be	AUX
fcis-17637	82	52	the	the	DET
fcis-17637	82	53	transposition	transposition	NOUN
fcis-17637	82	54	of	of	ADP
fcis-17637	82	55	1x	1x	PROPN
fcis-17637	82	56	.the	.the	PUNCT
fcis-17637	83	1	eigenvalue	eigenvalue	ADJ
fcis-17637	83	2	decomposition	decomposition	NOUN
fcis-17637	83	3	of	of	ADP
fcis-17637	83	4	1e	1e	PROPN
fcis-17637	83	5	is	be	AUX
fcis-17637	83	6	carried	carry	VERB
fcis-17637	83	7	out	out	ADP
fcis-17637	83	8	to	to	PART
fcis-17637	83	9	obtain	obtain	VERB
fcis-17637	83	10	its	its	PRON
fcis-17637	83	11	eigenvector	eigenvector	NOUN
fcis-17637	83	12	and	and	CCONJ
fcis-17637	83	13	eigenvalue	eigenvalue	PROPN
fcis-17637	83	14	,	,	PUNCT
fcis-17637	83	15	select	select	VERB
fcis-17637	83	16	the	the	DET
fcis-17637	83	17	eigenvector	eigenvector	NOUN
fcis-17637	83	18	with	with	ADP
fcis-17637	83	19	the	the	DET
fcis-17637	83	20	minimum	minimum	NOUN
fcis-17637	83	21	eigenvalue	eigenvalue	NOUN
fcis-17637	83	22	as	as	ADP
fcis-17637	83	23	the	the	DET
fcis-17637	83	24	plane	plane	NOUN
fcis-17637	83	25	normal	normal	ADJ
fcis-17637	83	26	vector	vector	NOUN
fcis-17637	83	27	normmal1v	normmal1v	ADV
fcis-17637	83	28	,	,	PUNCT
fcis-17637	83	29	which	which	PRON
fcis-17637	83	30	is	be	AUX
fcis-17637	83	31	combined	combine	VERB
fcis-17637	83	32	with	with	ADP
fcis-17637	83	33	the	the	DET
fcis-17637	83	34	centroid	centroid	PROPN
fcis-17637	83	35			PROPN
fcis-17637	83	36	1	1	PROPN
fcis-17637	83	37	1	1	NUM
fcis-17637	83	38	1mx	1mx	NOUN
fcis-17637	83	39	my	my	PRON
fcis-17637	83	40	mz	mz	NOUN
fcis-17637	83	41	,	,	PUNCT
fcis-17637	83	42	,	,	PUNCT
fcis-17637	83	43	to	to	PART
fcis-17637	83	44	fit	fit	VERB
fcis-17637	83	45	the	the	DET
fcis-17637	83	46	plane	plane	NOUN
fcis-17637	83	47	.	.	PUNCT
fcis-17637	84	1	repeat	repeat	VERB
fcis-17637	84	2	the	the	DET
fcis-17637	84	3	above	above	ADJ
fcis-17637	84	4	process	process	NOUN
fcis-17637	84	5	for	for	ADP
fcis-17637	84	6	each	each	DET
fcis-17637	84	7	planar	planar	ADJ
fcis-17637	84	8	in	in	ADP
fcis-17637	84	9	arrayp	arrayp	ADJ
fcis-17637	84	10	and	and	CCONJ
fcis-17637	84	11	planen	planen	NOUN
fcis-17637	84	12	planes	plane	NOUN
fcis-17637	84	13	are	be	AUX
fcis-17637	84	14	obtained	obtain	VERB
fcis-17637	84	15	.	.	PUNCT
fcis-17637	85	1	that	that	SCONJ
fcis-17637	85	2	planes	plane	NOUN
fcis-17637	85	3	are	be	AUX
fcis-17637	85	4	merged	merge	VERB
fcis-17637	85	5	or	or	CCONJ
fcis-17637	85	6	removed	remove	VERB
fcis-17637	85	7	by	by	ADP
fcis-17637	85	8	compare	compare	VERB
fcis-17637	85	9	the	the	DET
fcis-17637	85	10	angles	angle	NOUN
fcis-17637	85	11	and	and	CCONJ
fcis-17637	85	12	distances	distance	NOUN
fcis-17637	85	13	between	between	ADP
fcis-17637	85	14	each	each	DET
fcis-17637	85	15	other	other	ADJ
fcis-17637	85	16	.	.	PUNCT
fcis-17637	86	1	the	the	DET
fcis-17637	86	2	optimization	optimization	NOUN
fcis-17637	86	3	strategy	strategy	NOUN
fcis-17637	86	4	is	be	AUX
fcis-17637	86	5	as	as	SCONJ
fcis-17637	86	6	follows	follow	VERB
fcis-17637	86	7	:	:	PUNCT
fcis-17637	86	8	assume	assume	VERB
fcis-17637	86	9	the	the	DET
fcis-17637	86	10	normal	normal	ADJ
fcis-17637	86	11	vectors	vector	NOUN
fcis-17637	86	12	of	of	ADP
fcis-17637	86	13	plane	plane	NOUN
fcis-17637	86	14	1	1	NUM
fcis-17637	86	15	and	and	CCONJ
fcis-17637	86	16	plane	plane	NOUN
fcis-17637	86	17	2	2	NUM
fcis-17637	86	18	are	be	AUX
fcis-17637	86	19	normmal1v	normmal1v	ADJ
fcis-17637	86	20	and	and	CCONJ
fcis-17637	86	21	normmal2v	normmal2v	PROPN
fcis-17637	86	22	respectively	respectively	ADV
fcis-17637	86	23	,	,	PUNCT
fcis-17637	86	24	and	and	CCONJ
fcis-17637	86	25	their	their	PRON
fcis-17637	86	26	angles	angle	NOUN
fcis-17637	86	27	are	be	AUX
fcis-17637	86	28	defined	define	VERB
fcis-17637	86	29	as	as	ADP
fcis-17637	86	30	angle12	angle12	PROPN
fcis-17637	86	31	;	;	PUNCT
fcis-17637	86	32	the	the	DET
fcis-17637	86	33	number	number	NOUN
fcis-17637	86	34	of	of	ADP
fcis-17637	86	35	points	point	NOUN
fcis-17637	86	36	for	for	ADP
fcis-17637	86	37	the	the	DET
fcis-17637	86	38	two	two	NUM
fcis-17637	86	39	planes	plane	NOUN
fcis-17637	86	40	are	be	AUX
fcis-17637	86	41	p1n	p1n	PUNCT
fcis-17637	86	42	and	and	CCONJ
fcis-17637	86	43	2pn	2pn	NOUN
fcis-17637	86	44	.	.	PUNCT
fcis-17637	87	1	when	when	SCONJ
fcis-17637	87	2	1	1	NUM
fcis-17637	87	3	2	2	NUM
fcis-17637	87	4	minnump	minnump	VERB
fcis-17637	87	5	pn	pn	PROPN
fcis-17637	87	6	n	n	CCONJ
fcis-17637	87	7	n	n	NOUN
fcis-17637	87	8			NUM
fcis-17637	87	9	and	and	CCONJ
fcis-17637	87	10	angle12	angle12	VERB
fcis-17637	87	11	th	th	ADJ
fcis-17637	87	12			NOUN
fcis-17637	88	1	(	(	PUNCT
fcis-17637	88	2	th	th	PRON
fcis-17637	88	3	is	be	AUX
fcis-17637	88	4	the	the	DET
fcis-17637	88	5	plane	plane	NOUN
fcis-17637	88	6	angle	angle	NOUN
fcis-17637	88	7	threshold	threshold	NOUN
fcis-17637	88	8	,	,	PUNCT
fcis-17637	88	9	which	which	PRON
fcis-17637	88	10	is	be	AUX
fcis-17637	88	11	set	set	VERB
fcis-17637	88	12	to	to	ADP
fcis-17637	88	13	15	15	NUM
fcis-17637	88	14	°	°	NOUN
fcis-17637	88	15	in	in	ADP
fcis-17637	88	16	this	this	DET
fcis-17637	88	17	paper	paper	NOUN
fcis-17637	88	18	)	)	PUNCT
fcis-17637	88	19	,	,	PUNCT
fcis-17637	88	20	calculate	calculate	VERB
fcis-17637	88	21	the	the	DET
fcis-17637	88	22	distance	distance	NOUN
fcis-17637	88	23	from	from	ADP
fcis-17637	88	24	one	one	NUM
fcis-17637	88	25	point	point	NOUN
fcis-17637	88	26	to	to	ADP
fcis-17637	88	27	the	the	DET
fcis-17637	88	28	plane	plane	NOUN
fcis-17637	88	29	between	between	ADP
fcis-17637	88	30	plane	plane	NOUN
fcis-17637	88	31	1	1	NUM
fcis-17637	88	32	and	and	CCONJ
fcis-17637	88	33	plane	plane	NOUN
fcis-17637	88	34	2	2	NUM
fcis-17637	88	35	,	,	PUNCT
fcis-17637	88	36	if	if	SCONJ
fcis-17637	88	37	the	the	DET
fcis-17637	88	38	proportion	proportion	NOUN
fcis-17637	88	39	of	of	ADP
fcis-17637	88	40	the	the	DET
fcis-17637	88	41	points	point	NOUN
fcis-17637	88	42	whose	whose	DET
fcis-17637	88	43	distance	distance	NOUN
fcis-17637	88	44	is	be	AUX
fcis-17637	88	45	less	less	ADJ
fcis-17637	88	46	than	than	SCONJ
fcis-17637	88	47	thd	thd	PROPN
fcis-17637	88	48	is	be	AUX
fcis-17637	88	49	greater	great	ADJ
fcis-17637	88	50	than	than	ADP
fcis-17637	88	51	90	90	NUM
fcis-17637	88	52	%	%	NOUN
fcis-17637	88	53	,	,	PUNCT
fcis-17637	88	54	the	the	DET
fcis-17637	88	55	point	point	NOUN
fcis-17637	88	56	sets	set	NOUN
fcis-17637	88	57	of	of	ADP
fcis-17637	88	58	plane	plane	NOUN
fcis-17637	88	59	1	1	NUM
fcis-17637	88	60	and	and	CCONJ
fcis-17637	88	61	plane	plane	NOUN
fcis-17637	88	62	2	2	NUM
fcis-17637	88	63	are	be	AUX
fcis-17637	88	64	merged	merge	VERB
fcis-17637	88	65	.	.	PUNCT
fcis-17637	89	1	in	in	ADP
fcis-17637	89	2	the	the	DET
fcis-17637	89	3	other	other	ADJ
fcis-17637	89	4	hand	hand	NOUN
fcis-17637	89	5	,	,	PUNCT
fcis-17637	89	6	if	if	SCONJ
fcis-17637	89	7	1	1	NUM
fcis-17637	89	8	2	2	NUM
fcis-17637	89	9	minnump	minnump	NOUN
fcis-17637	89	10	pn	pn	PROPN
fcis-17637	89	11	n	n	CCONJ
fcis-17637	89	12	n	n	PROPN
fcis-17637	89	13			PROPN
fcis-17637	89	14	,	,	PUNCT
fcis-17637	89	15	the	the	DET
fcis-17637	89	16	point	point	NOUN
fcis-17637	89	17	sets	set	VERB
fcis-17637	89	18	for	for	ADP
fcis-17637	89	19	planes	plane	NOUN
fcis-17637	89	20	1	1	NUM
fcis-17637	89	21	and	and	CCONJ
fcis-17637	89	22	2	2	NUM
fcis-17637	89	23	are	be	AUX
fcis-17637	89	24	removed	remove	VERB
fcis-17637	89	25	.	.	PUNCT
fcis-17637	90	1	apply	apply	VERB
fcis-17637	90	2	the	the	DET
fcis-17637	90	3	above	above	ADJ
fcis-17637	90	4	optimization	optimization	NOUN
fcis-17637	90	5	strategy	strategy	NOUN
fcis-17637	90	6	to	to	ADP
fcis-17637	90	7	all	all	DET
fcis-17637	90	8	the	the	DET
fcis-17637	90	9	planes	plane	NOUN
fcis-17637	90	10	until	until	SCONJ
fcis-17637	90	11	no	no	DET
fcis-17637	90	12	planar	planar	ADJ
fcis-17637	90	13	can	can	AUX
fcis-17637	90	14	be	be	AUX
fcis-17637	90	15	merged	merge	VERB
fcis-17637	90	16	or	or	CCONJ
fcis-17637	90	17	removed	remove	VERB
fcis-17637	90	18	.	.	PUNCT
fcis-17637	91	1	2.2	2.2	NUM
fcis-17637	91	2	.	.	PUNCT
fcis-17637	91	3	boundary	boundary	ADJ
fcis-17637	91	4	extraction	extraction	NOUN
fcis-17637	91	5	based	base	VERB
fcis-17637	91	6	on	on	ADP
fcis-17637	91	7	point	point	NOUN
fcis-17637	91	8	cloud	cloud	NOUN
fcis-17637	91	9	dimensionality	dimensionality	NOUN
fcis-17637	91	10	reduction	reduction	NOUN
fcis-17637	91	11	in	in	ADP
fcis-17637	91	12	order	order	NOUN
fcis-17637	91	13	to	to	PART
fcis-17637	91	14	increase	increase	VERB
fcis-17637	91	15	the	the	DET
fcis-17637	91	16	speed	speed	NOUN
fcis-17637	91	17	of	of	ADP
fcis-17637	91	18	the	the	DET
fcis-17637	91	19	boundary	boundary	ADJ
fcis-17637	91	20	extraction	extraction	NOUN
fcis-17637	91	21	,	,	PUNCT
fcis-17637	91	22	the	the	DET
fcis-17637	91	23	dimensionality	dimensionality	NOUN
fcis-17637	91	24	of	of	ADP
fcis-17637	91	25	the	the	DET
fcis-17637	91	26	point	point	NOUN
fcis-17637	91	27	cloud	cloud	NOUN
fcis-17637	91	28	data	datum	NOUN
fcis-17637	91	29	is	be	AUX
fcis-17637	91	30	reduced	reduce	VERB
fcis-17637	91	31	by	by	ADP
fcis-17637	91	32	transform	transform	VERB
fcis-17637	91	33	the	the	DET
fcis-17637	91	34	3d	3d	PROPN
fcis-17637	91	35	data	datum	NOUN
fcis-17637	91	36	to	to	ADP
fcis-17637	91	37	2d	2d	NUM
fcis-17637	91	38	image	image	NOUN
fcis-17637	91	39	.	.	PUNCT
fcis-17637	92	1	firstly	firstly	ADV
fcis-17637	92	2	,	,	PUNCT
fcis-17637	92	3	the	the	DET
fcis-17637	92	4	posture	posture	NOUN
fcis-17637	92	5	of	of	ADP
fcis-17637	92	6	the	the	DET
fcis-17637	92	7	planar	planar	ADJ
fcis-17637	92	8	point	point	NOUN
fcis-17637	92	9	cloud	cloud	NOUN
fcis-17637	92	10	is	be	AUX
fcis-17637	92	11	adjusted	adjust	VERB
fcis-17637	92	12	to	to	PART
fcis-17637	92	13	parallel	parallel	VERB
fcis-17637	92	14	to	to	ADP
fcis-17637	92	15	the	the	DET
fcis-17637	92	16	xoy	xoy	NOUN
fcis-17637	92	17	plane	plane	NOUN
fcis-17637	92	18	based	base	VERB
fcis-17637	92	19	on	on	ADP
fcis-17637	92	20	eq	eq	PROPN
fcis-17637	92	21	.	.	PUNCT
fcis-17637	93	1	(	(	PUNCT
fcis-17637	93	2	9	9	NUM
fcis-17637	93	3	)	)	PUNCT
fcis-17637	93	4	.	.	PUNCT
fcis-17637	94	1	posez	posez	NOUN
fcis-17637	94	2	1	1	NUM
fcis-17637	94	3	1	1	NUM
fcis-17637	94	4	m	m	NOUN
fcis-17637	94	5	x	x	PUNCT
fcis-17637	94	6	x	x	VERB
fcis-17637	94	7	y	y	VERB
fcis-17637	94	8	y	y	PROPN
fcis-17637	94	9	z	z	PROPN
fcis-17637	94	10			PROPN
fcis-17637	95	1			PROPN
fcis-17637	95	2			NOUN
fcis-17637	95	3			PROPN
fcis-17637	96	1			PROPN
fcis-17637	96	2			PROPN
fcis-17637	97	1			PROPN
fcis-17637	97	2			PROPN
fcis-17637	98	1			PROPN
fcis-17637	98	2			PROPN
fcis-17637	98	3			NOUN
fcis-17637	98	4			PROPN
fcis-17637	99	1			PROPN
fcis-17637	100	1			PROPN
fcis-17637	101	1			PROPN
fcis-17637	101	2			PROPN
fcis-17637	102	1			INTJ
fcis-17637	103	1			PROPN
fcis-17637	103	2			PROPN
fcis-17637	104	1			ADJ
fcis-17637	104	2			PROPN
fcis-17637	104	3			PROPN
fcis-17637	104	4			NOUN
fcis-17637	104	5	,	,	PUNCT
fcis-17637	104	6	(	(	PUNCT
fcis-17637	104	7	9	9	X
fcis-17637	104	8	)	)	PUNCT
fcis-17637	104	9	where	where	SCONJ
fcis-17637	104	10	posem	posem	NOUN
fcis-17637	104	11	is	be	AUX
fcis-17637	104	12	the	the	DET
fcis-17637	104	13	rotation	rotation	NOUN
fcis-17637	104	14	matrix	matrix	NOUN
fcis-17637	104	15	.	.	PUNCT
fcis-17637	105	1	secondly	secondly	ADV
fcis-17637	105	2	,	,	PUNCT
fcis-17637	105	3	eq	eq	ADJ
fcis-17637	105	4	.	.	PUNCT
fcis-17637	106	1	(	(	PUNCT
fcis-17637	106	2	10	10	NUM
fcis-17637	106	3	)	)	PUNCT
fcis-17637	106	4	is	be	AUX
fcis-17637	106	5	used	use	VERB
fcis-17637	106	6	to	to	PART
fcis-17637	106	7	transform	transform	VERB
fcis-17637	106	8	the	the	DET
fcis-17637	106	9	3d	3d	NUM
fcis-17637	106	10	point	point	NOUN
fcis-17637	106	11	cloud	cloud	NOUN
fcis-17637	106	12	data	datum	NOUN
fcis-17637	106	13	into	into	ADP
fcis-17637	106	14	2d	2d	NUM
fcis-17637	106	15	image	image	NOUN
fcis-17637	106	16	.	.	PUNCT
fcis-17637	107	1	x	x	PUNCT
fcis-17637	107	2	x	x	PUNCT
fcis-17637	107	3	y	y	VERB
fcis-17637	107	4	y	y	PROPN
fcis-17637	107	5	y	y	PROPN
fcis-17637	107	6	u	u	NOUN
fcis-17637	108	1	c	c	NOUN
fcis-17637	108	2	f	f	X
fcis-17637	108	3	x	x	X
fcis-17637	108	4	v	v	ADP
fcis-17637	108	5	c	c	X
fcis-17637	108	6	f	f	PROPN
fcis-17637	109	1			NOUN
fcis-17637	109	2			NOUN
fcis-17637	109	3			NOUN
fcis-17637	109	4			NUM
fcis-17637	109	5			NUM
fcis-17637	109	6			NOUN
fcis-17637	109	7			PROPN
fcis-17637	109	8			PROPN
fcis-17637	109	9			PROPN
fcis-17637	109	10	,	,	PUNCT
fcis-17637	109	11	(	(	PUNCT
fcis-17637	109	12	10	10	NUM
fcis-17637	109	13	)	)	PUNCT
fcis-17637	109	14	where	where	SCONJ
fcis-17637	109	15	u	u	NOUN
fcis-17637	109	16	and	and	CCONJ
fcis-17637	109	17	v	v	NOUN
fcis-17637	109	18	are	be	AUX
fcis-17637	109	19	the	the	DET
fcis-17637	109	20	row	row	NOUN
fcis-17637	109	21	and	and	CCONJ
fcis-17637	109	22	column	column	NOUN
fcis-17637	109	23	coordinates	coordinate	NOUN
fcis-17637	109	24	of	of	ADP
fcis-17637	109	25	the	the	DET
fcis-17637	109	26	2d	2d	NUM
fcis-17637	109	27	image	image	NOUN
fcis-17637	109	28	;	;	PUNCT
fcis-17637	109	29	xf	xf	PROPN
fcis-17637	109	30	and	and	CCONJ
fcis-17637	109	31	yf	yf	NOUN
fcis-17637	109	32	are	be	AUX
fcis-17637	109	33	focal	focal	ADJ
fcis-17637	109	34	lengths	length	NOUN
fcis-17637	109	35	;	;	PUNCT
fcis-17637	109	36	xc	xc	PROPN
fcis-17637	109	37	,	,	PUNCT
fcis-17637	109	38	xc	xc	PROPN
fcis-17637	109	39	are	be	AUX
fcis-17637	109	40	offsets	offset	NOUN
fcis-17637	109	41	.	.	PUNCT
fcis-17637	110	1	for	for	ADP
fcis-17637	110	2	the	the	DET
fcis-17637	110	3	convenience	convenience	NOUN
fcis-17637	110	4	of	of	ADP
fcis-17637	110	5	contour	contour	NOUN
fcis-17637	110	6	extraction	extraction	NOUN
fcis-17637	110	7	,	,	PUNCT
fcis-17637	110	8	the	the	DET
fcis-17637	110	9	intensity	intensity	NOUN
fcis-17637	110	10	value	value	NOUN
fcis-17637	110	11	of	of	ADP
fcis-17637	110	12	the	the	DET
fcis-17637	110	13	valid	valid	ADJ
fcis-17637	110	14	points	point	NOUN
fcis-17637	110	15	on	on	ADP
fcis-17637	110	16	the	the	DET
fcis-17637	110	17	object	object	NOUN
fcis-17637	110	18	is	be	AUX
fcis-17637	110	19	set	set	VERB
fcis-17637	110	20	to	to	ADP
fcis-17637	110	21	0	0	NUM
fcis-17637	110	22	and	and	CCONJ
fcis-17637	110	23	the	the	DET
fcis-17637	110	24	points	point	NOUN
fcis-17637	110	25	outside	outside	ADP
fcis-17637	110	26	the	the	DET
fcis-17637	110	27	object	object	NOUN
fcis-17637	110	28	is	be	AUX
fcis-17637	110	29	set	set	VERB
fcis-17637	110	30	to	to	ADP
fcis-17637	110	31	1	1	NUM
fcis-17637	110	32	.	.	PUNCT
fcis-17637	111	1	in	in	ADP
fcis-17637	111	2	order	order	NOUN
fcis-17637	111	3	to	to	PART
fcis-17637	111	4	extract	extract	VERB
fcis-17637	111	5	the	the	DET
fcis-17637	111	6	boundary	boundary	NOUN
fcis-17637	111	7	of	of	ADP
fcis-17637	111	8	the	the	DET
fcis-17637	111	9	object	object	NOUN
fcis-17637	111	10	based	base	VERB
fcis-17637	111	11	on	on	ADP
fcis-17637	111	12	2d	2d	NUM
fcis-17637	111	13	image	image	NOUN
fcis-17637	111	14	,	,	PUNCT
fcis-17637	111	15	the	the	DET
fcis-17637	111	16	gaussian	gaussian	ADJ
fcis-17637	111	17	function	function	NOUN
fcis-17637	111	18	is	be	AUX
fcis-17637	111	19	applied	apply	VERB
fcis-17637	111	20	to	to	PART
fcis-17637	111	21	smooth	smooth	VERB
fcis-17637	111	22	the	the	DET
fcis-17637	111	23	image	image	NOUN
fcis-17637	111	24	.	.	PUNCT
fcis-17637	112	1	the	the	DET
fcis-17637	112	2	gaussian	gaussian	ADJ
fcis-17637	112	3	function	function	NOUN
fcis-17637	112	4	and	and	CCONJ
fcis-17637	112	5	denoising	denoise	VERB
fcis-17637	112	6	filter	filter	NOUN
fcis-17637	112	7	are	be	AUX
fcis-17637	112	8	shown	show	VERB
fcis-17637	112	9	in	in	ADP
fcis-17637	112	10	eq	eq	ADP
fcis-17637	112	11	.	.	PUNCT
fcis-17637	113	1	(	(	PUNCT
fcis-17637	113	2	11	11	NUM
fcis-17637	113	3	)	)	PUNCT
fcis-17637	113	4	and	and	CCONJ
fcis-17637	113	5	(	(	PUNCT
fcis-17637	113	6	12	12	NUM
fcis-17637	113	7	)	)	PUNCT
fcis-17637	113	8	,	,	PUNCT
fcis-17637	113	9	respectively	respectively	ADV
fcis-17637	113	10	.	.	PUNCT
fcis-17637	114	1			NOUN
fcis-17637	114	2			PUNCT
fcis-17637	114	3	2	2	NUM
fcis-17637	114	4	2	2	NUM
fcis-17637	114	5	2	2	NUM
fcis-17637	114	6	2	2	NUM
fcis-17637	114	7	exp	exp	NOUN
fcis-17637	114	8	2	2	NUM
fcis-17637	114	9	2	2	NUM
fcis-17637	114	10	u	u	NOUN
fcis-17637	114	11	v	v	ADP
fcis-17637	114	12	h	h	NOUN
fcis-17637	114	13	u	u	NOUN
fcis-17637	114	14	,	,	PUNCT
fcis-17637	114	15	v	v	NOUN
fcis-17637	114	16	,	,	PUNCT
fcis-17637	114	17			PROPN
fcis-17637	114	18			X
fcis-17637	114	19			ADJ
fcis-17637	114	20			NOUN
fcis-17637	114	21			VERB
fcis-17637	114	22			PROPN
fcis-17637	114	23			PROPN
fcis-17637	115	1			PROPN
fcis-17637	115	2			PROPN
fcis-17637	115	3	,	,	PUNCT
fcis-17637	115	4	(	(	PUNCT
fcis-17637	115	5	11	11	NUM
fcis-17637	115	6	)	)	PUNCT
fcis-17637	115	7			NOUN
fcis-17637	115	8			SYM
fcis-17637	115	9			NOUN
fcis-17637	115	10			SYM
fcis-17637	115	11			NOUN
fcis-17637	115	12	=s	=s	PROPN
fcis-17637	115	13	u	u	NOUN
fcis-17637	115	14	,	,	PUNCT
fcis-17637	115	15	v	v	PROPN
fcis-17637	115	16	h	h	NOUN
fcis-17637	115	17	u	u	NOUN
fcis-17637	115	18	,	,	PUNCT
fcis-17637	115	19	v	v	NOUN
fcis-17637	115	20	,	,	PUNCT
fcis-17637	115	21	*	*	PUNCT
fcis-17637	115	22	i	i	PRON
fcis-17637	115	23	u	u	NOUN
fcis-17637	115	24	,	,	PUNCT
fcis-17637	115	25	v	v	NOUN
fcis-17637	115	26	,	,	PUNCT
fcis-17637	115	27	(	(	PUNCT
fcis-17637	115	28	12	12	NUM
fcis-17637	115	29	)	)	PUNCT
fcis-17637	115	30	where	where	SCONJ
fcis-17637	115	31			PROPN
fcis-17637	115	32			PROPN
fcis-17637	115	33	,	,	PUNCT
fcis-17637	115	34	,	,	PUNCT
fcis-17637	115	35	h	h	NOUN
fcis-17637	115	36	u	u	NOUN
fcis-17637	115	37	v	v	NOUN
fcis-17637	115	38			PROPN
fcis-17637	115	39	is	be	AUX
fcis-17637	115	40	the	the	DET
fcis-17637	115	41	gaussian	gaussian	ADJ
fcis-17637	115	42	function	function	NOUN
fcis-17637	115	43	,	,	PUNCT
fcis-17637	115	44			PROPN
fcis-17637	115	45	,i	,i	X
fcis-17637	115	46	u	u	NOUN
fcis-17637	115	47	v	v	NOUN
fcis-17637	115	48	is	be	AUX
fcis-17637	115	49	the	the	DET
fcis-17637	115	50	original	original	ADJ
fcis-17637	115	51	image	image	NOUN
fcis-17637	115	52	,	,	PUNCT
fcis-17637	115	53			NOUN
fcis-17637	115	54	,s	,s	X
fcis-17637	115	55	u	u	NOUN
fcis-17637	115	56	v	v	NOUN
fcis-17637	115	57	is	be	AUX
fcis-17637	115	58	the	the	DET
fcis-17637	115	59	filtered	filter	VERB
fcis-17637	115	60	and	and	CCONJ
fcis-17637	115	61	denoised	denoise	VERB
fcis-17637	115	62	image	image	NOUN
fcis-17637	115	63	,	,	PUNCT
fcis-17637	115	64	*	*	PUNCT
fcis-17637	115	65	represents	represent	VERB
fcis-17637	115	66	convolution	convolution	NOUN
fcis-17637	115	67	,	,	PUNCT
fcis-17637	115	68			PROPN
fcis-17637	115	69	represents	represent	VERB
fcis-17637	115	70	smoothness	smoothness	ADJ
fcis-17637	115	71	,	,	PUNCT
fcis-17637	115	72	if	if	SCONJ
fcis-17637	115	73			PROPN
fcis-17637	115	74	is	be	AUX
fcis-17637	115	75	larger	large	ADJ
fcis-17637	115	76	,	,	PUNCT
fcis-17637	115	77	the	the	DET
fcis-17637	115	78	noise	noise	NOUN
fcis-17637	115	79	can	can	AUX
fcis-17637	115	80	be	be	AUX
fcis-17637	115	81	better	well	ADV
fcis-17637	115	82	removed	remove	VERB
fcis-17637	115	83	,	,	PUNCT
fcis-17637	115	84	but	but	CCONJ
fcis-17637	115	85	the	the	DET
fcis-17637	115	86	edge	edge	NOUN
fcis-17637	115	87	will	will	AUX
fcis-17637	115	88	be	be	AUX
fcis-17637	115	89	smoothed	smooth	VERB
fcis-17637	115	90	out	out	ADV
fcis-17637	115	91	;	;	PUNCT
fcis-17637	115	92	on	on	ADP
fcis-17637	115	93	the	the	DET
fcis-17637	115	94	contrary	contrary	NOUN
fcis-17637	115	95	,	,	PUNCT
fcis-17637	115	96	if	if	SCONJ
fcis-17637	115	97			PROPN
fcis-17637	115	98	is	be	AUX
fcis-17637	115	99	small	small	ADJ
fcis-17637	115	100	,	,	PUNCT
fcis-17637	115	101	the	the	DET
fcis-17637	115	102	edge	edge	NOUN
fcis-17637	115	103	information	information	NOUN
fcis-17637	115	104	can	can	AUX
fcis-17637	115	105	be	be	AUX
fcis-17637	115	106	better	well	ADV
fcis-17637	115	107	preserved	preserve	VERB
fcis-17637	115	108	,	,	PUNCT
fcis-17637	115	109	but	but	CCONJ
fcis-17637	115	110	the	the	DET
fcis-17637	115	111	denoising	denoising	NOUN
fcis-17637	115	112	ability	ability	NOUN
fcis-17637	115	113	is	be	AUX
fcis-17637	115	114	low	low	ADJ
fcis-17637	115	115	.	.	PUNCT
fcis-17637	116	1	then	then	ADV
fcis-17637	116	2	,	,	PUNCT
fcis-17637	116	3	the	the	DET
fcis-17637	116	4	smoothed	smooth	VERB
fcis-17637	116	5	image	image	NOUN
fcis-17637	116	6	is	be	AUX
fcis-17637	116	7	processed	process	VERB
fcis-17637	116	8	to	to	PART
fcis-17637	116	9	obtain	obtain	VERB
fcis-17637	116	10	the	the	DET
fcis-17637	116	11	gradient	gradient	NOUN
fcis-17637	116	12	of	of	ADP
fcis-17637	116	13	the	the	DET
fcis-17637	116	14	horizontal	horizontal	ADJ
fcis-17637	116	15	and	and	CCONJ
fcis-17637	116	16	vertical	vertical	ADJ
fcis-17637	116	17	directions	direction	NOUN
fcis-17637	116	18	and	and	CCONJ
fcis-17637	116	19	the	the	DET
fcis-17637	116	20	direction	direction	NOUN
fcis-17637	116	21	of	of	ADP
fcis-17637	116	22	the	the	DET
fcis-17637	116	23	gradient	gradient	NOUN
fcis-17637	116	24	by	by	ADP
fcis-17637	116	25	eq	eq	PROPN
fcis-17637	116	26	.	.	PUNCT
fcis-17637	117	1	(	(	PUNCT
fcis-17637	117	2	13	13	NUM
fcis-17637	117	3	-	-	SYM
fcis-17637	117	4	16	16	NUM
fcis-17637	117	5	):	):	PUNCT
fcis-17637	117	6			NOUN
fcis-17637	117	7			SYM
fcis-17637	117	8			NOUN
fcis-17637	117	9			SYM
fcis-17637	117	10			NOUN
fcis-17637	117	11	1	1	VERB
fcis-17637	117	12	1	1	NUM
fcis-17637	117	13	2	2	NUM
fcis-17637	117	14	,	,	PUNCT
fcis-17637	117	15	,	,	PUNCT
fcis-17637	117	16	,	,	PUNCT
fcis-17637	117	17	u	u	PROPN
fcis-17637	117	18	s	s	PROPN
fcis-17637	117	19	u	u	X
fcis-17637	117	20	v	v	ADP
fcis-17637	117	21	s	s	X
fcis-17637	117	22	u	u	NOUN
fcis-17637	117	23	v	v	ADP
fcis-17637	117	24	g	g	PROPN
fcis-17637	117	25	u	u	PROPN
fcis-17637	117	26	v	v	ADP
fcis-17637	117	27			X
fcis-17637	117	28			PROPN
fcis-17637	117	29			PROPN
fcis-17637	117	30			NUM
fcis-17637	117	31	(	(	PUNCT
fcis-17637	117	32	13	13	NUM
fcis-17637	117	33	)	)	PUNCT
fcis-17637	117	34			NOUN
fcis-17637	117	35			PUNCT
fcis-17637	117	36			NOUN
fcis-17637	117	37			SYM
fcis-17637	117	38			NOUN
fcis-17637	118	1	1	1	VERB
fcis-17637	118	2	1	1	NUM
fcis-17637	118	3	1	1	NUM
fcis-17637	118	4	2	2	NUM
fcis-17637	118	5	,	,	PUNCT
fcis-17637	118	6	,	,	PUNCT
fcis-17637	118	7	,	,	PUNCT
fcis-17637	118	8	v	v	NOUN
fcis-17637	118	9	s	s	NUM
fcis-17637	118	10	v	v	NOUN
fcis-17637	118	11	s	s	X
fcis-17637	118	12	u	u	NOUN
fcis-17637	118	13	v	v	ADP
fcis-17637	118	14	g	g	PROPN
fcis-17637	118	15	u	u	PROPN
fcis-17637	118	16	v	v	ADP
fcis-17637	118	17			X
fcis-17637	118	18			PROPN
fcis-17637	118	19			PROPN
fcis-17637	118	20			NUM
fcis-17637	118	21	(	(	PUNCT
fcis-17637	118	22	14	14	NUM
fcis-17637	118	23	)	)	SYM
fcis-17637	118	24	24	24	NUM
fcis-17637	118	25			NOUN
fcis-17637	119	1			SYM
fcis-17637	119	2			NOUN
fcis-17637	119	3	2	2	ADJ
fcis-17637	119	4	2	2	NUM
fcis-17637	119	5	=	=	NOUN
fcis-17637	119	6	,	,	PUNCT
fcis-17637	119	7	,	,	PUNCT
fcis-17637	119	8	u	u	NOUN
fcis-17637	119	9	vg	vg	VERB
fcis-17637	119	10	g	g	ADP
fcis-17637	119	11	u	u	NOUN
fcis-17637	119	12	v	v	ADP
fcis-17637	119	13	g	g	PROPN
fcis-17637	119	14	u	u	PROPN
fcis-17637	119	15	v	v	NOUN
fcis-17637	119	16			X
fcis-17637	119	17	(	(	PUNCT
fcis-17637	119	18	15	15	NUM
fcis-17637	119	19	)	)	PUNCT
fcis-17637	119	20			NOUN
fcis-17637	119	21			SYM
fcis-17637	119	22			NOUN
fcis-17637	119	23			PROPN
fcis-17637	119	24	(	(	PUNCT
fcis-17637	119	25	)	)	PUNCT
fcis-17637	119	26	arctan	arctan	PROPN
fcis-17637	119	27	,	,	PUNCT
fcis-17637	119	28	,	,	PUNCT
fcis-17637	119	29	,	,	PUNCT
fcis-17637	119	30	v	v	X
fcis-17637	119	31	u	u	NOUN
fcis-17637	119	32	g	g	PROPN
fcis-17637	119	33	u	u	NOUN
fcis-17637	119	34	v	v	ADP
fcis-17637	119	35	u	u	NOUN
fcis-17637	119	36	v	v	ADP
fcis-17637	119	37	g	g	PROPN
fcis-17637	119	38	u	u	NOUN
fcis-17637	119	39	v	v	ADP
fcis-17637	119	40			PROPN
fcis-17637	119	41			NOUN
fcis-17637	119	42			PROPN
fcis-17637	120	1			PROPN
fcis-17637	121	1			PROPN
fcis-17637	121	2			NOUN
fcis-17637	122	1			PROPN
fcis-17637	123	1			ADJ
fcis-17637	123	2			NOUN
fcis-17637	123	3	(	(	PUNCT
fcis-17637	123	4	16	16	NUM
fcis-17637	123	5	)	)	PUNCT
fcis-17637	123	6	where	where	SCONJ
fcis-17637	123	7			NOUN
fcis-17637	123	8	,vg	,vg	VERB
fcis-17637	123	9	u	u	NOUN
fcis-17637	123	10	v	v	NOUN
fcis-17637	123	11	and	and	CCONJ
fcis-17637	123	12			PROPN
fcis-17637	123	13	,ug	,ug	NOUN
fcis-17637	123	14	u	u	NOUN
fcis-17637	123	15	v	v	PROPN
fcis-17637	123	16	represent	represent	VERB
fcis-17637	123	17	the	the	DET
fcis-17637	123	18	gradient	gradient	ADJ
fcis-17637	123	19	images	image	NOUN
fcis-17637	123	20	in	in	ADP
fcis-17637	123	21	the	the	DET
fcis-17637	123	22	row	row	NOUN
fcis-17637	123	23	direction	direction	NOUN
fcis-17637	123	24	and	and	CCONJ
fcis-17637	123	25	column	column	NOUN
fcis-17637	123	26	direction	direction	NOUN
fcis-17637	123	27	,	,	PUNCT
fcis-17637	123	28	respectively	respectively	ADV
fcis-17637	123	29	,	,	PUNCT
fcis-17637	123	30	g	g	PROPN
fcis-17637	123	31	represents	represent	VERB
fcis-17637	123	32	the	the	DET
fcis-17637	123	33	gradient	gradient	ADJ
fcis-17637	123	34	value	value	NOUN
fcis-17637	123	35	and	and	CCONJ
fcis-17637	123	36			PROPN
fcis-17637	123	37	,u	,u	PRON
fcis-17637	123	38	v	v	NOUN
fcis-17637	123	39	is	be	AUX
fcis-17637	123	40	the	the	DET
fcis-17637	123	41	gradient	gradient	ADJ
fcis-17637	123	42	direction	direction	NOUN
fcis-17637	123	43	.	.	PUNCT
fcis-17637	124	1	the	the	DET
fcis-17637	124	2	preliminary	preliminary	ADJ
fcis-17637	124	3	edge	edge	NOUN
fcis-17637	124	4	points	point	NOUN
fcis-17637	124	5	can	can	AUX
fcis-17637	124	6	be	be	AUX
fcis-17637	124	7	obtained	obtain	VERB
fcis-17637	124	8	according	accord	VERB
fcis-17637	124	9	to	to	ADP
fcis-17637	124	10	the	the	DET
fcis-17637	124	11	gradient	gradient	NOUN
fcis-17637	124	12	.	.	PUNCT
fcis-17637	125	1	for	for	ADP
fcis-17637	125	2	each	each	DET
fcis-17637	125	3	boundary	boundary	ADJ
fcis-17637	125	4	points	point	NOUN
fcis-17637	125	5	,	,	PUNCT
fcis-17637	125	6	the	the	DET
fcis-17637	125	7	intensity	intensity	NOUN
fcis-17637	125	8	values	value	NOUN
fcis-17637	125	9	of	of	ADP
fcis-17637	125	10	the	the	DET
fcis-17637	125	11	adjacent	adjacent	ADJ
fcis-17637	125	12	points	point	NOUN
fcis-17637	125	13	are	be	AUX
fcis-17637	125	14	compared	compare	VERB
fcis-17637	125	15	along	along	ADP
fcis-17637	125	16	the	the	DET
fcis-17637	125	17	gradient	gradient	ADJ
fcis-17637	125	18	direction	direction	NOUN
fcis-17637	125	19	.	.	PUNCT
fcis-17637	126	1	if	if	SCONJ
fcis-17637	126	2	the	the	DET
fcis-17637	126	3	intensity	intensity	NOUN
fcis-17637	126	4	value	value	NOUN
fcis-17637	126	5	of	of	ADP
fcis-17637	126	6	the	the	DET
fcis-17637	126	7	boundary	boundary	ADJ
fcis-17637	126	8	point	point	NOUN
fcis-17637	126	9	is	be	AUX
fcis-17637	126	10	the	the	DET
fcis-17637	126	11	largest	large	ADJ
fcis-17637	126	12	one	one	NUM
fcis-17637	126	13	,	,	PUNCT
fcis-17637	126	14	then	then	ADV
fcis-17637	126	15	keep	keep	VERB
fcis-17637	126	16	the	the	DET
fcis-17637	126	17	point	point	NOUN
fcis-17637	126	18	as	as	ADP
fcis-17637	126	19	boundary	boundary	ADJ
fcis-17637	126	20	point	point	NOUN
fcis-17637	126	21	.	.	PUNCT
fcis-17637	127	1	repeat	repeat	VERB
fcis-17637	127	2	the	the	DET
fcis-17637	127	3	comparison	comparison	NOUN
fcis-17637	127	4	so	so	SCONJ
fcis-17637	127	5	as	as	SCONJ
fcis-17637	127	6	to	to	PART
fcis-17637	127	7	obtain	obtain	VERB
fcis-17637	127	8	all	all	DET
fcis-17637	127	9	the	the	DET
fcis-17637	127	10	boundary	boundary	ADJ
fcis-17637	127	11	points	point	NOUN
fcis-17637	127	12	of	of	ADP
fcis-17637	127	13	the	the	DET
fcis-17637	127	14	2d	2d	NUM
fcis-17637	127	15	image	image	NOUN
fcis-17637	127	16	.	.	PUNCT
fcis-17637	128	1	finally	finally	ADV
fcis-17637	128	2	,	,	PUNCT
fcis-17637	128	3	the	the	DET
fcis-17637	128	4	corresponding	correspond	VERB
fcis-17637	128	5	contour	contour	NOUN
fcis-17637	128	6	points	point	NOUN
fcis-17637	128	7	in	in	ADP
fcis-17637	128	8	the	the	DET
fcis-17637	128	9	three	three	NUM
fcis-17637	128	10	-	-	PUNCT
fcis-17637	128	11	dimensional	dimensional	ADJ
fcis-17637	128	12	space	space	NOUN
fcis-17637	128	13	are	be	AUX
fcis-17637	128	14	obtained	obtain	VERB
fcis-17637	128	15	by	by	ADP
fcis-17637	128	16	inversely	inversely	ADV
fcis-17637	128	17	transforming	transform	VERB
fcis-17637	128	18	the	the	DET
fcis-17637	128	19	boundary	boundary	ADJ
fcis-17637	128	20	point	point	NOUN
fcis-17637	128	21	sets	set	NOUN
fcis-17637	128	22	according	accord	VERB
fcis-17637	128	23	to	to	ADP
fcis-17637	128	24	eq	eq	PROPN
fcis-17637	128	25	.	.	PUNCT
fcis-17637	129	1	(	(	PUNCT
fcis-17637	129	2	10	10	NUM
fcis-17637	129	3	)	)	PUNCT
fcis-17637	129	4	and	and	CCONJ
fcis-17637	129	5	eq	eq	NOUN
fcis-17637	129	6	.	.	PUNCT
fcis-17637	130	1	(	(	PUNCT
fcis-17637	130	2	9	9	NUM
fcis-17637	130	3	)	)	PUNCT
fcis-17637	130	4	.	.	PUNCT
fcis-17637	131	1	3	3	X
fcis-17637	131	2	.	.	X
fcis-17637	131	3	experimental	experimental	ADJ
fcis-17637	131	4	results	result	NOUN
fcis-17637	131	5	and	and	CCONJ
fcis-17637	131	6	analysis	analysis	NOUN
fcis-17637	131	7	in	in	ADP
fcis-17637	131	8	order	order	NOUN
fcis-17637	131	9	to	to	PART
fcis-17637	131	10	verify	verify	VERB
fcis-17637	131	11	the	the	DET
fcis-17637	131	12	effectiveness	effectiveness	NOUN
fcis-17637	131	13	of	of	ADP
fcis-17637	131	14	the	the	DET
fcis-17637	131	15	proposed	propose	VERB
fcis-17637	131	16	algorithm	algorithm	NOUN
fcis-17637	131	17	,	,	PUNCT
fcis-17637	131	18	the	the	DET
fcis-17637	131	19	contour	contour	NOUN
fcis-17637	131	20	features	feature	NOUN
fcis-17637	131	21	of	of	ADP
fcis-17637	131	22	the	the	DET
fcis-17637	131	23	chip	chip	NOUN
fcis-17637	131	24	were	be	AUX
fcis-17637	131	25	extracted	extract	VERB
fcis-17637	131	26	by	by	ADP
fcis-17637	131	27	taking	take	VERB
fcis-17637	131	28	the	the	DET
fcis-17637	131	29	circuit	circuit	NOUN
fcis-17637	131	30	board	board	NOUN
fcis-17637	131	31	as	as	ADP
fcis-17637	131	32	the	the	DET
fcis-17637	131	33	experimental	experimental	ADJ
fcis-17637	131	34	object	object	NOUN
fcis-17637	131	35	.	.	PUNCT
fcis-17637	132	1	the	the	DET
fcis-17637	132	2	algorithm	algorithm	NOUN
fcis-17637	132	3	running	run	VERB
fcis-17637	132	4	on	on	ADP
fcis-17637	132	5	the	the	DET
fcis-17637	132	6	platform	platform	NOUN
fcis-17637	132	7	with	with	ADP
fcis-17637	132	8	12th	12th	ADJ
fcis-17637	132	9	generation	generation	NOUN
fcis-17637	132	10	intel	intel	NOUN
fcis-17637	132	11	i7	i7	VERB
fcis-17637	132	12	-	-	PUNCT
fcis-17637	132	13	12700	12700	NUM
fcis-17637	132	14	cpu	cpu	NOUN
fcis-17637	132	15	and	and	CCONJ
fcis-17637	132	16	the	the	DET
fcis-17637	132	17	running	running	NOUN
fcis-17637	132	18	memory	memory	NOUN
fcis-17637	132	19	is	be	AUX
fcis-17637	132	20	16	16	NUM
fcis-17637	132	21	g.	g.	NOUN
fcis-17637	132	22	the	the	DET
fcis-17637	132	23	experimental	experimental	ADJ
fcis-17637	132	24	objects	object	NOUN
fcis-17637	132	25	and	and	CCONJ
fcis-17637	132	26	point	point	NOUN
fcis-17637	132	27	clouds	cloud	NOUN
fcis-17637	132	28	are	be	AUX
fcis-17637	132	29	shown	show	VERB
fcis-17637	132	30	in	in	ADP
fcis-17637	132	31	figure	figure	NOUN
fcis-17637	132	32	3	3	NUM
fcis-17637	132	33	.	.	PUNCT
fcis-17637	132	34	figure	figure	NOUN
fcis-17637	132	35	3	3	NUM
fcis-17637	132	36	.	.	PUNCT
fcis-17637	132	37	experimental	experimental	ADJ
fcis-17637	132	38	object	object	NOUN
fcis-17637	132	39	circuit	circuit	NOUN
fcis-17637	132	40	board	board	NOUN
fcis-17637	132	41	.	.	PUNCT
fcis-17637	133	1	(	(	PUNCT
fcis-17637	133	2	a	a	X
fcis-17637	133	3	)	)	PUNCT
fcis-17637	133	4	physical	physical	ADJ
fcis-17637	133	5	drawing	drawing	NOUN
fcis-17637	133	6	of	of	ADP
fcis-17637	133	7	the	the	DET
fcis-17637	133	8	circuit	circuit	NOUN
fcis-17637	133	9	board	board	NOUN
fcis-17637	133	10	;	;	PUNCT
fcis-17637	133	11	(	(	PUNCT
fcis-17637	133	12	b	b	X
fcis-17637	133	13	)	)	PUNCT
fcis-17637	133	14	schematic	schematic	ADJ
fcis-17637	133	15	board	board	NOUN
fcis-17637	133	16	point	point	NOUN
fcis-17637	133	17	cloud	cloud	NOUN
fcis-17637	133	18	based	base	VERB
fcis-17637	133	19	on	on	ADP
fcis-17637	133	20	the	the	DET
fcis-17637	133	21	planar	planar	ADJ
fcis-17637	133	22	segmentation	segmentation	NOUN
fcis-17637	133	23	method	method	NOUN
fcis-17637	133	24	mentioned	mention	VERB
fcis-17637	133	25	in	in	ADP
fcis-17637	133	26	this	this	DET
fcis-17637	133	27	article	article	NOUN
fcis-17637	133	28	,	,	PUNCT
fcis-17637	133	29	the	the	DET
fcis-17637	133	30	initial	initial	ADJ
fcis-17637	133	31	point	point	NOUN
fcis-17637	133	32	cloud	cloud	NOUN
fcis-17637	133	33	is	be	AUX
fcis-17637	133	34	extracted	extract	VERB
fcis-17637	133	35	and	and	CCONJ
fcis-17637	133	36	optimized	optimize	VERB
fcis-17637	133	37	(	(	PUNCT
fcis-17637	133	38	as	as	SCONJ
fcis-17637	133	39	shown	show	VERB
fcis-17637	133	40	in	in	ADP
fcis-17637	133	41	figure	figure	NOUN
fcis-17637	133	42	4	4	NUM
fcis-17637	133	43	)	)	PUNCT
fcis-17637	133	44	.	.	PUNCT
fcis-17637	134	1	through	through	ADP
fcis-17637	134	2	the	the	DET
fcis-17637	134	3	optimization	optimization	NOUN
fcis-17637	134	4	processing	processing	NOUN
fcis-17637	134	5	,	,	PUNCT
fcis-17637	134	6	the	the	DET
fcis-17637	134	7	noise	noise	NOUN
fcis-17637	134	8	data	datum	NOUN
fcis-17637	134	9	is	be	AUX
fcis-17637	134	10	effectively	effectively	ADV
fcis-17637	134	11	removed	remove	VERB
fcis-17637	134	12	,	,	PUNCT
fcis-17637	134	13	which	which	PRON
fcis-17637	134	14	provides	provide	VERB
fcis-17637	134	15	support	support	NOUN
fcis-17637	134	16	for	for	ADP
fcis-17637	134	17	the	the	DET
fcis-17637	134	18	subsequent	subsequent	ADJ
fcis-17637	134	19	boundary	boundary	ADJ
fcis-17637	134	20	extraction	extraction	NOUN
fcis-17637	134	21	.	.	PUNCT
fcis-17637	135	1	figure	figure	NOUN
fcis-17637	135	2	4	4	NUM
fcis-17637	135	3	.	.	PUNCT
fcis-17637	135	4	planar	planar	ADJ
fcis-17637	135	5	perdition	perdition	NOUN
fcis-17637	135	6	for	for	ADP
fcis-17637	135	7	all	all	DET
fcis-17637	135	8	target	target	NOUN
fcis-17637	135	9	chips	chip	NOUN
fcis-17637	135	10	by	by	ADP
fcis-17637	135	11	the	the	DET
fcis-17637	135	12	proposed	propose	VERB
fcis-17637	135	13	method	method	NOUN
fcis-17637	135	14	.	.	PUNCT
fcis-17637	136	1	to	to	PART
fcis-17637	136	2	verify	verify	VERB
fcis-17637	136	3	the	the	DET
fcis-17637	136	4	effectiveness	effectiveness	NOUN
fcis-17637	136	5	of	of	ADP
fcis-17637	136	6	the	the	DET
fcis-17637	136	7	algorithm	algorithm	NOUN
fcis-17637	136	8	,	,	PUNCT
fcis-17637	136	9	the	the	DET
fcis-17637	136	10	traditional	traditional	ADJ
fcis-17637	136	11	ransac	ransac	NOUN
fcis-17637	136	12	method	method	NOUN
fcis-17637	136	13	and	and	CCONJ
fcis-17637	136	14	region	region	NOUN
fcis-17637	136	15	growth	growth	NOUN
fcis-17637	136	16	algorithm	algorithm	NOUN
fcis-17637	136	17	are	be	AUX
fcis-17637	136	18	employed	employ	VERB
fcis-17637	136	19	to	to	PART
fcis-17637	136	20	process	process	VERB
fcis-17637	136	21	the	the	DET
fcis-17637	136	22	same	same	ADJ
fcis-17637	136	23	data	datum	NOUN
fcis-17637	136	24	for	for	ADP
fcis-17637	136	25	comparison	comparison	NOUN
fcis-17637	136	26	.	.	PUNCT
fcis-17637	137	1	the	the	DET
fcis-17637	137	2	chip	chip	NOUN
fcis-17637	137	3	on	on	ADP
fcis-17637	137	4	the	the	DET
fcis-17637	137	5	right	right	ADJ
fcis-17637	137	6	side	side	NOUN
fcis-17637	137	7	in	in	ADP
fcis-17637	137	8	figure	figure	NOUN
fcis-17637	137	9	5	5	NUM
fcis-17637	137	10	is	be	AUX
fcis-17637	137	11	selected	select	VERB
fcis-17637	137	12	and	and	CCONJ
fcis-17637	137	13	the	the	DET
fcis-17637	137	14	comparison	comparison	NOUN
fcis-17637	137	15	results	result	NOUN
fcis-17637	137	16	are	be	AUX
fcis-17637	137	17	shown	show	VERB
fcis-17637	137	18	in	in	ADP
fcis-17637	137	19	figure	figure	NOUN
fcis-17637	137	20	6	6	NUM
fcis-17637	137	21	.	.	PUNCT
fcis-17637	138	1	the	the	DET
fcis-17637	138	2	plane	plane	NOUN
fcis-17637	138	3	obtained	obtain	VERB
fcis-17637	138	4	by	by	ADP
fcis-17637	138	5	the	the	DET
fcis-17637	138	6	traditional	traditional	ADJ
fcis-17637	138	7	ransac	ransac	NOUN
fcis-17637	138	8	,	,	PUNCT
fcis-17637	138	9	the	the	DET
fcis-17637	138	10	region	region	NOUN
fcis-17637	138	11	growth	growth	NOUN
fcis-17637	138	12	algorithm	algorithm	NOUN
fcis-17637	138	13	and	and	CCONJ
fcis-17637	138	14	the	the	DET
fcis-17637	138	15	proposed	propose	VERB
fcis-17637	138	16	method	method	NOUN
fcis-17637	138	17	is	be	AUX
fcis-17637	138	18	shown	show	VERB
fcis-17637	138	19	in	in	ADP
fcis-17637	138	20	figure	figure	NOUN
fcis-17637	138	21	5	5	NUM
fcis-17637	138	22	.	.	PUNCT
fcis-17637	139	1	it	it	PRON
fcis-17637	139	2	can	can	AUX
fcis-17637	139	3	be	be	AUX
fcis-17637	139	4	clearly	clearly	ADV
fcis-17637	139	5	seen	see	VERB
fcis-17637	139	6	that	that	SCONJ
fcis-17637	139	7	the	the	DET
fcis-17637	139	8	proposed	propose	VERB
fcis-17637	139	9	method	method	NOUN
fcis-17637	139	10	results	result	NOUN
fcis-17637	139	11	in	in	ADP
fcis-17637	139	12	this	this	DET
fcis-17637	139	13	paper	paper	NOUN
fcis-17637	139	14	with	with	ADP
fcis-17637	139	15	minimal	minimal	ADJ
fcis-17637	139	16	noise	noise	NOUN
fcis-17637	139	17	impact	impact	NOUN
fcis-17637	139	18	.	.	PUNCT
fcis-17637	140	1	then	then	ADV
fcis-17637	140	2	,	,	PUNCT
fcis-17637	140	3	the	the	DET
fcis-17637	140	4	point	point	NOUN
fcis-17637	140	5	cloud	cloud	NOUN
fcis-17637	140	6	rotation	rotation	NOUN
fcis-17637	140	7	matrix	matrix	NOUN
fcis-17637	140	8	is	be	AUX
fcis-17637	140	9	employed	employ	VERB
fcis-17637	140	10	to	to	PART
fcis-17637	140	11	transform	transform	VERB
fcis-17637	140	12	the	the	DET
fcis-17637	140	13	plane	plane	NOUN
fcis-17637	140	14	point	point	NOUN
fcis-17637	140	15	cloud	cloud	NOUN
fcis-17637	140	16	data	datum	NOUN
fcis-17637	140	17	to	to	ADP
fcis-17637	140	18	the	the	DET
fcis-17637	140	19	position	position	NOUN
fcis-17637	140	20	paralleling	parallel	VERB
fcis-17637	140	21	to	to	ADP
fcis-17637	140	22	the	the	DET
fcis-17637	140	23	xoy	xoy	NOUN
fcis-17637	140	24	plane	plane	NOUN
fcis-17637	140	25	,	,	PUNCT
fcis-17637	140	26	then	then	ADV
fcis-17637	140	27	the	the	DET
fcis-17637	140	28	dimensionality	dimensionality	NOUN
fcis-17637	140	29	reduction	reduction	NOUN
fcis-17637	140	30	process	process	NOUN
fcis-17637	140	31	is	be	AUX
fcis-17637	140	32	carried	carry	VERB
fcis-17637	140	33	out	out	ADP
fcis-17637	140	34	to	to	PART
fcis-17637	140	35	convert	convert	VERB
fcis-17637	140	36	the	the	DET
fcis-17637	140	37	3d	3d	NUM
fcis-17637	140	38	point	point	NOUN
fcis-17637	140	39	cloud	cloud	NOUN
fcis-17637	140	40	data	datum	NOUN
fcis-17637	140	41	to	to	ADP
fcis-17637	140	42	2d	2d	NUM
fcis-17637	140	43	image	image	NOUN
fcis-17637	140	44	.	.	PUNCT
fcis-17637	141	1	finally	finally	ADV
fcis-17637	141	2	,	,	PUNCT
fcis-17637	141	3	the	the	DET
fcis-17637	141	4	boundary	boundary	ADJ
fcis-17637	141	5	points	point	NOUN
fcis-17637	141	6	are	be	AUX
fcis-17637	141	7	extracted	extract	VERB
fcis-17637	141	8	according	accord	VERB
fcis-17637	141	9	to	to	ADP
fcis-17637	141	10	the	the	DET
fcis-17637	141	11	gradient	gradient	NOUN
fcis-17637	141	12	change	change	NOUN
fcis-17637	141	13	and	and	CCONJ
fcis-17637	141	14	turn	turn	VERB
fcis-17637	141	15	back	back	ADV
fcis-17637	141	16	to	to	ADP
fcis-17637	141	17	the	the	DET
fcis-17637	141	18	corresponding	corresponding	ADJ
fcis-17637	141	19	position	position	NOUN
fcis-17637	141	20	in	in	ADP
fcis-17637	141	21	the	the	DET
fcis-17637	141	22	space	space	NOUN
fcis-17637	141	23	.	.	PUNCT
fcis-17637	142	1	in	in	ADP
fcis-17637	142	2	this	this	DET
fcis-17637	142	3	experiment	experiment	NOUN
fcis-17637	142	4	,	,	PUNCT
fcis-17637	142	5	the	the	DET
fcis-17637	142	6	alpha	alpha	NOUN
fcis-17637	142	7	-	-	PUNCT
fcis-17637	142	8	shapes	shape	NOUN
fcis-17637	142	9	algorithm	algorithm	NOUN
fcis-17637	142	10	[	[	X
fcis-17637	142	11	10	10	NUM
fcis-17637	142	12	]	]	PUNCT
fcis-17637	142	13	is	be	AUX
fcis-17637	142	14	employed	employ	VERB
fcis-17637	142	15	to	to	PART
fcis-17637	142	16	conduct	conduct	VERB
fcis-17637	142	17	a	a	DET
fcis-17637	142	18	comparative	comparative	ADJ
fcis-17637	142	19	experiment	experiment	NOUN
fcis-17637	142	20	for	for	ADP
fcis-17637	142	21	boundary	boundary	ADJ
fcis-17637	142	22	extraction	extraction	NOUN
fcis-17637	142	23	and	and	CCONJ
fcis-17637	142	24	the	the	DET
fcis-17637	142	25	results	result	NOUN
fcis-17637	142	26	are	be	AUX
fcis-17637	142	27	shown	show	VERB
fcis-17637	142	28	in	in	ADP
fcis-17637	142	29	figure	figure	NOUN
fcis-17637	142	30	6	6	NUM
fcis-17637	142	31	.	.	PUNCT
fcis-17637	143	1	the	the	DET
fcis-17637	143	2	detail	detail	NOUN
fcis-17637	143	3	of	of	ADP
fcis-17637	143	4	the	the	DET
fcis-17637	143	5	boundary	boundary	ADJ
fcis-17637	143	6	extraction	extraction	NOUN
fcis-17637	143	7	is	be	AUX
fcis-17637	143	8	given	give	VERB
fcis-17637	143	9	in	in	ADP
fcis-17637	143	10	table	table	NOUN
fcis-17637	143	11	1	1	NUM
fcis-17637	143	12	.	.	PUNCT
fcis-17637	144	1	it	it	PRON
fcis-17637	144	2	is	be	AUX
fcis-17637	144	3	apparent	apparent	ADJ
fcis-17637	144	4	that	that	SCONJ
fcis-17637	144	5	the	the	DET
fcis-17637	144	6	proposed	propose	VERB
fcis-17637	144	7	method	method	NOUN
fcis-17637	144	8	achieves	achieve	VERB
fcis-17637	144	9	accuracy	accuracy	NOUN
fcis-17637	144	10	result	result	NOUN
fcis-17637	144	11	25	25	NUM
fcis-17637	144	12	with	with	ADP
fcis-17637	144	13	high	high	ADJ
fcis-17637	144	14	efficiency	efficiency	NOUN
fcis-17637	144	15	.	.	PUNCT
fcis-17637	145	1	figure	figure	NOUN
fcis-17637	145	2	5	5	NUM
fcis-17637	145	3	.	.	PUNCT
fcis-17637	145	4	comparison	comparison	NOUN
fcis-17637	145	5	of	of	ADP
fcis-17637	145	6	planar	planar	ADJ
fcis-17637	145	7	prediction	prediction	NOUN
fcis-17637	145	8	results	result	NOUN
fcis-17637	145	9	.	.	PUNCT
fcis-17637	146	1	(	(	PUNCT
fcis-17637	146	2	a	a	X
fcis-17637	146	3	)	)	PUNCT
fcis-17637	146	4	region	region	NOUN
fcis-17637	146	5	growing	grow	VERB
fcis-17637	146	6	;	;	PUNCT
fcis-17637	146	7	(	(	PUNCT
fcis-17637	146	8	b	b	X
fcis-17637	146	9	)	)	PUNCT
fcis-17637	146	10	ransac;(c	ransac;(c	ADJ
fcis-17637	146	11	)	)	PUNCT
fcis-17637	146	12	pca	pca	NOUN
fcis-17637	146	13	-	-	PUNCT
fcis-17637	146	14	ransac	ransac	NOUN
fcis-17637	146	15	.	.	PUNCT
fcis-17637	147	1	figure	figure	NOUN
fcis-17637	147	2	6	6	NUM
fcis-17637	147	3	.	.	PUNCT
fcis-17637	148	1	boundary	boundary	ADJ
fcis-17637	148	2	extraction	extraction	NOUN
fcis-17637	148	3	comparison	comparison	NOUN
fcis-17637	148	4	.	.	PUNCT
fcis-17637	149	1	(	(	PUNCT
fcis-17637	149	2	a	a	X
fcis-17637	149	3	)	)	PUNCT
fcis-17637	149	4	result	result	NOUN
fcis-17637	149	5	by	by	ADP
fcis-17637	149	6	alpha	alpha	ADJ
fcis-17637	149	7	shapes	shape	NOUN
fcis-17637	149	8	;	;	PUNCT
fcis-17637	149	9	(	(	PUNCT
fcis-17637	149	10	b	b	X
fcis-17637	149	11	)	)	PUNCT
fcis-17637	149	12	result	result	NOUN
fcis-17637	149	13	by	by	ADP
fcis-17637	149	14	the	the	DET
fcis-17637	149	15	proposed	propose	VERB
fcis-17637	149	16	method	method	NOUN
fcis-17637	149	17	table	table	NOUN
fcis-17637	149	18	1	1	NUM
fcis-17637	149	19	.	.	PUNCT
fcis-17637	150	1	comparison	comparison	NOUN
fcis-17637	150	2	of	of	ADP
fcis-17637	150	3	contour	contour	NOUN
fcis-17637	150	4	extraction	extraction	NOUN
fcis-17637	150	5	data	datum	NOUN
fcis-17637	150	6	.	.	PUNCT
fcis-17637	151	1	methods	method	NOUN
fcis-17637	151	2	number	number	NOUN
fcis-17637	151	3	of	of	ADP
fcis-17637	151	4	points	point	NOUN
fcis-17637	151	5	in	in	ADP
fcis-17637	151	6	point	point	NOUN
fcis-17637	151	7	cloud	cloud	NOUN
fcis-17637	151	8	number	number	NOUN
fcis-17637	151	9	of	of	ADP
fcis-17637	151	10	boundary	boundary	ADJ
fcis-17637	151	11	points	point	NOUN
fcis-17637	151	12	cost	cost	NOUN
fcis-17637	151	13	time	time	NOUN
fcis-17637	151	14	/	/	PUNCT
fcis-17637	151	15	ms	ms	NOUN
fcis-17637	151	16	alpha	alpha	NOUN
fcis-17637	151	17	shapes	shape	NOUN
fcis-17637	151	18	62668	62668	NUM
fcis-17637	151	19	514	514	NUM
fcis-17637	151	20	745.253	745.253	NUM
fcis-17637	151	21	our	our	PRON
fcis-17637	151	22	method	method	NOUN
fcis-17637	151	23	62668	62668	NUM
fcis-17637	151	24	919	919	NUM
fcis-17637	151	25	64.614	64.614	NUM
fcis-17637	151	26	all	all	DET
fcis-17637	151	27	the	the	DET
fcis-17637	151	28	contour	contour	NOUN
fcis-17637	151	29	point	point	NOUN
fcis-17637	151	30	extraction	extraction	NOUN
fcis-17637	151	31	results	result	NOUN
fcis-17637	151	32	of	of	ADP
fcis-17637	151	33	the	the	DET
fcis-17637	151	34	target	target	NOUN
fcis-17637	151	35	point	point	NOUN
fcis-17637	151	36	clouds	cloud	NOUN
fcis-17637	151	37	are	be	AUX
fcis-17637	151	38	shown	show	VERB
fcis-17637	151	39	in	in	ADP
fcis-17637	151	40	figure	figure	NOUN
fcis-17637	151	41	7	7	NUM
fcis-17637	151	42	.	.	PUNCT
fcis-17637	151	43	figure	figure	VERB
fcis-17637	151	44	7	7	NUM
fcis-17637	151	45	.	.	PUNCT
fcis-17637	151	46	contour	contour	NOUN
fcis-17637	151	47	extraction	extraction	NOUN
fcis-17637	151	48	result	result	NOUN
fcis-17637	151	49	4	4	NUM
fcis-17637	151	50	.	.	PUNCT
fcis-17637	151	51	conclusion	conclusion	NOUN
fcis-17637	151	52	in	in	ADP
fcis-17637	151	53	this	this	DET
fcis-17637	151	54	paper	paper	NOUN
fcis-17637	151	55	,	,	PUNCT
fcis-17637	151	56	a	a	DET
fcis-17637	151	57	highly	highly	ADV
fcis-17637	151	58	robust	robust	ADJ
fcis-17637	151	59	point	point	NOUN
fcis-17637	151	60	cloud	cloud	ADJ
fcis-17637	151	61	contour	contour	NOUN
fcis-17637	151	62	extraction	extraction	NOUN
fcis-17637	151	63	method	method	NOUN
fcis-17637	151	64	based	base	VERB
fcis-17637	151	65	on	on	ADP
fcis-17637	151	66	plane	plane	NOUN
fcis-17637	151	67	segmentation	segmentation	NOUN
fcis-17637	151	68	is	be	AUX
fcis-17637	151	69	proposed	propose	VERB
fcis-17637	151	70	.	.	PUNCT
fcis-17637	152	1	firstly	firstly	ADV
fcis-17637	152	2	,	,	PUNCT
fcis-17637	152	3	the	the	DET
fcis-17637	152	4	pca	pca	PROPN
fcis-17637	152	5	algorithm	algorithm	NOUN
fcis-17637	152	6	is	be	AUX
fcis-17637	152	7	employed	employ	VERB
fcis-17637	152	8	to	to	PART
fcis-17637	152	9	optimize	optimize	VERB
fcis-17637	152	10	the	the	DET
fcis-17637	152	11	planar	planar	ADJ
fcis-17637	152	12	predication	predication	NOUN
fcis-17637	152	13	result	result	NOUN
fcis-17637	152	14	obtaining	obtain	VERB
fcis-17637	152	15	by	by	ADP
fcis-17637	152	16	ransac	ransac	NOUN
fcis-17637	152	17	.	.	PUNCT
fcis-17637	153	1	secondly	secondly	ADV
fcis-17637	153	2	,	,	PUNCT
fcis-17637	153	3	in	in	ADP
fcis-17637	153	4	order	order	NOUN
fcis-17637	153	5	to	to	PART
fcis-17637	153	6	improve	improve	VERB
fcis-17637	153	7	the	the	DET
fcis-17637	153	8	boundary	boundary	ADJ
fcis-17637	153	9	extraction	extraction	NOUN
fcis-17637	153	10	efficiency	efficiency	NOUN
fcis-17637	153	11	,	,	PUNCT
fcis-17637	153	12	the	the	DET
fcis-17637	153	13	dimensionality	dimensionality	NOUN
fcis-17637	153	14	reduction	reduction	NOUN
fcis-17637	153	15	is	be	AUX
fcis-17637	153	16	applied	apply	VERB
fcis-17637	153	17	to	to	PART
fcis-17637	153	18	transform	transform	VERB
fcis-17637	153	19	the	the	DET
fcis-17637	153	20	3d	3d	NUM
fcis-17637	153	21	point	point	NOUN
fcis-17637	153	22	cloud	cloud	NOUN
fcis-17637	153	23	to	to	ADP
fcis-17637	153	24	2d	2d	NUM
fcis-17637	153	25	image	image	NOUN
fcis-17637	153	26	;	;	PUNCT
fcis-17637	153	27	finally	finally	ADV
fcis-17637	153	28	,	,	PUNCT
fcis-17637	153	29	the	the	DET
fcis-17637	153	30	gradient	gradient	ADJ
fcis-17637	153	31	information	information	NOUN
fcis-17637	153	32	is	be	AUX
fcis-17637	153	33	used	use	VERB
fcis-17637	153	34	to	to	PART
fcis-17637	153	35	extract	extract	VERB
fcis-17637	153	36	the	the	DET
fcis-17637	153	37	boundary	boundary	ADJ
fcis-17637	153	38	point	point	NOUN
fcis-17637	153	39	set	set	VERB
fcis-17637	153	40	and	and	CCONJ
fcis-17637	153	41	turn	turn	VERB
fcis-17637	153	42	back	back	ADV
fcis-17637	153	43	to	to	ADP
fcis-17637	153	44	3d	3d	NUM
fcis-17637	153	45	space	space	NOUN
fcis-17637	153	46	.	.	PUNCT
fcis-17637	154	1	experimental	experimental	ADJ
fcis-17637	154	2	results	result	NOUN
fcis-17637	154	3	show	show	VERB
fcis-17637	154	4	that	that	SCONJ
fcis-17637	154	5	the	the	DET
fcis-17637	154	6	proposed	propose	VERB
fcis-17637	154	7	method	method	NOUN
fcis-17637	154	8	can	can	AUX
fcis-17637	154	9	effectively	effectively	ADV
fcis-17637	154	10	extract	extract	VERB
fcis-17637	154	11	the	the	DET
fcis-17637	154	12	contour	contour	NOUN
fcis-17637	154	13	features	feature	NOUN
fcis-17637	154	14	from	from	ADP
fcis-17637	154	15	the	the	DET
fcis-17637	154	16	point	point	NOUN
fcis-17637	154	17	cloud	cloud	NOUN
fcis-17637	154	18	and	and	CCONJ
fcis-17637	154	19	has	have	VERB
fcis-17637	154	20	a	a	DET
fcis-17637	154	21	wide	wide	ADJ
fcis-17637	154	22	application	application	NOUN
fcis-17637	154	23	prospect	prospect	NOUN
fcis-17637	154	24	in	in	ADP
fcis-17637	154	25	the	the	DET
fcis-17637	154	26	field	field	NOUN
fcis-17637	154	27	of	of	ADP
fcis-17637	154	28	industrial	industrial	ADJ
fcis-17637	154	29	measurement	measurement	NOUN
fcis-17637	154	30	.	.	PUNCT
fcis-17637	155	1	references	reference	NOUN
fcis-17637	155	2	[	[	X
fcis-17637	155	3	1	1	NUM
fcis-17637	155	4	]	]	PUNCT
fcis-17637	155	5	emelyanov	emelyanov	NOUN
fcis-17637	155	6	,	,	PUNCT
fcis-17637	155	7	a.	a.	NOUN
fcis-17637	155	8	;	;	PUNCT
fcis-17637	155	9	skala	skala	PROPN
fcis-17637	155	10	,	,	PUNCT
fcis-17637	155	11	v.	v.	ADP
fcis-17637	155	12	surface	surface	NOUN
fcis-17637	155	13	reconstruction	reconstruction	NOUN
fcis-17637	155	14	from	from	ADP
fcis-17637	155	15	problem	problem	NOUN
fcis-17637	155	16	point	point	NOUN
fcis-17637	155	17	clouds	cloud	NOUN
fcis-17637	155	18	.	.	PUNCT
fcis-17637	156	1	international	international	ADJ
fcis-17637	156	2	conference	conference	NOUN
fcis-17637	156	3	on	on	ADP
fcis-17637	156	4	planarization	planarization	NOUN
fcis-17637	156	5	technology	technology	NOUN
fcis-17637	156	6	2002	2002	NUM
fcis-17637	156	7	,	,	PUNCT
fcis-17637	156	8	5	5	NUM
fcis-17637	156	9	,	,	PUNCT
fcis-17637	156	10	6	6	NUM
fcis-17637	156	11	-	-	SYM
fcis-17637	156	12	75	75	NUM
fcis-17637	156	13	.	.	PUNCT
fcis-17637	157	1	[	[	X
fcis-17637	157	2	2	2	NUM
fcis-17637	157	3	]	]	X
fcis-17637	157	4	kim	kim	PROPN
fcis-17637	157	5	,	,	PUNCT
fcis-17637	157	6	j.	j.	PROPN
fcis-17637	157	7	;	;	PUNCT
fcis-17637	157	8	jin	jin	NOUN
fcis-17637	157	9	,	,	PUNCT
fcis-17637	157	10	m.	m.	NOUN
fcis-17637	157	11	;	;	PUNCT
fcis-17637	157	12	park	park	NOUN
fcis-17637	157	13	,	,	PUNCT
fcis-17637	157	14	s.h	s.h	PROPN
fcis-17637	157	15	.	.	PROPN
fcis-17637	157	16	;	;	PUNCT
fcis-17637	157	17	chung	chung	PROPN
fcis-17637	157	18	,	,	PUNCT
fcis-17637	157	19	s.y	s.y	PROPN
fcis-17637	157	20	.	.	PROPN
fcis-17637	157	21	;	;	PUNCT
fcis-17637	157	22	hwang	hwang	PROPN
fcis-17637	157	23	,	,	PUNCT
fcis-17637	157	24	m.j	m.j	PROPN
fcis-17637	157	25	.	.	PROPN
fcis-17637	157	26	task	task	PROPN
fcis-17637	157	27	space	space	NOUN
fcis-17637	157	28	trajectory	trajectory	NOUN
fcis-17637	157	29	planning	planning	NOUN
fcis-17637	157	30	for	for	ADP
fcis-17637	157	31	robot	robot	NOUN
fcis-17637	157	32	manipulators	manipulator	NOUN
fcis-17637	157	33	to	to	PART
fcis-17637	157	34	follow	follow	VERB
fcis-17637	157	35	3	3	NUM
fcis-17637	157	36	-	-	SYM
fcis-17637	157	37	d	d	ADJ
fcis-17637	157	38	curved	curved	ADJ
fcis-17637	157	39	contours	contours	NOUN
fcis-17637	157	40	.	.	PUNCT
fcis-17637	158	1	electronics	electronic	NOUN
fcis-17637	158	2	2020	2020	NUM
fcis-17637	158	3	,	,	PUNCT
fcis-17637	158	4	9	9	NUM
fcis-17637	158	5	,	,	PUNCT
fcis-17637	158	6	1424	1424	NUM
fcis-17637	158	7	.	.	PUNCT
fcis-17637	159	1	[	[	X
fcis-17637	159	2	3	3	NUM
fcis-17637	159	3	]	]	X
fcis-17637	159	4	hackel	hackel	NOUN
fcis-17637	159	5	,	,	PUNCT
fcis-17637	159	6	t.	t.	PROPN
fcis-17637	159	7	;	;	PUNCT
fcis-17637	159	8	wegner	wegner	PROPN
fcis-17637	159	9	,	,	PUNCT
fcis-17637	159	10	j.d	j.d	PROPN
fcis-17637	159	11	.	.	PROPN
fcis-17637	159	12	;	;	PUNCT
fcis-17637	159	13	schindler	schindler	PROPN
fcis-17637	159	14	,	,	PUNCT
fcis-17637	159	15	k.	k.	PROPN
fcis-17637	159	16	joint	joint	ADJ
fcis-17637	159	17	classification	classification	NOUN
fcis-17637	159	18	and	and	CCONJ
fcis-17637	159	19	contour	contour	NOUN
fcis-17637	159	20	extraction	extraction	NOUN
fcis-17637	159	21	of	of	ADP
fcis-17637	159	22	large	large	ADJ
fcis-17637	159	23	3d	3d	NUM
fcis-17637	159	24	point	point	NOUN
fcis-17637	159	25	clouds	cloud	NOUN
fcis-17637	159	26	.	.	PUNCT
fcis-17637	160	1	isprs	isprs	NOUN
fcis-17637	160	2	journal	journal	PROPN
fcis-17637	160	3	of	of	ADP
fcis-17637	160	4	photogrammetry	photogrammetry	NOUN
fcis-17637	160	5	and	and	CCONJ
fcis-17637	160	6	remote	remote	ADJ
fcis-17637	160	7	sensing	sense	VERB
fcis-17637	160	8	2017	2017	NUM
fcis-17637	160	9	,	,	PUNCT
fcis-17637	160	10	130	130	NUM
fcis-17637	160	11	,	,	PUNCT
fcis-17637	160	12	231	231	NUM
fcis-17637	160	13	-	-	SYM
fcis-17637	160	14	245	245	NUM
fcis-17637	160	15	.	.	PUNCT
fcis-17637	161	1	[	[	X
fcis-17637	161	2	4	4	NUM
fcis-17637	161	3	]	]	X
fcis-17637	161	4	venkatesh	venkatesh	NOUN
fcis-17637	161	5	,	,	PUNCT
fcis-17637	161	6	y.v	y.v	PROPN
fcis-17637	161	7	.	.	PROPN
fcis-17637	161	8	;	;	PUNCT
fcis-17637	161	9	raja	raja	PROPN
fcis-17637	161	10	,	,	PUNCT
fcis-17637	161	11	s.k	s.k	PROPN
fcis-17637	161	12	.	.	PROPN
fcis-17637	161	13	;	;	PUNCT
fcis-17637	161	14	ramya	ramya	PROPN
fcis-17637	161	15	,	,	PUNCT
fcis-17637	161	16	n.	n.	PROPN
fcis-17637	161	17	multiple	multiple	ADJ
fcis-17637	161	18	contour	contour	NOUN
fcis-17637	161	19	extraction	extraction	NOUN
fcis-17637	161	20	from	from	ADP
fcis-17637	161	21	graylevel	graylevel	NOUN
fcis-17637	161	22	images	image	NOUN
fcis-17637	161	23	using	use	VERB
fcis-17637	161	24	an	an	DET
fcis-17637	161	25	artificial	artificial	ADJ
fcis-17637	161	26	neural	neural	ADJ
fcis-17637	161	27	network	network	NOUN
fcis-17637	161	28	.	.	PUNCT
fcis-17637	162	1	ieee	ieee	NOUN
fcis-17637	162	2	transactions	transaction	NOUN
fcis-17637	162	3	on	on	ADP
fcis-17637	162	4	image	image	NOUN
fcis-17637	162	5	processing	processing	NOUN
fcis-17637	162	6	2006	2006	NUM
fcis-17637	162	7	,	,	PUNCT
fcis-17637	162	8	15	15	NUM
fcis-17637	162	9	,	,	PUNCT
fcis-17637	162	10	892	892	NUM
fcis-17637	162	11	-	-	SYM
fcis-17637	162	12	899	899	NUM
fcis-17637	162	13	.	.	PUNCT
fcis-17637	163	1	[	[	X
fcis-17637	163	2	5	5	NUM
fcis-17637	163	3	]	]	X
fcis-17637	163	4	borrmann	borrmann	NOUN
fcis-17637	163	5	,	,	PUNCT
fcis-17637	163	6	d	d	X
fcis-17637	163	7	;	;	PUNCT
fcis-17637	163	8	elseberg	elseberg	PROPN
fcis-17637	163	9	,	,	PUNCT
fcis-17637	163	10	j.	j.	PROPN
fcis-17637	163	11	;	;	PUNCT
fcis-17637	163	12	lingemann	lingemann	PROPN
fcis-17637	163	13	,	,	PUNCT
fcis-17637	163	14	k.	k.	PROPN
fcis-17637	163	15	;	;	PUNCT
fcis-17637	163	16	nüchter	nüchter	X
fcis-17637	163	17	,	,	PUNCT
fcis-17637	163	18	a.	a.	NOUN
fcis-17637	163	19	the	the	DET
fcis-17637	163	20	3d	3d	PROPN
fcis-17637	163	21	hough	hough	PROPN
fcis-17637	163	22	transform	transform	VERB
fcis-17637	163	23	for	for	ADP
fcis-17637	163	24	plane	plane	NOUN
fcis-17637	163	25	detection	detection	NOUN
fcis-17637	163	26	in	in	ADP
fcis-17637	163	27	point	point	NOUN
fcis-17637	163	28	clouds	cloud	NOUN
fcis-17637	163	29	:	:	PUNCT
fcis-17637	163	30	a	a	DET
fcis-17637	163	31	review	review	NOUN
fcis-17637	163	32	and	and	CCONJ
fcis-17637	163	33	a	a	DET
fcis-17637	163	34	new	new	ADJ
fcis-17637	163	35	accumulator	accumulator	NOUN
fcis-17637	163	36	design	design	NOUN
fcis-17637	163	37	.	.	PUNCT
fcis-17637	164	1	3d	3d	NUM
fcis-17637	164	2	research	research	NOUN
fcis-17637	164	3	2011	2011	NUM
fcis-17637	164	4	,	,	PUNCT
fcis-17637	164	5	2	2	NUM
fcis-17637	164	6	,	,	PUNCT
fcis-17637	164	7	1	1	NUM
fcis-17637	164	8	-	-	SYM
fcis-17637	164	9	13	13	NUM
fcis-17637	164	10	.	.	PUNCT
fcis-17637	165	1	[	[	X
fcis-17637	165	2	6	6	NUM
fcis-17637	165	3	]	]	X
fcis-17637	165	4	chauve	chauve	PROPN
fcis-17637	165	5	,	,	PUNCT
fcis-17637	165	6	a.l	a.l	PROPN
fcis-17637	165	7	.	.	PROPN
fcis-17637	165	8	;	;	PUNCT
fcis-17637	165	9	labatut	labatut	PROPN
fcis-17637	165	10	,	,	PUNCT
fcis-17637	165	11	p.	p.	NOUN
fcis-17637	165	12	;	;	PUNCT
fcis-17637	165	13	pons	pon	NOUN
fcis-17637	165	14	,	,	PUNCT
fcis-17637	165	15	j.p	j.p	PROPN
fcis-17637	165	16	.	.	PROPN
fcis-17637	165	17	robust	robust	ADJ
fcis-17637	165	18	piecewise	piecewise	NOUN
fcis-17637	165	19	-	-	PUNCT
fcis-17637	165	20	planar	planar	ADJ
fcis-17637	165	21	3d	3d	NOUN
fcis-17637	165	22	reconstruction	reconstruction	NOUN
fcis-17637	165	23	and	and	CCONJ
fcis-17637	165	24	completion	completion	NOUN
fcis-17637	165	25	from	from	ADP
fcis-17637	165	26	large	large	ADJ
fcis-17637	165	27	-	-	PUNCT
fcis-17637	165	28	scale	scale	NOUN
fcis-17637	165	29	unstructured	unstructured	ADJ
fcis-17637	165	30	point	point	NOUN
fcis-17637	165	31	data	datum	NOUN
fcis-17637	165	32	.	.	PUNCT
fcis-17637	166	1	2010	2010	NUM
fcis-17637	166	2	ieee	ieee	PROPN
fcis-17637	166	3	computer	computer	NOUN
fcis-17637	166	4	society	society	PROPN
fcis-17637	166	5	conference	conference	NOUN
fcis-17637	166	6	on	on	ADP
fcis-17637	166	7	computer	computer	NOUN
fcis-17637	166	8	vision	vision	NOUN
fcis-17637	166	9	and	and	CCONJ
fcis-17637	166	10	pattern	pattern	NOUN
fcis-17637	166	11	recognition	recognition	NOUN
fcis-17637	166	12	,	,	PUNCT
fcis-17637	166	13	san	san	PROPN
fcis-17637	166	14	francisco	francisco	PROPN
fcis-17637	166	15	,	,	PUNCT
fcis-17637	166	16	usa	usa	PROPN
fcis-17637	166	17	,	,	PUNCT
fcis-17637	166	18	13	13	NUM
fcis-17637	166	19	-	-	SYM
fcis-17637	166	20	18	18	NUM
fcis-17637	166	21	june	june	PROPN
fcis-17637	166	22	2010	2010	NUM
fcis-17637	166	23	.	.	PUNCT
fcis-17637	167	1	[	[	X
fcis-17637	167	2	7	7	NUM
fcis-17637	167	3	]	]	X
fcis-17637	167	4	nan	nan	PROPN
fcis-17637	167	5	,	,	PUNCT
fcis-17637	167	6	l.	l.	PROPN
fcis-17637	167	7	l.	l.	PROPN
fcis-17637	167	8	;	;	PUNCT
fcis-17637	167	9	wonka	wonka	PROPN
fcis-17637	167	10	,	,	PUNCT
fcis-17637	167	11	p.	p.	PROPN
fcis-17637	167	12	polyfit	polyfit	PROPN
fcis-17637	167	13	:	:	PUNCT
fcis-17637	167	14	polygonal	polygonal	ADJ
fcis-17637	167	15	surface	surface	NOUN
fcis-17637	167	16	reconstruction	reconstruction	NOUN
fcis-17637	167	17	from	from	ADP
fcis-17637	167	18	point	point	NOUN
fcis-17637	167	19	clouds	cloud	NOUN
fcis-17637	167	20	.	.	PUNCT
fcis-17637	167	21	2017	2017	NUM
fcis-17637	167	22	ieee	ieee	PROPN
fcis-17637	167	23	international	international	ADJ
fcis-17637	167	24	conference	conference	NOUN
fcis-17637	167	25	on	on	ADP
fcis-17637	167	26	computer	computer	NOUN
fcis-17637	167	27	vision	vision	NOUN
fcis-17637	167	28	(	(	PUNCT
fcis-17637	167	29	iccv	iccv	PROPN
fcis-17637	167	30	)	)	PUNCT
fcis-17637	167	31	,	,	PUNCT
fcis-17637	167	32	venice	venice	PROPN
fcis-17637	167	33	,	,	PUNCT
fcis-17637	167	34	italy	italy	PROPN
fcis-17637	167	35	,	,	PUNCT
fcis-17637	167	36	22	22	NUM
fcis-17637	167	37	-	-	SYM
fcis-17637	167	38	29	29	NUM
fcis-17637	167	39	october	october	PROPN
fcis-17637	167	40	2017	2017	NUM
fcis-17637	167	41	.	.	PUNCT
fcis-17637	168	1	[	[	X
fcis-17637	168	2	8	8	NUM
fcis-17637	168	3	]	]	X
fcis-17637	168	4	mencl	mencl	NOUN
fcis-17637	168	5	,	,	PUNCT
fcis-17637	168	6	r.	r.	PROPN
fcis-17637	168	7	a	a	DET
fcis-17637	168	8	graph	graph	NOUN
fcis-17637	168	9	–	–	PUNCT
fcis-17637	168	10	based	base	VERB
fcis-17637	168	11	approach	approach	NOUN
fcis-17637	168	12	to	to	ADP
fcis-17637	168	13	surface	surface	NOUN
fcis-17637	168	14	reconstruction	reconstruction	NOUN
fcis-17637	168	15	.	.	PUNCT
fcis-17637	169	1	computer	computer	NOUN
fcis-17637	169	2	graphics	graphic	NOUN
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fcis-17637	169	5	,	,	PUNCT
fcis-17637	169	6	14	14	NUM
fcis-17637	169	7	,	,	PUNCT
fcis-17637	169	8	445	445	NUM
fcis-17637	169	9	-	-	SYM
fcis-17637	169	10	456	456	NUM
fcis-17637	169	11	.	.	PUNCT
fcis-17637	170	1	[	[	X
fcis-17637	170	2	9	9	NUM
fcis-17637	170	3	]	]	SYM
fcis-17637	170	4	chen	chen	PROPN
fcis-17637	170	5	,	,	PUNCT
fcis-17637	170	6	x.j	x.j	PROPN
fcis-17637	170	7	.	.	PROPN
fcis-17637	170	8	;	;	PUNCT
fcis-17637	170	9	yu	yu	PROPN
fcis-17637	170	10	,	,	PUNCT
fcis-17637	170	11	k.	k.	PROPN
fcis-17637	170	12	feature	feature	PROPN
fcis-17637	170	13	line	line	NOUN
fcis-17637	170	14	generation	generation	NOUN
fcis-17637	170	15	and	and	CCONJ
fcis-17637	170	16	regularization	regularization	NOUN
fcis-17637	170	17	from	from	ADP
fcis-17637	170	18	point	point	NOUN
fcis-17637	170	19	clouds	cloud	NOUN
fcis-17637	170	20	.	.	PUNCT
fcis-17637	171	1	ieee	ieee	NOUN
fcis-17637	171	2	transactions	transaction	NOUN
fcis-17637	171	3	on	on	ADP
fcis-17637	171	4	geoscience	geoscience	NOUN
fcis-17637	171	5	and	and	CCONJ
fcis-17637	171	6	remote	remote	ADJ
fcis-17637	171	7	sensing	sense	VERB
fcis-17637	171	8	2019	2019	NUM
fcis-17637	171	9	,	,	PUNCT
fcis-17637	171	10	57	57	NUM
fcis-17637	171	11	,	,	PUNCT
fcis-17637	171	12	9779	9779	NUM
fcis-17637	171	13	-	-	SYM
fcis-17637	171	14	9790	9790	NUM
fcis-17637	171	15	.	.	PUNCT
fcis-17637	172	1	[	[	X
fcis-17637	172	2	10	10	NUM
fcis-17637	172	3	]	]	PUNCT
fcis-17637	172	4	edelsbrunner	edelsbrunner	NOUN
fcis-17637	172	5	,	,	PUNCT
fcis-17637	172	6	h	h	NOUN
fcis-17637	172	7	;	;	PUNCT
fcis-17637	172	8	mücke	mücke	PROPN
fcis-17637	172	9	,	,	PUNCT
fcis-17637	172	10	e.	e.	PROPN
fcis-17637	172	11	three	three	NUM
fcis-17637	172	12	-	-	PUNCT
fcis-17637	172	13	dimensional	dimensional	ADJ
fcis-17637	172	14	alpha	alpha	NOUN
fcis-17637	172	15	shapes	shape	NOUN
fcis-17637	172	16	.	.	PUNCT
fcis-17637	173	1	3d	3d	NUM
fcis-17637	173	2	research	research	NOUN
fcis-17637	173	3	1994	1994	NUM
fcis-17637	173	4	,	,	PUNCT
fcis-17637	173	5	2	2	NUM
fcis-17637	173	6	,	,	PUNCT
fcis-17637	173	7	1	1	NUM
fcis-17637	173	8	-	-	SYM
fcis-17637	173	9	13	13	NUM
fcis-17637	173	10	.	.	PUNCT