id	sid	tid	token	lemma	pos
fcis-9409	1	1	frontiers	frontier	NOUN
fcis-9409	1	2	in	in	ADP
fcis-9409	1	3	computing	computing	NOUN
fcis-9409	1	4	and	and	CCONJ
fcis-9409	1	5	intelligent	intelligent	ADJ
fcis-9409	1	6	systems	system	NOUN
fcis-9409	1	7	issn	issn	VERB
fcis-9409	1	8	:	:	PUNCT
fcis-9409	1	9	2832	2832	NUM
fcis-9409	1	10	-	-	SYM
fcis-9409	1	11	6024	6024	NUM
fcis-9409	1	12	|	|	NOUN
fcis-9409	1	13	vol	vol	NOUN
fcis-9409	1	14	.	.	PROPN
fcis-9409	2	1	4	4	NUM
fcis-9409	2	2	,	,	PUNCT
fcis-9409	2	3	no	no	INTJ
fcis-9409	2	4	.	.	NOUN
fcis-9409	2	5	1	1	NUM
fcis-9409	2	6	,	,	PUNCT
fcis-9409	2	7	2023	2023	NUM
fcis-9409	2	8	17	17	NUM
fcis-9409	2	9	an	an	DET
fcis-9409	2	10	underwater	underwater	ADJ
fcis-9409	2	11	target	target	NOUN
fcis-9409	2	12	ranging	range	VERB
fcis-9409	2	13	system	system	NOUN
fcis-9409	2	14	based	base	VERB
fcis-9409	2	15	on	on	ADP
fcis-9409	2	16	binocular	binocular	ADJ
fcis-9409	2	17	vision	vision	NOUN
fcis-9409	2	18	yian	yian	ADJ
fcis-9409	2	19	wang	wang	PROPN
fcis-9409	2	20	*	*	PUNCT
fcis-9409	2	21	northeast	northeast	ADJ
fcis-9409	2	22	petroleum	petroleum	NOUN
fcis-9409	2	23	university	university	NOUN
fcis-9409	2	24	,	,	PUNCT
fcis-9409	2	25	daqing	daqe	VERB
fcis-9409	2	26	,	,	PUNCT
fcis-9409	2	27	china	china	PROPN
fcis-9409	2	28	*	*	PUNCT
fcis-9409	2	29	corresponding	correspond	VERB
fcis-9409	2	30	author	author	NOUN
fcis-9409	2	31	email	email	NOUN
fcis-9409	2	32	:	:	PUNCT
fcis-9409	3	1	llswya@163.com	llswya@163.com	PROPN
fcis-9409	3	2	abstract	abstract	NOUN
fcis-9409	3	3	:	:	PUNCT
fcis-9409	3	4	in	in	ADP
fcis-9409	3	5	order	order	NOUN
fcis-9409	3	6	to	to	PART
fcis-9409	3	7	accurately	accurately	ADV
fcis-9409	3	8	measure	measure	VERB
fcis-9409	3	9	the	the	DET
fcis-9409	3	10	distance	distance	NOUN
fcis-9409	3	11	and	and	CCONJ
fcis-9409	3	12	size	size	NOUN
fcis-9409	3	13	information	information	NOUN
fcis-9409	3	14	of	of	ADP
fcis-9409	3	15	underwater	underwater	ADJ
fcis-9409	3	16	targets	target	NOUN
fcis-9409	3	17	,	,	PUNCT
fcis-9409	3	18	an	an	DET
fcis-9409	3	19	underwater	underwater	ADJ
fcis-9409	3	20	target	target	NOUN
fcis-9409	3	21	ranging	range	VERB
fcis-9409	3	22	and	and	CCONJ
fcis-9409	3	23	size	size	NOUN
fcis-9409	3	24	measurement	measurement	NOUN
fcis-9409	3	25	system	system	NOUN
fcis-9409	3	26	based	base	VERB
fcis-9409	3	27	on	on	ADP
fcis-9409	3	28	binocular	binocular	ADJ
fcis-9409	3	29	vision	vision	NOUN
fcis-9409	3	30	is	be	AUX
fcis-9409	3	31	proposed	propose	VERB
fcis-9409	3	32	.	.	PUNCT
fcis-9409	4	1	underwater	underwater	ADJ
fcis-9409	4	2	binocular	binocular	ADJ
fcis-9409	4	3	calibration	calibration	NOUN
fcis-9409	4	4	method	method	NOUN
fcis-9409	4	5	is	be	AUX
fcis-9409	4	6	used	use	VERB
fcis-9409	4	7	to	to	PART
fcis-9409	4	8	obtain	obtain	VERB
fcis-9409	4	9	the	the	DET
fcis-9409	4	10	underwater	underwater	ADJ
fcis-9409	4	11	parameters	parameter	NOUN
fcis-9409	4	12	of	of	ADP
fcis-9409	4	13	binocular	binocular	ADJ
fcis-9409	4	14	camera	camera	NOUN
fcis-9409	4	15	,	,	PUNCT
fcis-9409	4	16	and	and	CCONJ
fcis-9409	4	17	the	the	DET
fcis-9409	4	18	underwater	underwater	ADJ
fcis-9409	4	19	images	image	NOUN
fcis-9409	4	20	are	be	AUX
fcis-9409	4	21	calibrated	calibrate	VERB
fcis-9409	4	22	to	to	PART
fcis-9409	4	23	make	make	VERB
fcis-9409	4	24	them	they	PRON
fcis-9409	4	25	coplanar	coplanar	ADJ
fcis-9409	4	26	and	and	CCONJ
fcis-9409	4	27	aligned	align	VERB
fcis-9409	4	28	.	.	PUNCT
fcis-9409	5	1	the	the	DET
fcis-9409	5	2	improved	improved	ADJ
fcis-9409	5	3	clahe	clahe	NOUN
fcis-9409	5	4	algorithm	algorithm	NOUN
fcis-9409	5	5	is	be	AUX
fcis-9409	5	6	used	use	VERB
fcis-9409	5	7	to	to	PART
fcis-9409	5	8	process	process	VERB
fcis-9409	5	9	underwater	underwater	ADJ
fcis-9409	5	10	images	image	NOUN
fcis-9409	5	11	and	and	CCONJ
fcis-9409	5	12	improve	improve	VERB
fcis-9409	5	13	the	the	DET
fcis-9409	5	14	image	image	NOUN
fcis-9409	5	15	contrast	contrast	NOUN
fcis-9409	5	16	.	.	PUNCT
fcis-9409	6	1	the	the	DET
fcis-9409	6	2	parallax	parallax	NOUN
fcis-9409	6	3	map	map	NOUN
fcis-9409	6	4	is	be	AUX
fcis-9409	6	5	obtained	obtain	VERB
fcis-9409	6	6	by	by	ADP
fcis-9409	6	7	sgbm	sgbm	PROPN
fcis-9409	6	8	stereo	stereo	PROPN
fcis-9409	6	9	matching	matching	NOUN
fcis-9409	6	10	algorithm	algorithm	NOUN
fcis-9409	6	11	,	,	PUNCT
fcis-9409	6	12	and	and	CCONJ
fcis-9409	6	13	the	the	DET
fcis-9409	6	14	distance	distance	NOUN
fcis-9409	6	15	and	and	CCONJ
fcis-9409	6	16	size	size	NOUN
fcis-9409	6	17	of	of	ADP
fcis-9409	6	18	the	the	DET
fcis-9409	6	19	target	target	NOUN
fcis-9409	6	20	are	be	AUX
fcis-9409	6	21	measured	measure	VERB
fcis-9409	6	22	and	and	CCONJ
fcis-9409	6	23	calculated	calculate	VERB
fcis-9409	6	24	according	accord	VERB
fcis-9409	6	25	to	to	ADP
fcis-9409	6	26	the	the	DET
fcis-9409	6	27	parallax	parallax	NOUN
fcis-9409	6	28	map	map	NOUN
fcis-9409	6	29	.	.	PUNCT
fcis-9409	7	1	the	the	DET
fcis-9409	7	2	results	result	NOUN
fcis-9409	7	3	of	of	ADP
fcis-9409	7	4	underwater	underwater	ADJ
fcis-9409	7	5	experiment	experiment	NOUN
fcis-9409	7	6	show	show	VERB
fcis-9409	7	7	that	that	SCONJ
fcis-9409	7	8	the	the	DET
fcis-9409	7	9	measurement	measurement	NOUN
fcis-9409	7	10	accuracy	accuracy	NOUN
fcis-9409	7	11	of	of	ADP
fcis-9409	7	12	the	the	DET
fcis-9409	7	13	system	system	NOUN
fcis-9409	7	14	is	be	AUX
fcis-9409	7	15	high	high	ADJ
fcis-9409	7	16	for	for	ADP
fcis-9409	7	17	the	the	DET
fcis-9409	7	18	distance	distance	NOUN
fcis-9409	7	19	and	and	CCONJ
fcis-9409	7	20	size	size	NOUN
fcis-9409	7	21	of	of	ADP
fcis-9409	7	22	the	the	DET
fcis-9409	7	23	close	close	ADJ
fcis-9409	7	24	-	-	PUNCT
fcis-9409	7	25	range	range	NOUN
fcis-9409	7	26	underwater	underwater	ADJ
fcis-9409	7	27	target	target	NOUN
fcis-9409	7	28	,	,	PUNCT
fcis-9409	7	29	and	and	CCONJ
fcis-9409	7	30	the	the	DET
fcis-9409	7	31	measurement	measurement	NOUN
fcis-9409	7	32	error	error	NOUN
fcis-9409	7	33	conforms	conform	VERB
fcis-9409	7	34	to	to	ADP
fcis-9409	7	35	the	the	DET
fcis-9409	7	36	requirements	requirement	NOUN
fcis-9409	7	37	of	of	ADP
fcis-9409	7	38	underwater	underwater	ADJ
fcis-9409	7	39	experiment	experiment	NOUN
fcis-9409	7	40	.	.	PUNCT
fcis-9409	8	1	keywords	keyword	NOUN
fcis-9409	8	2	:	:	PUNCT
fcis-9409	8	3	underwater	underwater	ADJ
fcis-9409	8	4	binocular	binocular	ADJ
fcis-9409	8	5	vision	vision	NOUN
fcis-9409	8	6	;	;	PUNCT
fcis-9409	8	7	underwater	underwater	ADJ
fcis-9409	8	8	calibration	calibration	NOUN
fcis-9409	8	9	;	;	PUNCT
fcis-9409	8	10	underwater	underwater	ADJ
fcis-9409	8	11	image	image	NOUN
fcis-9409	8	12	processing	processing	NOUN
fcis-9409	8	13	;	;	PUNCT
fcis-9409	8	14	vision	vision	NOUN
fcis-9409	8	15	measurement	measurement	NOUN
fcis-9409	8	16	.	.	PUNCT
fcis-9409	9	1	1	1	X
fcis-9409	9	2	.	.	X
fcis-9409	9	3	introduction	introduction	NOUN
fcis-9409	9	4	with	with	ADP
fcis-9409	9	5	the	the	DET
fcis-9409	9	6	continuous	continuous	ADJ
fcis-9409	9	7	development	development	NOUN
fcis-9409	9	8	of	of	ADP
fcis-9409	9	9	society	society	NOUN
fcis-9409	9	10	and	and	CCONJ
fcis-9409	9	11	economy	economy	NOUN
fcis-9409	9	12	,	,	PUNCT
fcis-9409	9	13	countries	country	NOUN
fcis-9409	9	14	are	be	AUX
fcis-9409	9	15	constantly	constantly	ADV
fcis-9409	9	16	seeking	seek	VERB
fcis-9409	9	17	new	new	ADJ
fcis-9409	9	18	resources	resource	NOUN
fcis-9409	9	19	.	.	PUNCT
fcis-9409	10	1	the	the	DET
fcis-9409	10	2	ocean	ocean	NOUN
fcis-9409	10	3	accounts	account	VERB
fcis-9409	10	4	for	for	ADP
fcis-9409	10	5	more	more	ADJ
fcis-9409	10	6	than	than	ADP
fcis-9409	10	7	70	70	NUM
fcis-9409	10	8	%	%	NOUN
fcis-9409	10	9	of	of	ADP
fcis-9409	10	10	the	the	DET
fcis-9409	10	11	earth	earth	NOUN
fcis-9409	10	12	's	's	PART
fcis-9409	10	13	total	total	ADJ
fcis-9409	10	14	area	area	NOUN
fcis-9409	10	15	and	and	CCONJ
fcis-9409	10	16	contains	contain	VERB
fcis-9409	10	17	a	a	DET
fcis-9409	10	18	large	large	ADJ
fcis-9409	10	19	number	number	NOUN
fcis-9409	10	20	of	of	ADP
fcis-9409	10	21	biological	biological	ADJ
fcis-9409	10	22	,	,	PUNCT
fcis-9409	10	23	mineral	mineral	NOUN
fcis-9409	10	24	and	and	CCONJ
fcis-9409	10	25	other	other	ADJ
fcis-9409	10	26	resources	resource	NOUN
fcis-9409	10	27	,	,	PUNCT
fcis-9409	10	28	which	which	PRON
fcis-9409	10	29	has	have	AUX
fcis-9409	10	30	become	become	VERB
fcis-9409	10	31	the	the	DET
fcis-9409	10	32	object	object	NOUN
fcis-9409	10	33	pursued	pursue	VERB
fcis-9409	10	34	by	by	ADP
fcis-9409	10	35	various	various	ADJ
fcis-9409	10	36	countries	country	NOUN
fcis-9409	11	1	[	[	X
fcis-9409	11	2	1	1	NUM
fcis-9409	11	3	]	]	PUNCT
fcis-9409	11	4	.	.	PUNCT
fcis-9409	12	1	no	no	ADV
fcis-9409	12	2	matter	matter	ADV
fcis-9409	12	3	the	the	DET
fcis-9409	12	4	development	development	NOUN
fcis-9409	12	5	of	of	ADP
fcis-9409	12	6	marine	marine	ADJ
fcis-9409	12	7	resources	resource	NOUN
fcis-9409	12	8	,	,	PUNCT
fcis-9409	12	9	or	or	CCONJ
fcis-9409	12	10	underwater	underwater	ADJ
fcis-9409	12	11	operations	operation	NOUN
fcis-9409	12	12	such	such	ADJ
fcis-9409	12	13	as	as	ADP
fcis-9409	12	14	deep	deep	ADJ
fcis-9409	12	15	-	-	PUNCT
fcis-9409	12	16	sea	sea	NOUN
fcis-9409	12	17	exploration	exploration	NOUN
fcis-9409	12	18	[	[	X
fcis-9409	12	19	2	2	NUM
fcis-9409	12	20	]	]	PUNCT
fcis-9409	12	21	,	,	PUNCT
fcis-9409	12	22	underwater	underwater	ADJ
fcis-9409	12	23	pipeline	pipeline	NOUN
fcis-9409	12	24	detection	detection	NOUN
fcis-9409	13	1	[	[	X
fcis-9409	13	2	3	3	NUM
fcis-9409	13	3	]	]	PUNCT
fcis-9409	13	4	,	,	PUNCT
fcis-9409	13	5	salvage	salvage	NOUN
fcis-9409	13	6	and	and	CCONJ
fcis-9409	13	7	rescue	rescue	NOUN
fcis-9409	13	8	[	[	X
fcis-9409	13	9	4	4	NUM
fcis-9409	13	10	]	]	PUNCT
fcis-9409	13	11	,	,	PUNCT
fcis-9409	13	12	etc	etc	X
fcis-9409	13	13	.	.	X
fcis-9409	13	14	,	,	PUNCT
fcis-9409	13	15	are	be	AUX
fcis-9409	13	16	inseparable	inseparable	ADJ
fcis-9409	13	17	from	from	ADP
fcis-9409	13	18	underwater	underwater	ADJ
fcis-9409	13	19	target	target	NOUN
fcis-9409	13	20	location	location	NOUN
fcis-9409	13	21	and	and	CCONJ
fcis-9409	13	22	size	size	NOUN
fcis-9409	13	23	measurement	measurement	NOUN
fcis-9409	13	24	.	.	PUNCT
fcis-9409	14	1	compared	compare	VERB
fcis-9409	14	2	with	with	ADP
fcis-9409	14	3	radar	radar	NOUN
fcis-9409	14	4	,	,	PUNCT
fcis-9409	14	5	infrared	infrare	VERB
fcis-9409	14	6	,	,	PUNCT
fcis-9409	14	7	laser	laser	NOUN
fcis-9409	14	8	and	and	CCONJ
fcis-9409	14	9	other	other	ADJ
fcis-9409	14	10	sensors	sensor	NOUN
fcis-9409	14	11	are	be	AUX
fcis-9409	14	12	expensive	expensive	ADJ
fcis-9409	14	13	and	and	CCONJ
fcis-9409	14	14	require	require	VERB
fcis-9409	14	15	high	high	ADJ
fcis-9409	14	16	deployment	deployment	NOUN
fcis-9409	14	17	conditions	condition	NOUN
fcis-9409	14	18	.	.	PUNCT
fcis-9409	15	1	underwater	underwater	ADJ
fcis-9409	15	2	optical	optical	ADJ
fcis-9409	15	3	vision	vision	NOUN
fcis-9409	15	4	is	be	AUX
fcis-9409	15	5	characterized	characterize	VERB
fcis-9409	15	6	by	by	ADP
fcis-9409	15	7	high	high	ADJ
fcis-9409	15	8	resolution	resolution	NOUN
fcis-9409	15	9	,	,	PUNCT
fcis-9409	15	10	and	and	CCONJ
fcis-9409	15	11	the	the	DET
fcis-9409	15	12	introduction	introduction	NOUN
fcis-9409	15	13	of	of	ADP
fcis-9409	15	14	binocular	binocular	ADJ
fcis-9409	15	15	vision	vision	NOUN
fcis-9409	15	16	technology	technology	NOUN
fcis-9409	15	17	can	can	AUX
fcis-9409	15	18	accurately	accurately	ADV
fcis-9409	15	19	measure	measure	VERB
fcis-9409	15	20	close	close	ADJ
fcis-9409	15	21	-	-	PUNCT
fcis-9409	15	22	range	range	NOUN
fcis-9409	15	23	targets	target	NOUN
fcis-9409	16	1	[	[	X
fcis-9409	16	2	5	5	NUM
fcis-9409	16	3	]	]	PUNCT
fcis-9409	16	4	,	,	PUNCT
fcis-9409	17	1	and	and	CCONJ
fcis-9409	17	2	reduce	reduce	VERB
fcis-9409	17	3	the	the	DET
fcis-9409	17	4	use	use	NOUN
fcis-9409	17	5	cost	cost	NOUN
fcis-9409	17	6	.	.	PUNCT
fcis-9409	18	1	the	the	DET
fcis-9409	18	2	uneven	uneven	ADJ
fcis-9409	18	3	illumination	illumination	NOUN
fcis-9409	18	4	in	in	ADP
fcis-9409	18	5	underwater	underwater	ADJ
fcis-9409	18	6	environment	environment	NOUN
fcis-9409	18	7	,	,	PUNCT
fcis-9409	18	8	coupled	couple	VERB
fcis-9409	18	9	with	with	ADP
fcis-9409	18	10	the	the	DET
fcis-9409	18	11	influence	influence	NOUN
fcis-9409	18	12	of	of	ADP
fcis-9409	18	13	water	water	NOUN
fcis-9409	18	14	on	on	ADP
fcis-9409	18	15	the	the	DET
fcis-9409	18	16	absorption	absorption	NOUN
fcis-9409	18	17	,	,	PUNCT
fcis-9409	18	18	scattering	scattering	NOUN
fcis-9409	18	19	and	and	CCONJ
fcis-9409	18	20	refraction	refraction	NOUN
fcis-9409	18	21	of	of	ADP
fcis-9409	18	22	light	light	NOUN
fcis-9409	18	23	,	,	PUNCT
fcis-9409	18	24	will	will	AUX
fcis-9409	18	25	greatly	greatly	ADV
fcis-9409	18	26	reduce	reduce	VERB
fcis-9409	18	27	the	the	DET
fcis-9409	18	28	image	image	NOUN
fcis-9409	18	29	quality	quality	NOUN
fcis-9409	18	30	.	.	PUNCT
fcis-9409	19	1	therefore	therefore	ADV
fcis-9409	19	2	,	,	PUNCT
fcis-9409	19	3	in	in	ADP
fcis-9409	19	4	view	view	NOUN
fcis-9409	19	5	of	of	ADP
fcis-9409	19	6	the	the	DET
fcis-9409	19	7	underwater	underwater	ADJ
fcis-9409	19	8	environment	environment	NOUN
fcis-9409	19	9	and	and	CCONJ
fcis-9409	19	10	other	other	ADJ
fcis-9409	19	11	problems	problem	NOUN
fcis-9409	19	12	,	,	PUNCT
fcis-9409	19	13	this	this	DET
fcis-9409	19	14	paper	paper	NOUN
fcis-9409	19	15	processed	process	VERB
fcis-9409	19	16	the	the	DET
fcis-9409	19	17	obtained	obtain	VERB
fcis-9409	19	18	underwater	underwater	ADJ
fcis-9409	19	19	images	image	NOUN
fcis-9409	19	20	by	by	ADP
fcis-9409	19	21	improved	improved	ADJ
fcis-9409	19	22	clahe	clahe	NOUN
fcis-9409	19	23	image	image	NOUN
fcis-9409	19	24	processing	processing	NOUN
fcis-9409	19	25	algorithm	algorithm	NOUN
fcis-9409	19	26	,	,	PUNCT
fcis-9409	19	27	and	and	CCONJ
fcis-9409	19	28	obtained	obtain	VERB
fcis-9409	19	29	the	the	DET
fcis-9409	19	30	internal	internal	ADJ
fcis-9409	19	31	and	and	CCONJ
fcis-9409	19	32	external	external	ADJ
fcis-9409	19	33	parameters	parameter	NOUN
fcis-9409	19	34	of	of	ADP
fcis-9409	19	35	the	the	DET
fcis-9409	19	36	underwater	underwater	ADJ
fcis-9409	19	37	camera	camera	NOUN
fcis-9409	19	38	by	by	ADP
fcis-9409	19	39	underwater	underwater	ADJ
fcis-9409	19	40	calibration	calibration	NOUN
fcis-9409	19	41	method	method	NOUN
fcis-9409	19	42	.	.	PUNCT
fcis-9409	20	1	based	base	VERB
fcis-9409	20	2	on	on	ADP
fcis-9409	20	3	this	this	PRON
fcis-9409	20	4	,	,	PUNCT
fcis-9409	20	5	a	a	DET
fcis-9409	20	6	binocular	binocular	ADJ
fcis-9409	20	7	stereo	stereo	NOUN
fcis-9409	20	8	vision	vision	NOUN
fcis-9409	20	9	system	system	NOUN
fcis-9409	20	10	is	be	AUX
fcis-9409	20	11	designed	design	VERB
fcis-9409	20	12	and	and	CCONJ
fcis-9409	20	13	implemented	implement	VERB
fcis-9409	20	14	,	,	PUNCT
fcis-9409	20	15	which	which	PRON
fcis-9409	20	16	is	be	AUX
fcis-9409	20	17	suitable	suitable	ADJ
fcis-9409	20	18	for	for	ADP
fcis-9409	20	19	underwater	underwater	ADJ
fcis-9409	20	20	target	target	NOUN
fcis-9409	20	21	ranging	ranging	NOUN
fcis-9409	20	22	and	and	CCONJ
fcis-9409	20	23	size	size	NOUN
fcis-9409	20	24	measurement	measurement	NOUN
fcis-9409	20	25	.	.	PUNCT
fcis-9409	21	1	2	2	X
fcis-9409	21	2	.	.	X
fcis-9409	21	3	underwater	underwater	ADJ
fcis-9409	21	4	ranging	range	VERB
fcis-9409	21	5	system	system	NOUN
fcis-9409	21	6	based	base	VERB
fcis-9409	21	7	on	on	ADP
fcis-9409	21	8	binocular	binocular	ADJ
fcis-9409	21	9	vision	vision	NOUN
fcis-9409	21	10	the	the	DET
fcis-9409	21	11	overall	overall	ADJ
fcis-9409	21	12	process	process	NOUN
fcis-9409	21	13	of	of	ADP
fcis-9409	21	14	underwater	underwater	ADJ
fcis-9409	21	15	target	target	NOUN
fcis-9409	21	16	ranging	ranging	NOUN
fcis-9409	21	17	and	and	CCONJ
fcis-9409	21	18	size	size	NOUN
fcis-9409	21	19	measurement	measurement	NOUN
fcis-9409	21	20	based	base	VERB
fcis-9409	21	21	on	on	ADP
fcis-9409	21	22	binocular	binocular	ADJ
fcis-9409	21	23	vision	vision	NOUN
fcis-9409	21	24	is	be	AUX
fcis-9409	21	25	shown	show	VERB
fcis-9409	21	26	in	in	ADP
fcis-9409	21	27	figure	figure	NOUN
fcis-9409	21	28	1	1	NUM
fcis-9409	21	29	.	.	PUNCT
fcis-9409	22	1	firstly	firstly	ADV
fcis-9409	22	2	,	,	PUNCT
fcis-9409	22	3	the	the	DET
fcis-9409	22	4	improved	improved	ADJ
fcis-9409	22	5	clahe	clahe	NOUN
fcis-9409	22	6	algorithm	algorithm	NOUN
fcis-9409	22	7	is	be	AUX
fcis-9409	22	8	applied	apply	VERB
fcis-9409	22	9	to	to	ADP
fcis-9409	22	10	the	the	DET
fcis-9409	22	11	underwater	underwater	ADJ
fcis-9409	22	12	image	image	NOUN
fcis-9409	22	13	processing	processing	NOUN
fcis-9409	22	14	.	.	PUNCT
fcis-9409	23	1	in	in	ADP
fcis-9409	23	2	this	this	DET
fcis-9409	23	3	paper	paper	NOUN
fcis-9409	23	4	,	,	PUNCT
fcis-9409	23	5	the	the	DET
fcis-9409	23	6	left	left	ADJ
fcis-9409	23	7	and	and	CCONJ
fcis-9409	23	8	right	right	ADJ
fcis-9409	23	9	checkerboard	checkerboard	NOUN
fcis-9409	23	10	images	image	NOUN
fcis-9409	23	11	collected	collect	VERB
fcis-9409	23	12	underwater	underwater	NOUN
fcis-9409	23	13	are	be	AUX
fcis-9409	23	14	calibrated	calibrate	VERB
fcis-9409	23	15	by	by	ADP
fcis-9409	23	16	the	the	DET
fcis-9409	23	17	improved	improve	VERB
fcis-9409	23	18	zhang	zhang	PROPN
fcis-9409	23	19	's	's	PART
fcis-9409	23	20	calibration	calibration	NOUN
fcis-9409	23	21	method	method	NOUN
fcis-9409	23	22	,	,	PUNCT
fcis-9409	23	23	and	and	CCONJ
fcis-9409	23	24	the	the	DET
fcis-9409	23	25	underwater	underwater	ADJ
fcis-9409	23	26	parameters	parameter	NOUN
fcis-9409	23	27	of	of	ADP
fcis-9409	23	28	the	the	DET
fcis-9409	23	29	binocular	binocular	ADJ
fcis-9409	23	30	camera	camera	NOUN
fcis-9409	23	31	are	be	AUX
fcis-9409	23	32	obtained	obtain	VERB
fcis-9409	23	33	,	,	PUNCT
fcis-9409	23	34	including	include	VERB
fcis-9409	23	35	rotation	rotation	NOUN
fcis-9409	23	36	matrix	matrix	NOUN
fcis-9409	23	37	,	,	PUNCT
fcis-9409	23	38	translation	translation	NOUN
fcis-9409	23	39	vector	vector	NOUN
fcis-9409	23	40	,	,	PUNCT
fcis-9409	23	41	etc	etc	X
fcis-9409	23	42	.	.	X
fcis-9409	23	43	image	image	NOUN
fcis-9409	23	44	processing	processing	NOUN
fcis-9409	23	45	was	be	AUX
fcis-9409	23	46	carried	carry	VERB
fcis-9409	23	47	out	out	ADP
fcis-9409	23	48	for	for	ADP
fcis-9409	23	49	the	the	DET
fcis-9409	23	50	input	input	NOUN
fcis-9409	23	51	underwater	underwater	NOUN
fcis-9409	23	52	images	image	NOUN
fcis-9409	23	53	,	,	PUNCT
fcis-9409	23	54	and	and	CCONJ
fcis-9409	23	55	binocular	binocular	ADJ
fcis-9409	23	56	correction	correction	NOUN
fcis-9409	23	57	was	be	AUX
fcis-9409	23	58	carried	carry	VERB
fcis-9409	23	59	out	out	ADP
fcis-9409	23	60	by	by	ADP
fcis-9409	23	61	using	use	VERB
fcis-9409	23	62	the	the	DET
fcis-9409	23	63	parameters	parameter	NOUN
fcis-9409	23	64	after	after	ADP
fcis-9409	23	65	underwater	underwater	ADJ
fcis-9409	23	66	calibration	calibration	NOUN
fcis-9409	23	67	.	.	PUNCT
fcis-9409	24	1	the	the	DET
fcis-9409	24	2	stereo	stereo	PROPN
fcis-9409	24	3	matching	matching	NOUN
fcis-9409	24	4	algorithm	algorithm	NOUN
fcis-9409	24	5	of	of	ADP
fcis-9409	24	6	sgbm	sgbm	NOUN
fcis-9409	24	7	is	be	AUX
fcis-9409	24	8	used	use	VERB
fcis-9409	24	9	to	to	PART
fcis-9409	24	10	match	match	VERB
fcis-9409	24	11	the	the	DET
fcis-9409	24	12	corrected	correct	VERB
fcis-9409	24	13	underwater	underwater	ADJ
fcis-9409	24	14	images	image	NOUN
fcis-9409	24	15	,	,	PUNCT
fcis-9409	24	16	and	and	CCONJ
fcis-9409	24	17	then	then	ADV
fcis-9409	24	18	the	the	DET
fcis-9409	24	19	underwater	underwater	ADJ
fcis-9409	24	20	parallax	parallax	NOUN
fcis-9409	24	21	map	map	NOUN
fcis-9409	24	22	is	be	AUX
fcis-9409	24	23	obtained	obtain	VERB
fcis-9409	24	24	.	.	PUNCT
fcis-9409	25	1	finally	finally	ADV
fcis-9409	25	2	,	,	PUNCT
fcis-9409	25	3	the	the	DET
fcis-9409	25	4	distance	distance	NOUN
fcis-9409	25	5	and	and	CCONJ
fcis-9409	25	6	size	size	NOUN
fcis-9409	25	7	of	of	ADP
fcis-9409	25	8	the	the	DET
fcis-9409	25	9	target	target	NOUN
fcis-9409	25	10	are	be	AUX
fcis-9409	25	11	measured	measure	VERB
fcis-9409	25	12	according	accord	VERB
fcis-9409	25	13	to	to	ADP
fcis-9409	25	14	the	the	DET
fcis-9409	25	15	principle	principle	NOUN
fcis-9409	25	16	of	of	ADP
fcis-9409	25	17	binocular	binocular	ADJ
fcis-9409	25	18	distance	distance	NOUN
fcis-9409	25	19	measurement	measurement	NOUN
fcis-9409	25	20	and	and	CCONJ
fcis-9409	25	21	the	the	DET
fcis-9409	25	22	space	space	NOUN
fcis-9409	25	23	two	two	NUM
fcis-9409	25	24	-	-	PUNCT
fcis-9409	25	25	point	point	NOUN
fcis-9409	25	26	distance	distance	NOUN
fcis-9409	25	27	formula	formula	NOUN
fcis-9409	25	28	.	.	PUNCT
fcis-9409	26	1	underwater	underwater	NOUN
fcis-9409	26	2	left	leave	VERB
fcis-9409	26	3	checkerboard	checkerboard	NOUN
fcis-9409	26	4	image	image	NOUN
fcis-9409	26	5	underwater	underwater	ADJ
fcis-9409	26	6	right	right	ADJ
fcis-9409	26	7	checkerboard	checkerboard	NOUN
fcis-9409	26	8	image	image	NOUN
fcis-9409	26	9	image	image	NOUN
fcis-9409	26	10	processing	processing	NOUN
fcis-9409	26	11	image	image	NOUN
fcis-9409	26	12	processing	process	VERB
fcis-9409	26	13	single	single	ADJ
fcis-9409	26	14	targeting	target	VERB
fcis-9409	26	15	single	single	ADJ
fcis-9409	26	16	targeting	target	VERB
fcis-9409	26	17	binocular	binocular	ADJ
fcis-9409	26	18	calibration	calibration	NOUN
fcis-9409	26	19	internal	internal	ADJ
fcis-9409	26	20	and	and	CCONJ
fcis-9409	26	21	external	external	ADJ
fcis-9409	26	22	parameters	parameter	NOUN
fcis-9409	26	23	underwater	underwater	ADJ
fcis-9409	26	24	image	image	NOUN
fcis-9409	26	25	of	of	ADP
fcis-9409	26	26	left	left	ADJ
fcis-9409	26	27	camera	camera	NOUN
fcis-9409	26	28	underwater	underwater	ADJ
fcis-9409	26	29	image	image	NOUN
fcis-9409	26	30	of	of	ADP
fcis-9409	26	31	left	left	ADJ
fcis-9409	26	32	camera	camera	NOUN
fcis-9409	26	33	binocular	binocular	ADJ
fcis-9409	26	34	correction	correction	NOUN
fcis-9409	26	35	sgbm	sgbm	VERB
fcis-9409	26	36	stereo	stereo	PROPN
fcis-9409	26	37	matching	matching	NOUN
fcis-9409	26	38	measure	measure	NOUN
fcis-9409	26	39	distance	distance	NOUN
fcis-9409	26	40	and	and	CCONJ
fcis-9409	26	41	dimensions	dimension	NOUN
fcis-9409	26	42	use	use	VERB
fcis-9409	26	43	the	the	DET
fcis-9409	26	44	mouse	mouse	NOUN
fcis-9409	26	45	to	to	PART
fcis-9409	26	46	select	select	VERB
fcis-9409	26	47	points	point	NOUN
fcis-9409	26	48	image	image	NOUN
fcis-9409	26	49	processing	processing	NOUN
fcis-9409	26	50	image	image	NOUN
fcis-9409	26	51	processing	processing	NOUN
fcis-9409	26	52	figure	figure	NOUN
fcis-9409	26	53	1	1	NUM
fcis-9409	26	54	.	.	PUNCT
fcis-9409	26	55	flow	flow	VERB
fcis-9409	26	56	chart	chart	NOUN
fcis-9409	26	57	of	of	ADP
fcis-9409	26	58	underwater	underwater	ADJ
fcis-9409	26	59	target	target	NOUN
fcis-9409	26	60	ranging	range	VERB
fcis-9409	26	61	system	system	NOUN
fcis-9409	26	62	based	base	VERB
fcis-9409	26	63	on	on	ADP
fcis-9409	26	64	binocular	binocular	ADJ
fcis-9409	26	65	vision	vision	NOUN
fcis-9409	26	66	3	3	X
fcis-9409	26	67	.	.	X
fcis-9409	26	68	underwater	underwater	ADJ
fcis-9409	26	69	binocular	binocular	ADJ
fcis-9409	26	70	imaging	imaging	NOUN
fcis-9409	26	71	model	model	NOUN
fcis-9409	26	72	and	and	CCONJ
fcis-9409	26	73	underwater	underwater	ADJ
fcis-9409	26	74	calibration	calibration	NOUN
fcis-9409	26	75	method	method	NOUN
fcis-9409	26	76	for	for	ADP
fcis-9409	26	77	underwater	underwater	ADJ
fcis-9409	26	78	shooting	shooting	NOUN
fcis-9409	26	79	,	,	PUNCT
fcis-9409	26	80	the	the	DET
fcis-9409	26	81	camera	camera	NOUN
fcis-9409	26	82	container	container	NOUN
fcis-9409	26	83	shell	shell	NOUN
fcis-9409	26	84	needs	need	VERB
fcis-9409	26	85	to	to	PART
fcis-9409	26	86	be	be	AUX
fcis-9409	26	87	sealed	seal	VERB
fcis-9409	26	88	and	and	CCONJ
fcis-9409	26	89	waterproof	waterproof	ADJ
fcis-9409	26	90	,	,	PUNCT
fcis-9409	26	91	and	and	CCONJ
fcis-9409	26	92	transparent	transparent	ADJ
fcis-9409	26	93	glass	glass	NOUN
fcis-9409	26	94	cover	cover	NOUN
fcis-9409	26	95	plate	plate	NOUN
fcis-9409	26	96	is	be	AUX
fcis-9409	26	97	usually	usually	ADV
fcis-9409	26	98	used	use	VERB
fcis-9409	26	99	in	in	ADP
fcis-9409	26	100	front	front	NOUN
fcis-9409	26	101	of	of	ADP
fcis-9409	26	102	the	the	DET
fcis-9409	26	103	container	container	NOUN
fcis-9409	26	104	.	.	PUNCT
fcis-9409	27	1	as	as	ADP
fcis-9409	27	2	a	a	DET
fcis-9409	27	3	result	result	NOUN
fcis-9409	27	4	,	,	PUNCT
fcis-9409	27	5	light	light	NOUN
fcis-9409	27	6	is	be	AUX
fcis-9409	27	7	refracted	refract	VERB
fcis-9409	27	8	twice	twice	ADV
fcis-9409	27	9	as	as	SCONJ
fcis-9409	27	10	it	it	PRON
fcis-9409	27	11	travels	travel	VERB
fcis-9409	27	12	from	from	ADP
fcis-9409	27	13	underwater	underwater	ADJ
fcis-9409	27	14	objects	object	NOUN
fcis-9409	27	15	to	to	ADP
fcis-9409	27	16	the	the	DET
fcis-9409	27	17	camera	camera	NOUN
fcis-9409	27	18	lens	lens	NOUN
fcis-9409	27	19	,	,	PUNCT
fcis-9409	27	20	at	at	ADP
fcis-9409	27	21	the	the	DET
fcis-9409	27	22	interface	interface	NOUN
fcis-9409	27	23	between	between	ADP
fcis-9409	27	24	water	water	NOUN
fcis-9409	27	25	and	and	CCONJ
fcis-9409	27	26	glass	glass	NOUN
fcis-9409	27	27	,	,	PUNCT
fcis-9409	27	28	and	and	CCONJ
fcis-9409	27	29	at	at	ADP
fcis-9409	27	30	the	the	DET
fcis-9409	27	31	interface	interface	NOUN
fcis-9409	27	32	between	between	ADP
fcis-9409	27	33	glass	glass	NOUN
fcis-9409	27	34	and	and	CCONJ
fcis-9409	27	35	air	air	NOUN
fcis-9409	27	36	.	.	PUNCT
fcis-9409	28	1	since	since	SCONJ
fcis-9409	28	2	the	the	DET
fcis-9409	28	3	glass	glass	NOUN
fcis-9409	28	4	is	be	AUX
fcis-9409	28	5	thin	thin	ADJ
fcis-9409	28	6	and	and	CCONJ
fcis-9409	28	7	homogeneous	homogeneous	ADJ
fcis-9409	28	8	,	,	PUNCT
fcis-9409	28	9	and	and	CCONJ
fcis-9409	28	10	the	the	DET
fcis-9409	28	11	target	target	NOUN
fcis-9409	28	12	distance	distance	NOUN
fcis-9409	28	13	is	be	AUX
fcis-9409	28	14	much	much	ADV
fcis-9409	28	15	larger	large	ADJ
fcis-9409	28	16	than	than	ADP
fcis-9409	28	17	its	its	PRON
fcis-9409	28	18	thickness	thickness	NOUN
fcis-9409	28	19	,	,	PUNCT
fcis-9409	28	20	the	the	DET
fcis-9409	28	21	propagation	propagation	NOUN
fcis-9409	28	22	process	process	NOUN
fcis-9409	28	23	of	of	ADP
fcis-9409	28	24	light	light	NOUN
fcis-9409	28	25	in	in	ADP
fcis-9409	28	26	the	the	DET
fcis-9409	28	27	glass	glass	NOUN
fcis-9409	28	28	can	can	AUX
fcis-9409	28	29	be	be	AUX
fcis-9409	28	30	ignored	ignore	VERB
fcis-9409	28	31	[	[	PUNCT
fcis-9409	28	32	6	6	NUM
fcis-9409	28	33	]	]	PUNCT
fcis-9409	28	34	.	.	PUNCT
fcis-9409	29	1	the	the	DET
fcis-9409	29	2	simplified	simplified	ADJ
fcis-9409	29	3	underwater	underwater	ADJ
fcis-9409	29	4	imaging	imaging	NOUN
fcis-9409	29	5	model	model	NOUN
fcis-9409	29	6	of	of	ADP
fcis-9409	29	7	the	the	DET
fcis-9409	29	8	camera	camera	NOUN
fcis-9409	29	9	is	be	AUX
fcis-9409	29	10	shown	show	VERB
fcis-9409	29	11	in	in	ADP
fcis-9409	29	12	figure	figure	NOUN
fcis-9409	29	13	2	2	NUM
fcis-9409	29	14	.	.	PUNCT
fcis-9409	30	1			PROPN
fcis-9409	30	2			PROPN
fcis-9409	30	3	,	,	PUNCT
fcis-9409	30	4	,	,	PUNCT
fcis-9409	30	5	ww	ww	PROPN
fcis-9409	30	6	w	w	PROPN
fcis-9409	30	7	p	p	PROPN
fcis-9409	30	8	x	x	X
fcis-9409	30	9	y	y	PROPN
fcis-9409	30	10	z	z	PROPN
fcis-9409	30	11	in	in	ADP
fcis-9409	30	12	figure	figure	NOUN
fcis-9409	30	13	2	2	NUM
fcis-9409	30	14	is	be	AUX
fcis-9409	30	15	the	the	DET
fcis-9409	30	16	target	target	NOUN
fcis-9409	30	17	point	point	NOUN
fcis-9409	30	18	to	to	PART
fcis-9409	30	19	be	be	AUX
fcis-9409	30	20	measured	measure	VERB
fcis-9409	30	21	;	;	PUNCT
fcis-9409	30	22	1	1	NUM
fcis-9409	30	23	o	o	NOUN
fcis-9409	30	24	is	be	AUX
fcis-9409	30	25	the	the	DET
fcis-9409	30	26	real	real	ADJ
fcis-9409	30	27	position	position	NOUN
fcis-9409	30	28	of	of	ADP
fcis-9409	30	29	the	the	DET
fcis-9409	30	30	camera	camera	NOUN
fcis-9409	30	31	;	;	PUNCT
fcis-9409	30	32	2	2	NUM
fcis-9409	30	33	o	o	NOUN
fcis-9409	30	34	is	be	AUX
fcis-9409	30	35	the	the	DET
fcis-9409	30	36	intersection	intersection	NOUN
fcis-9409	30	37	point	point	NOUN
fcis-9409	30	38	of	of	ADP
fcis-9409	30	39	the	the	DET
fcis-9409	30	40	extension	extension	NOUN
fcis-9409	30	41	line	line	NOUN
fcis-9409	30	42	of	of	ADP
fcis-9409	30	43	incident	incident	NOUN
fcis-9409	30	44	light	light	NOUN
fcis-9409	30	45	in	in	ADP
fcis-9409	30	46	water	water	NOUN
fcis-9409	30	47	on	on	ADP
fcis-9409	30	48	the	the	DET
fcis-9409	30	49	optical	optical	ADJ
fcis-9409	30	50	axis	axis	NOUN
fcis-9409	30	51	of	of	ADP
fcis-9409	30	52	the	the	DET
fcis-9409	30	53	camera	camera	NOUN
fcis-9409	30	54	,	,	PUNCT
fcis-9409	30	55	which	which	PRON
fcis-9409	30	56	is	be	AUX
fcis-9409	30	57	taken	take	VERB
fcis-9409	30	58	as	as	ADP
fcis-9409	30	59	the	the	DET
fcis-9409	30	60	virtual	virtual	ADJ
fcis-9409	30	61	camera	camera	NOUN
fcis-9409	30	62	position	position	NOUN
fcis-9409	30	63	;	;	PUNCT
fcis-9409	30	64	o	o	NOUN
fcis-9409	30	65	is	be	AUX
fcis-9409	30	66	the	the	DET
fcis-9409	30	67	refraction	refraction	NOUN
fcis-9409	30	68	point	point	NOUN
fcis-9409	30	69	of	of	ADP
fcis-9409	30	70	incident	incident	NOUN
fcis-9409	30	71	light	light	NOUN
fcis-9409	30	72	on	on	ADP
fcis-9409	30	73	the	the	DET
fcis-9409	30	74	interface	interface	NOUN
fcis-9409	30	75	between	between	ADP
fcis-9409	30	76	water	water	NOUN
fcis-9409	30	77	and	and	CCONJ
fcis-9409	30	78	air	air	NOUN
fcis-9409	30	79	;	;	PUNCT
fcis-9409	30	80	18	18	NUM
fcis-9409	30	81	a	a	PRON
fcis-9409	30	82	is	be	AUX
fcis-9409	30	83	the	the	DET
fcis-9409	30	84	intersection	intersection	NOUN
fcis-9409	30	85	point	point	NOUN
fcis-9409	30	86	of	of	ADP
fcis-9409	30	87	camera	camera	NOUN
fcis-9409	30	88	optical	optical	ADJ
fcis-9409	30	89	axis	axis	NOUN
fcis-9409	30	90	and	and	CCONJ
fcis-9409	30	91	the	the	DET
fcis-9409	30	92	interface	interface	NOUN
fcis-9409	30	93	between	between	ADP
fcis-9409	30	94	water	water	NOUN
fcis-9409	30	95	and	and	CCONJ
fcis-9409	30	96	air	air	NOUN
fcis-9409	30	97	;	;	PUNCT
fcis-9409	30	98	1	1	NUM
fcis-9409	30	99			NOUN
fcis-9409	30	100	and	and	CCONJ
fcis-9409	30	101	2	2	NUM
fcis-9409	30	102			X
fcis-9409	30	103	are	be	AUX
fcis-9409	30	104	respectively	respectively	ADV
fcis-9409	30	105	the	the	DET
fcis-9409	30	106	incidence	incidence	NOUN
fcis-9409	30	107	angle	angle	NOUN
fcis-9409	30	108	and	and	CCONJ
fcis-9409	30	109	the	the	DET
fcis-9409	30	110	refraction	refraction	NOUN
fcis-9409	30	111	angle	angle	NOUN
fcis-9409	30	112	.	.	PUNCT
fcis-9409	31	1	z	z	NOUN
fcis-9409	31	2	θ1	θ1	PROPN
fcis-9409	31	3	θ2	θ2	PROPN
fcis-9409	31	4	o2	o2	PROPN
fcis-9409	31	5	o1	o1	PROPN
fcis-9409	31	6	o	o	PROPN
fcis-9409	31	7	a	a	DET
fcis-9409	31	8	p(xw	p(xw	PROPN
fcis-9409	31	9	,	,	PUNCT
fcis-9409	31	10	yw	yw	PROPN
fcis-9409	31	11	,	,	PUNCT
fcis-9409	31	12	zw	zw	PROPN
fcis-9409	31	13	)	)	PUNCT
fcis-9409	31	14	camera	camera	NOUN
fcis-9409	31	15	camera_v	camera_v	NOUN
fcis-9409	31	16	air	air	NOUN
fcis-9409	31	17	water	water	PROPN
fcis-9409	31	18	figure	figure	NOUN
fcis-9409	31	19	2	2	NUM
fcis-9409	31	20	.	.	X
fcis-9409	31	21	underwater	underwater	ADJ
fcis-9409	31	22	imaging	imaging	NOUN
fcis-9409	31	23	model	model	NOUN
fcis-9409	31	24	1	1	NUM
fcis-9409	31	25	n	n	NOUN
fcis-9409	31	26	and	and	CCONJ
fcis-9409	31	27	2	2	NUM
fcis-9409	31	28	n	n	NOUN
fcis-9409	31	29	are	be	AUX
fcis-9409	31	30	the	the	DET
fcis-9409	31	31	refractive	refractive	ADJ
fcis-9409	31	32	indices	index	NOUN
fcis-9409	31	33	of	of	ADP
fcis-9409	31	34	water	water	NOUN
fcis-9409	31	35	and	and	CCONJ
fcis-9409	31	36	air	air	NOUN
fcis-9409	31	37	respectively	respectively	ADV
fcis-9409	31	38	.	.	PUNCT
fcis-9409	32	1	according	accord	VERB
fcis-9409	32	2	to	to	ADP
fcis-9409	32	3	the	the	DET
fcis-9409	32	4	triangle	triangle	NOUN
fcis-9409	32	5	similarity	similarity	NOUN
fcis-9409	32	6	and	and	CCONJ
fcis-9409	32	7	refraction	refraction	NOUN
fcis-9409	32	8	law	law	NOUN
fcis-9409	32	9	1	1	NUM
fcis-9409	32	10	1	1	NUM
fcis-9409	32	11	2	2	NUM
fcis-9409	32	12	2	2	NUM
fcis-9409	32	13	sin	sin	NOUN
fcis-9409	32	14	sinn	sinn	PROPN
fcis-9409	32	15	n	n	PROPN
fcis-9409	32	16			PROPN
fcis-9409	32	17	,	,	PUNCT
fcis-9409	32	18	it	it	PRON
fcis-9409	32	19	can	can	AUX
fcis-9409	32	20	be	be	AUX
fcis-9409	32	21	obtained	obtain	VERB
fcis-9409	32	22	:	:	PUNCT
fcis-9409	32	23			NUM
fcis-9409	32	24	1	1	NUM
fcis-9409	32	25	1	1	NUM
fcis-9409	32	26	1	1	NUM
fcis-9409	32	27	1	1	NUM
fcis-9409	32	28	2	2	NUM
fcis-9409	32	29	2	2	NUM
fcis-9409	32	30	2	2	NUM
fcis-9409	32	31	2	2	NUM
fcis-9409	32	32	2	2	NUM
fcis-9409	32	33	1	1	NUM
fcis-9409	32	34	tan	tan	PROPN
fcis-9409	32	35	sin	sin	NOUN
fcis-9409	32	36	tan	tan	PROPN
fcis-9409	32	37	sin	sin	VERB
fcis-9409	32	38	o	o	NOUN
fcis-9409	32	39	o	o	NOUN
fcis-9409	33	1	n	n	CCONJ
fcis-9409	33	2	o	o	NOUN
fcis-9409	33	3	o	o	X
fcis-9409	33	4	n	n	NOUN
fcis-9409	33	5			X
fcis-9409	33	6			X
fcis-9409	34	1			PROPN
fcis-9409	34	2			PROPN
fcis-9409	35	1			X
fcis-9409	36	1			NUM
fcis-9409	37	1			NOUN
fcis-9409	37	2			X
fcis-9409	37	3			NOUN
fcis-9409	37	4			PUNCT
fcis-9409	37	5			PUNCT
fcis-9409	37	6	because	because	SCONJ
fcis-9409	37	7	the	the	DET
fcis-9409	37	8	optical	optical	ADJ
fcis-9409	37	9	axis	axis	NOUN
fcis-9409	37	10	of	of	ADP
fcis-9409	37	11	the	the	DET
fcis-9409	37	12	real	real	ADJ
fcis-9409	37	13	camera	camera	NOUN
fcis-9409	37	14	coincides	coincide	VERB
fcis-9409	37	15	with	with	ADP
fcis-9409	37	16	that	that	PRON
fcis-9409	37	17	of	of	ADP
fcis-9409	37	18	the	the	DET
fcis-9409	37	19	virtual	virtual	ADJ
fcis-9409	37	20	camera	camera	NOUN
fcis-9409	37	21	,	,	PUNCT
fcis-9409	37	22	the	the	DET
fcis-9409	37	23	projection	projection	ADJ
fcis-9409	37	24	length	length	NOUN
fcis-9409	37	25	of	of	ADP
fcis-9409	37	26	oa	oa	NOUN
fcis-9409	37	27	on	on	ADP
fcis-9409	37	28	the	the	DET
fcis-9409	37	29	two	two	NUM
fcis-9409	37	30	cameras	camera	NOUN
fcis-9409	37	31	is	be	AUX
fcis-9409	37	32	the	the	DET
fcis-9409	37	33	same	same	ADJ
fcis-9409	37	34	,	,	PUNCT
fcis-9409	37	35	that	that	ADV
fcis-9409	37	36	is	is	ADV
fcis-9409	37	37	,	,	PUNCT
fcis-9409	37	38	1	1	NUM
fcis-9409	37	39	2	2	NUM
fcis-9409	37	40	x	x	SYM
fcis-9409	37	41	x	x	X
fcis-9409	37	42	,	,	PUNCT
fcis-9409	37	43	where	where	SCONJ
fcis-9409	37	44	1	1	NUM
fcis-9409	37	45	x	x	NOUN
fcis-9409	37	46	and	and	CCONJ
fcis-9409	37	47	2	2	NUM
fcis-9409	37	48	x	x	NOUN
fcis-9409	37	49	are	be	AUX
fcis-9409	37	50	the	the	DET
fcis-9409	37	51	imaging	imaging	NOUN
fcis-9409	37	52	lengths	length	NOUN
fcis-9409	37	53	of	of	ADP
fcis-9409	37	54	oa	oa	PRON
fcis-9409	37	55	in	in	ADP
fcis-9409	37	56	the	the	DET
fcis-9409	37	57	real	real	ADJ
fcis-9409	37	58	camera	camera	NOUN
fcis-9409	37	59	and	and	CCONJ
fcis-9409	37	60	the	the	DET
fcis-9409	37	61	virtual	virtual	ADJ
fcis-9409	37	62	camera	camera	NOUN
fcis-9409	37	63	respectively	respectively	ADV
fcis-9409	37	64	.	.	PUNCT
fcis-9409	38	1	therefore	therefore	ADV
fcis-9409	38	2	:	:	PUNCT
fcis-9409	38	3			VERB
fcis-9409	38	4	1	1	NUM
fcis-9409	38	5	1	1	NUM
fcis-9409	38	6	1	1	NUM
fcis-9409	38	7	x	x	SYM
fcis-9409	38	8	f	f	NOUN
fcis-9409	38	9	oa	oa	INTJ
fcis-9409	38	10	oo	oo	INTJ
fcis-9409	38	11			PROPN
fcis-9409	38	12			PUNCT
fcis-9409	38	13			PROPN
fcis-9409	39	1			VERB
fcis-9409	39	2	2	2	NUM
fcis-9409	39	3	2	2	NUM
fcis-9409	39	4	2	2	NUM
fcis-9409	39	5	x	x	AUX
fcis-9409	39	6	f	f	NOUN
fcis-9409	40	1	oa	oa	INTJ
fcis-9409	41	1	oo	oo	INTJ
fcis-9409	41	2			PROPN
fcis-9409	41	3			PROPN
fcis-9409	41	4			NOUN
fcis-9409	41	5	according	accord	VERB
fcis-9409	41	6	to	to	ADP
fcis-9409	41	7	formula	formula	NOUN
fcis-9409	41	8	2	2	NUM
fcis-9409	41	9	and	and	CCONJ
fcis-9409	41	10	3	3	NUM
fcis-9409	41	11	,	,	PUNCT
fcis-9409	41	12	we	we	PRON
fcis-9409	41	13	can	can	AUX
fcis-9409	41	14	get	get	VERB
fcis-9409	41	15	:	:	PUNCT
fcis-9409	41	16			NUM
fcis-9409	41	17	1	1	NUM
fcis-9409	41	18	1	1	NUM
fcis-9409	41	19	2	2	NUM
fcis-9409	41	20	2	2	NUM
fcis-9409	41	21	2	2	NUM
fcis-9409	41	22	1	1	NUM
fcis-9409	41	23	f	f	PROPN
fcis-9409	41	24	noo	noo	PROPN
fcis-9409	41	25	oof	oof	PROPN
fcis-9409	41	26	n	n	PROPN
fcis-9409	42	1			PROPN
fcis-9409	43	1			PROPN
fcis-9409	44	1			VERB
fcis-9409	44	2			PROPN
fcis-9409	44	3	formula	formula	NOUN
fcis-9409	44	4	4	4	NUM
fcis-9409	44	5	shows	show	VERB
fcis-9409	44	6	that	that	SCONJ
fcis-9409	44	7	the	the	DET
fcis-9409	44	8	focal	focal	ADJ
fcis-9409	44	9	length	length	NOUN
fcis-9409	44	10	of	of	ADP
fcis-9409	44	11	the	the	DET
fcis-9409	44	12	camera	camera	NOUN
fcis-9409	44	13	when	when	SCONJ
fcis-9409	44	14	used	use	VERB
fcis-9409	44	15	underwater	underwater	NOUN
fcis-9409	44	16	will	will	AUX
fcis-9409	44	17	change	change	VERB
fcis-9409	44	18	with	with	ADP
fcis-9409	44	19	the	the	DET
fcis-9409	44	20	refractive	refractive	ADJ
fcis-9409	44	21	index	index	NOUN
fcis-9409	44	22	of	of	ADP
fcis-9409	44	23	water	water	NOUN
fcis-9409	44	24	and	and	CCONJ
fcis-9409	44	25	air	air	NOUN
fcis-9409	44	26	.	.	PUNCT
fcis-9409	45	1	suppose	suppose	VERB
fcis-9409	45	2	that	that	SCONJ
fcis-9409	45	3	the	the	DET
fcis-9409	45	4	coordinate	coordinate	NOUN
fcis-9409	45	5	of	of	ADP
fcis-9409	45	6	point	point	NOUN
fcis-9409	45	7	p	p	NOUN
fcis-9409	45	8	in	in	ADP
fcis-9409	45	9	the	the	DET
fcis-9409	45	10	world	world	NOUN
fcis-9409	45	11	coordinate	coordinate	NOUN
fcis-9409	45	12	system	system	NOUN
fcis-9409	45	13	is	be	AUX
fcis-9409	45	14	(	(	PUNCT
fcis-9409	45	15	,	,	PUNCT
fcis-9409	45	16	,	,	PUNCT
fcis-9409	45	17	)	)	PUNCT
fcis-9409	45	18	w	w	PROPN
fcis-9409	45	19	w	w	PROPN
fcis-9409	45	20	w	w	PROPN
fcis-9409	45	21	x	x	X
fcis-9409	45	22	y	y	PROPN
fcis-9409	45	23	z	z	PROPN
fcis-9409	45	24	,	,	PUNCT
fcis-9409	45	25	point	point	VERB
fcis-9409	45	26	u	u	PRON
fcis-9409	45	27	p	p	NOUN
fcis-9409	45	28	is	be	AUX
fcis-9409	45	29	the	the	DET
fcis-9409	45	30	projection	projection	NOUN
fcis-9409	45	31	of	of	ADP
fcis-9409	45	32	point	point	NOUN
fcis-9409	45	33	p	p	NOUN
fcis-9409	45	34	in	in	ADP
fcis-9409	45	35	the	the	DET
fcis-9409	45	36	pixel	pixel	PROPN
fcis-9409	45	37	coordinate	coordinate	NOUN
fcis-9409	45	38	system	system	NOUN
fcis-9409	45	39	,	,	PUNCT
fcis-9409	45	40	and	and	CCONJ
fcis-9409	45	41	its	its	PRON
fcis-9409	45	42	coordinate	coordinate	NOUN
fcis-9409	45	43	in	in	ADP
fcis-9409	45	44	the	the	DET
fcis-9409	45	45	pixel	pixel	PROPN
fcis-9409	45	46	coordinate	coordinate	NOUN
fcis-9409	45	47	system	system	NOUN
fcis-9409	45	48	is	be	AUX
fcis-9409	45	49	(	(	PUNCT
fcis-9409	45	50	,	,	PUNCT
fcis-9409	45	51	)	)	PUNCT
fcis-9409	45	52	u	u	NOUN
fcis-9409	45	53	v	v	NOUN
fcis-9409	45	54	,	,	PUNCT
fcis-9409	45	55	then	then	ADV
fcis-9409	45	56	the	the	DET
fcis-9409	45	57	transformation	transformation	NOUN
fcis-9409	45	58	formula	formula	NOUN
fcis-9409	45	59	of	of	ADP
fcis-9409	45	60	point	point	NOUN
fcis-9409	45	61	p	p	NOUN
fcis-9409	45	62	from	from	ADP
fcis-9409	45	63	the	the	DET
fcis-9409	45	64	world	world	NOUN
fcis-9409	45	65	coordinate	coordinate	NOUN
fcis-9409	45	66	system	system	NOUN
fcis-9409	45	67	to	to	ADP
fcis-9409	45	68	the	the	DET
fcis-9409	45	69	pixel	pixel	PROPN
fcis-9409	45	70	coordinate	coordinate	NOUN
fcis-9409	45	71	system	system	NOUN
fcis-9409	45	72	is[7	is[7	ADV
fcis-9409	45	73	]	]	X
fcis-9409	45	74	:	:	PUNCT
fcis-9409	45	75			X
fcis-9409	45	76	0	0	NUM
fcis-9409	45	77	0	0	NUM
fcis-9409	45	78	1	1	NUM
fcis-9409	45	79	0	0	NUM
fcis-9409	45	80	0	0	NUM
fcis-9409	45	81	0	0	NUM
fcis-9409	45	82	0	0	NUM
fcis-9409	45	83	1	1	NUM
fcis-9409	45	84	1	1	NUM
fcis-9409	45	85	0	0	NUM
fcis-9409	45	86	0	0	NUM
fcis-9409	45	87	0	0	NUM
fcis-9409	45	88	0	0	NUM
fcis-9409	45	89	0	0	NUM
fcis-9409	45	90	1	1	NUM
fcis-9409	45	91	1	1	NUM
fcis-9409	45	92	0	0	NUM
fcis-9409	45	93	0	0	NUM
fcis-9409	45	94	1	1	NUM
fcis-9409	45	95	0	0	NUM
fcis-9409	45	96	0	0	NUM
fcis-9409	45	97	0	0	NUM
fcis-9409	45	98	1	1	NUM
fcis-9409	45	99	1	1	NUM
fcis-9409	45	100	w	w	PROPN
fcis-9409	45	101	w	w	PROPN
fcis-9409	45	102	w	w	PROPN
fcis-9409	45	103	u	u	NOUN
fcis-9409	45	104	xdxu	xdxu	NOUN
fcis-9409	46	1	f	f	NOUN
fcis-9409	46	2	r	r	NOUN
fcis-9409	46	3	t	t	X
fcis-9409	46	4	y	y	PROPN
fcis-9409	46	5	v	v	INTJ
fcis-9409	46	6	v	v	INTJ
fcis-9409	46	7	f	f	PROPN
fcis-9409	46	8	zz	zz	PROPN
fcis-9409	47	1	dy	dy	NOUN
fcis-9409	48	1			PROPN
fcis-9409	48	2			NOUN
fcis-9409	48	3			PROPN
fcis-9409	48	4			PROPN
fcis-9409	49	1			PROPN
fcis-9409	50	1			NOUN
fcis-9409	50	2			PROPN
fcis-9409	50	3			NOUN
fcis-9409	50	4			PROPN
fcis-9409	50	5			PROPN
fcis-9409	50	6			PROPN
fcis-9409	50	7			PROPN
fcis-9409	50	8			PROPN
fcis-9409	50	9			PROPN
fcis-9409	51	1			PROPN
fcis-9409	51	2			PROPN
fcis-9409	51	3			PROPN
fcis-9409	51	4			NOUN
fcis-9409	52	1			PROPN
fcis-9409	52	2			PROPN
fcis-9409	53	1			NOUN
fcis-9409	53	2			X
fcis-9409	54	1			INTJ
fcis-9409	55	1			PROPN
fcis-9409	55	2			NOUN
fcis-9409	56	1			PROPN
fcis-9409	56	2			PROPN
fcis-9409	56	3			VERB
fcis-9409	56	4			PROPN
fcis-9409	56	5			PROPN
fcis-9409	57	1			PROPN
fcis-9409	58	1			PROPN
fcis-9409	58	2			PROPN
fcis-9409	58	3			VERB
fcis-9409	58	4			NOUN
fcis-9409	58	5			PROPN
fcis-9409	58	6			NOUN
fcis-9409	58	7			PROPN
fcis-9409	58	8			PROPN
fcis-9409	59	1			PROPN
fcis-9409	59	2			PROPN
fcis-9409	59	3			PROPN
fcis-9409	60	1			PROPN
fcis-9409	60	2			PROPN
fcis-9409	60	3			VERB
fcis-9409	60	4			PROPN
fcis-9409	60	5	where	where	SCONJ
fcis-9409	60	6	,	,	PUNCT
fcis-9409	60	7	dx	dx	PROPN
fcis-9409	60	8	and	and	CCONJ
fcis-9409	60	9	dy	dy	NOUN
fcis-9409	60	10	are	be	AUX
fcis-9409	60	11	the	the	DET
fcis-9409	60	12	physical	physical	ADJ
fcis-9409	60	13	length	length	NOUN
fcis-9409	60	14	of	of	ADP
fcis-9409	60	15	unit	unit	NOUN
fcis-9409	60	16	pixel	pixel	VERB
fcis-9409	60	17	along	along	ADP
fcis-9409	60	18	the	the	DET
fcis-9409	60	19	x	x	PROPN
fcis-9409	60	20	and	and	CCONJ
fcis-9409	60	21	y	y	PROPN
fcis-9409	60	22	axes[8	axes[8	PROPN
fcis-9409	60	23	]	]	X
fcis-9409	60	24	,	,	PUNCT
fcis-9409	60	25	z	z	PROPN
fcis-9409	60	26	represents	represent	VERB
fcis-9409	60	27	the	the	DET
fcis-9409	60	28	depth	depth	NOUN
fcis-9409	60	29	of	of	ADP
fcis-9409	60	30	point	point	NOUN
fcis-9409	60	31	p	p	NOUN
fcis-9409	60	32	,	,	PUNCT
fcis-9409	60	33			PROPN
fcis-9409	60	34			PROPN
fcis-9409	60	35	0	0	SYM
fcis-9409	60	36	0	0	NUM
fcis-9409	60	37	,	,	PUNCT
fcis-9409	60	38	u	u	NOUN
fcis-9409	60	39	v	v	NOUN
fcis-9409	60	40	is	be	AUX
fcis-9409	60	41	the	the	DET
fcis-9409	60	42	coordinate	coordinate	NOUN
fcis-9409	60	43	of	of	ADP
fcis-9409	60	44	the	the	DET
fcis-9409	60	45	origin	origin	NOUN
fcis-9409	60	46	of	of	ADP
fcis-9409	60	47	image	image	NOUN
fcis-9409	60	48	coordinate	coordinate	NOUN
fcis-9409	60	49	system	system	NOUN
fcis-9409	60	50	in	in	ADP
fcis-9409	60	51	pixel	pixel	PROPN
fcis-9409	60	52	coordinate	coordinate	NOUN
fcis-9409	60	53	system	system	NOUN
fcis-9409	60	54	,	,	PUNCT
fcis-9409	60	55	f	f	PROPN
fcis-9409	60	56	is	be	AUX
fcis-9409	60	57	camera	camera	NOUN
fcis-9409	60	58	focal	focal	ADJ
fcis-9409	60	59	length	length	NOUN
fcis-9409	60	60	,	,	PUNCT
fcis-9409	60	61	r	r	NOUN
fcis-9409	60	62	is	be	AUX
fcis-9409	60	63	rotation	rotation	NOUN
fcis-9409	60	64	matrix	matrix	NOUN
fcis-9409	60	65	,	,	PUNCT
fcis-9409	60	66	and	and	CCONJ
fcis-9409	60	67	t	t	PROPN
fcis-9409	60	68	is	be	AUX
fcis-9409	60	69	translation	translation	NOUN
fcis-9409	60	70	vector	vector	NOUN
fcis-9409	60	71	.	.	PUNCT
fcis-9409	61	1	when	when	SCONJ
fcis-9409	61	2	the	the	DET
fcis-9409	61	3	camera	camera	NOUN
fcis-9409	61	4	is	be	AUX
fcis-9409	61	5	placed	place	VERB
fcis-9409	61	6	underwater	underwater	NOUN
fcis-9409	61	7	,	,	PUNCT
fcis-9409	61	8	due	due	ADP
fcis-9409	61	9	to	to	ADP
fcis-9409	61	10	the	the	DET
fcis-9409	61	11	influence	influence	NOUN
fcis-9409	61	12	of	of	ADP
fcis-9409	61	13	water	water	NOUN
fcis-9409	61	14	on	on	ADP
fcis-9409	61	15	light	light	ADJ
fcis-9409	61	16	scattering	scattering	NOUN
fcis-9409	61	17	,	,	PUNCT
fcis-9409	61	18	the	the	DET
fcis-9409	61	19	refraction	refraction	NOUN
fcis-9409	61	20	of	of	ADP
fcis-9409	61	21	incident	incident	NOUN
fcis-9409	61	22	light	light	NOUN
fcis-9409	61	23	in	in	ADP
fcis-9409	61	24	the	the	DET
fcis-9409	61	25	water	water	NOUN
fcis-9409	61	26	at	at	ADP
fcis-9409	61	27	the	the	DET
fcis-9409	61	28	front	front	ADJ
fcis-9409	61	29	cover	cover	NOUN
fcis-9409	61	30	glass	glass	NOUN
fcis-9409	61	31	of	of	ADP
fcis-9409	61	32	the	the	DET
fcis-9409	61	33	camera	camera	NOUN
fcis-9409	61	34	,	,	PUNCT
fcis-9409	61	35	and	and	CCONJ
fcis-9409	61	36	the	the	DET
fcis-9409	61	37	distortion	distortion	NOUN
fcis-9409	61	38	of	of	ADP
fcis-9409	61	39	imaging	imaging	NOUN
fcis-9409	61	40	caused	cause	VERB
fcis-9409	61	41	by	by	ADP
fcis-9409	61	42	the	the	DET
fcis-9409	61	43	camera	camera	NOUN
fcis-9409	61	44	itself	itself	PRON
fcis-9409	61	45	,	,	PUNCT
fcis-9409	61	46	the	the	DET
fcis-9409	61	47	underwater	underwater	ADJ
fcis-9409	61	48	imaging	imaging	NOUN
fcis-9409	61	49	of	of	ADP
fcis-9409	61	50	the	the	DET
fcis-9409	61	51	camera	camera	NOUN
fcis-9409	61	52	will	will	AUX
fcis-9409	61	53	have	have	VERB
fcis-9409	61	54	relatively	relatively	ADV
fcis-9409	61	55	serious	serious	ADJ
fcis-9409	61	56	distortion	distortion	NOUN
fcis-9409	61	57	.	.	PUNCT
fcis-9409	62	1	in	in	ADP
fcis-9409	62	2	this	this	DET
fcis-9409	62	3	paper	paper	NOUN
fcis-9409	62	4	,	,	PUNCT
fcis-9409	62	5	zhang	zhang	PROPN
fcis-9409	62	6	's	's	PART
fcis-9409	62	7	calibration	calibration	NOUN
fcis-9409	62	8	method	method	NOUN
fcis-9409	62	9	is	be	AUX
fcis-9409	62	10	improved	improve	VERB
fcis-9409	62	11	,	,	PUNCT
fcis-9409	62	12	and	and	CCONJ
fcis-9409	62	13	the	the	DET
fcis-9409	62	14	first	first	ADJ
fcis-9409	62	15	three	three	NUM
fcis-9409	62	16	distortion	distortion	NOUN
fcis-9409	62	17	coefficients	coefficient	NOUN
fcis-9409	62	18	of	of	ADP
fcis-9409	62	19	the	the	DET
fcis-9409	62	20	camera	camera	NOUN
fcis-9409	62	21	radial	radial	ADJ
fcis-9409	62	22	distortion	distortion	NOUN
fcis-9409	62	23	polynomial	polynomial	NOUN
fcis-9409	62	24	are	be	AUX
fcis-9409	62	25	obtained	obtain	VERB
fcis-9409	62	26	through	through	ADP
fcis-9409	62	27	the	the	DET
fcis-9409	62	28	high	high	ADJ
fcis-9409	62	29	-	-	PUNCT
fcis-9409	62	30	order	order	NOUN
fcis-9409	62	31	polynomial	polynomial	ADJ
fcis-9409	62	32	function	function	NOUN
fcis-9409	62	33	,	,	PUNCT
fcis-9409	62	34	so	so	SCONJ
fcis-9409	62	35	as	as	SCONJ
fcis-9409	62	36	to	to	PART
fcis-9409	62	37	eliminate	eliminate	VERB
fcis-9409	62	38	the	the	DET
fcis-9409	62	39	distortion	distortion	NOUN
fcis-9409	62	40	problem	problem	NOUN
fcis-9409	62	41	of	of	ADP
fcis-9409	62	42	the	the	DET
fcis-9409	62	43	camera	camera	NOUN
fcis-9409	62	44	underwater	underwater	NOUN
fcis-9409	62	45	imaging	imaging	NOUN
fcis-9409	62	46	better	well	ADV
fcis-9409	62	47	and	and	CCONJ
fcis-9409	62	48	ensure	ensure	VERB
fcis-9409	62	49	the	the	DET
fcis-9409	62	50	measurement	measurement	NOUN
fcis-9409	62	51	accuracy	accuracy	NOUN
fcis-9409	62	52	of	of	ADP
fcis-9409	62	53	the	the	DET
fcis-9409	62	54	system	system	NOUN
fcis-9409	62	55	.	.	PUNCT
fcis-9409	63	1	(	(	PUNCT
fcis-9409	63	2	1	1	X
fcis-9409	63	3	)	)	PUNCT
fcis-9409	63	4	as	as	ADP
fcis-9409	63	5	the	the	DET
fcis-9409	63	6	distance	distance	NOUN
fcis-9409	63	7	between	between	ADP
fcis-9409	63	8	the	the	DET
fcis-9409	63	9	imaging	imaging	NOUN
fcis-9409	63	10	point	point	NOUN
fcis-9409	63	11	and	and	CCONJ
fcis-9409	63	12	the	the	DET
fcis-9409	63	13	image	image	NOUN
fcis-9409	63	14	center	center	NOUN
fcis-9409	63	15	increases	increase	NOUN
fcis-9409	63	16	,	,	PUNCT
fcis-9409	63	17	the	the	DET
fcis-9409	63	18	radial	radial	ADJ
fcis-9409	63	19	distortion	distortion	NOUN
fcis-9409	63	20	increases	increase	VERB
fcis-9409	63	21	correspondingly	correspondingly	ADV
fcis-9409	63	22	,	,	PUNCT
fcis-9409	63	23	so	so	CCONJ
fcis-9409	63	24	the	the	DET
fcis-9409	63	25	quadratic	quadratic	ADJ
fcis-9409	63	26	and	and	CCONJ
fcis-9409	63	27	higher	high	ADJ
fcis-9409	63	28	-	-	PUNCT
fcis-9409	63	29	order	order	NOUN
fcis-9409	63	30	polynomial	polynomial	ADJ
fcis-9409	63	31	functions	function	NOUN
fcis-9409	63	32	related	relate	VERB
fcis-9409	63	33	to	to	ADP
fcis-9409	63	34	the	the	DET
fcis-9409	63	35	distance	distance	NOUN
fcis-9409	63	36	are	be	AUX
fcis-9409	63	37	used	use	VERB
fcis-9409	63	38	to	to	PART
fcis-9409	63	39	correct	correct	VERB
fcis-9409	63	40	the	the	DET
fcis-9409	63	41	radial	radial	ADJ
fcis-9409	63	42	distortion	distortion	NOUN
fcis-9409	64	1	[	[	X
fcis-9409	64	2	9	9	NUM
fcis-9409	64	3	]	]	PUNCT
fcis-9409	64	4	.	.	PUNCT
fcis-9409	65	1	radial	radial	ADJ
fcis-9409	65	2	distortion	distortion	NOUN
fcis-9409	65	3	correction	correction	NOUN
fcis-9409	65	4	formula	formula	NOUN
fcis-9409	65	5	is	be	AUX
fcis-9409	65	6	as	as	SCONJ
fcis-9409	65	7	follows	follow	VERB
fcis-9409	65	8	:	:	PUNCT
fcis-9409	65	9			NUM
fcis-9409	65	10	2	2	NUM
fcis-9409	65	11	4	4	NUM
fcis-9409	65	12	6	6	NUM
fcis-9409	65	13	1	1	NUM
fcis-9409	65	14	2	2	NUM
fcis-9409	65	15	3	3	NUM
fcis-9409	65	16	2	2	NUM
fcis-9409	65	17	4	4	NUM
fcis-9409	65	18	6	6	NUM
fcis-9409	65	19	1	1	NUM
fcis-9409	65	20	2	2	NUM
fcis-9409	65	21	3	3	NUM
fcis-9409	65	22	(	(	PUNCT
fcis-9409	65	23	1	1	NUM
fcis-9409	65	24	)	)	PUNCT
fcis-9409	65	25	(	(	PUNCT
fcis-9409	65	26	1	1	X
fcis-9409	65	27	)	)	PUNCT
fcis-9409	65	28	r	r	NOUN
fcis-9409	65	29	r	r	NOUN
fcis-9409	65	30	x	x	PUNCT
fcis-9409	65	31	x	x	SYM
fcis-9409	66	1	k	k	NOUN
fcis-9409	66	2	r	r	NOUN
fcis-9409	67	1	k	k	NOUN
fcis-9409	67	2	r	r	NOUN
fcis-9409	67	3	k	k	NOUN
fcis-9409	67	4	r	r	NOUN
fcis-9409	67	5	y	y	PROPN
fcis-9409	67	6	y	y	PROPN
fcis-9409	67	7	k	k	NOUN
fcis-9409	67	8	r	r	NOUN
fcis-9409	67	9	k	k	NOUN
fcis-9409	67	10	r	r	NOUN
fcis-9409	67	11	k	k	NOUN
fcis-9409	67	12	r	r	PROPN
fcis-9409	67	13			PROPN
fcis-9409	67	14			PROPN
fcis-9409	67	15			PUNCT
fcis-9409	67	16			PROPN
fcis-9409	67	17			PROPN
fcis-9409	67	18			PROPN
fcis-9409	67	19			PUNCT
fcis-9409	67	20			X
fcis-9409	67	21			ADP
fcis-9409	67	22			NUM
fcis-9409	67	23			PROPN
fcis-9409	67	24			X
fcis-9409	67	25			NOUN
fcis-9409	67	26	in	in	ADP
fcis-9409	67	27	the	the	DET
fcis-9409	67	28	formula	formula	NOUN
fcis-9409	67	29	,	,	PUNCT
fcis-9409	67	30	(	(	PUNCT
fcis-9409	67	31	,	,	PUNCT
fcis-9409	67	32	)	)	PUNCT
fcis-9409	67	33	x	x	X
fcis-9409	67	34	y	y	PROPN
fcis-9409	67	35	is	be	AUX
fcis-9409	67	36	the	the	DET
fcis-9409	67	37	coordinate	coordinate	NOUN
fcis-9409	67	38	of	of	ADP
fcis-9409	67	39	the	the	DET
fcis-9409	67	40	distortion	distortion	NOUN
fcis-9409	67	41	point	point	NOUN
fcis-9409	67	42	in	in	ADP
fcis-9409	67	43	the	the	DET
fcis-9409	67	44	image	image	NOUN
fcis-9409	67	45	before	before	ADP
fcis-9409	67	46	correction	correction	NOUN
fcis-9409	67	47	;	;	PUNCT
fcis-9409	67	48	(	(	PUNCT
fcis-9409	67	49	,	,	PUNCT
fcis-9409	67	50	)	)	PUNCT
fcis-9409	67	51	r	r	NOUN
fcis-9409	67	52	r	r	NOUN
fcis-9409	67	53	x	x	PUNCT
fcis-9409	67	54	y	y	NOUN
fcis-9409	67	55	is	be	AUX
fcis-9409	67	56	the	the	DET
fcis-9409	67	57	coordinate	coordinate	NOUN
fcis-9409	67	58	of	of	ADP
fcis-9409	67	59	the	the	DET
fcis-9409	67	60	distortion	distortion	NOUN
fcis-9409	67	61	point	point	NOUN
fcis-9409	67	62	in	in	ADP
fcis-9409	67	63	the	the	DET
fcis-9409	67	64	image	image	NOUN
fcis-9409	67	65	after	after	ADP
fcis-9409	67	66	correction	correction	NOUN
fcis-9409	67	67	;	;	PUNCT
fcis-9409	67	68	r	r	NOUN
fcis-9409	67	69	is	be	AUX
fcis-9409	67	70	the	the	DET
fcis-9409	67	71	distance	distance	NOUN
fcis-9409	67	72	from	from	ADP
fcis-9409	67	73	the	the	DET
fcis-9409	67	74	distortion	distortion	NOUN
fcis-9409	67	75	point	point	NOUN
fcis-9409	67	76	to	to	ADP
fcis-9409	67	77	the	the	DET
fcis-9409	67	78	image	image	NOUN
fcis-9409	67	79	center	center	NOUN
fcis-9409	67	80	,	,	PUNCT
fcis-9409	67	81	and	and	CCONJ
fcis-9409	67	82	1	1	NUM
fcis-9409	67	83	k	k	NOUN
fcis-9409	67	84	,	,	PUNCT
fcis-9409	67	85	2	2	X
fcis-9409	67	86	k	k	NOUN
fcis-9409	67	87	and	and	CCONJ
fcis-9409	67	88	3	3	NUM
fcis-9409	67	89	k	k	NOUN
fcis-9409	67	90	are	be	AUX
fcis-9409	67	91	the	the	DET
fcis-9409	67	92	radial	radial	ADJ
fcis-9409	67	93	distortion	distortion	NOUN
fcis-9409	67	94	coefficients	coefficient	NOUN
fcis-9409	67	95	.	.	PUNCT
fcis-9409	68	1	(	(	PUNCT
fcis-9409	68	2	2	2	X
fcis-9409	68	3	)	)	PUNCT
fcis-9409	68	4	the	the	DET
fcis-9409	68	5	optical	optical	ADJ
fcis-9409	68	6	axis	axis	NOUN
fcis-9409	68	7	of	of	ADP
fcis-9409	68	8	the	the	DET
fcis-9409	68	9	lens	lens	NOUN
fcis-9409	68	10	is	be	AUX
fcis-9409	68	11	not	not	PART
fcis-9409	68	12	perpendicular	perpendicular	ADJ
fcis-9409	68	13	to	to	ADP
fcis-9409	68	14	the	the	DET
fcis-9409	68	15	image	image	NOUN
fcis-9409	68	16	plane	plane	NOUN
fcis-9409	68	17	,	,	PUNCT
fcis-9409	68	18	causing	cause	VERB
fcis-9409	68	19	tangential	tangential	ADJ
fcis-9409	68	20	distortion	distortion	NOUN
fcis-9409	68	21	.	.	PUNCT
fcis-9409	69	1	tangential	tangential	ADJ
fcis-9409	69	2	distortion	distortion	NOUN
fcis-9409	69	3	correction	correction	NOUN
fcis-9409	69	4	formula	formula	NOUN
fcis-9409	69	5	is	be	AUX
fcis-9409	69	6	as	as	SCONJ
fcis-9409	69	7	follows	follow	VERB
fcis-9409	69	8	:	:	PUNCT
fcis-9409	69	9			NUM
fcis-9409	69	10	2	2	NUM
fcis-9409	69	11	2	2	NUM
fcis-9409	69	12	1	1	NUM
fcis-9409	69	13	2	2	NUM
fcis-9409	69	14	2	2	NUM
fcis-9409	69	15	2	2	NUM
fcis-9409	69	16	1	1	NUM
fcis-9409	69	17	2	2	NUM
fcis-9409	69	18	2	2	NUM
fcis-9409	69	19	(	(	PUNCT
fcis-9409	69	20	2	2	NUM
fcis-9409	69	21	)	)	PUNCT
fcis-9409	69	22	(	(	PUNCT
fcis-9409	69	23	2	2	X
fcis-9409	69	24	)	)	PUNCT
fcis-9409	69	25	2	2	NUM
fcis-9409	69	26	t	t	NOUN
fcis-9409	69	27	t	t	NOUN
fcis-9409	69	28	x	x	PUNCT
fcis-9409	69	29	x	x	X
fcis-9409	69	30	p	p	X
fcis-9409	70	1	xy	xy	PROPN
fcis-9409	70	2	p	p	NOUN
fcis-9409	70	3	r	r	NOUN
fcis-9409	70	4	x	x	PUNCT
fcis-9409	70	5	y	y	NOUN
fcis-9409	70	6	y	y	PROPN
fcis-9409	70	7	p	p	NOUN
fcis-9409	70	8	r	r	X
fcis-9409	70	9	y	y	PROPN
fcis-9409	71	1	p	p	NOUN
fcis-9409	71	2	xy	xy	PROPN
fcis-9409	71	3			PROPN
fcis-9409	71	4			PROPN
fcis-9409	71	5			PUNCT
fcis-9409	71	6			PROPN
fcis-9409	71	7			PROPN
fcis-9409	71	8			PROPN
fcis-9409	71	9			PUNCT
fcis-9409	71	10			X
fcis-9409	71	11			ADP
fcis-9409	71	12			NUM
fcis-9409	71	13			PROPN
fcis-9409	72	1			VERB
fcis-9409	72	2			NOUN
fcis-9409	72	3	in	in	ADP
fcis-9409	72	4	the	the	DET
fcis-9409	72	5	formula	formula	NOUN
fcis-9409	72	6	,	,	PUNCT
fcis-9409	72	7	1	1	NUM
fcis-9409	72	8	p	p	NOUN
fcis-9409	72	9	and	and	CCONJ
fcis-9409	72	10	2	2	NUM
fcis-9409	72	11	p	p	NOUN
fcis-9409	72	12	are	be	AUX
fcis-9409	72	13	tangential	tangential	ADJ
fcis-9409	72	14	distortion	distortion	NOUN
fcis-9409	72	15	coefficients	coefficient	NOUN
fcis-9409	72	16	.	.	PUNCT
fcis-9409	73	1	in	in	ADP
fcis-9409	73	2	order	order	NOUN
fcis-9409	73	3	to	to	PART
fcis-9409	73	4	obtain	obtain	VERB
fcis-9409	73	5	the	the	DET
fcis-9409	73	6	coordinates	coordinate	NOUN
fcis-9409	73	7	(	(	PUNCT
fcis-9409	73	8	,	,	PUNCT
fcis-9409	73	9	,	,	PUNCT
fcis-9409	73	10	)	)	PUNCT
fcis-9409	73	11	w	w	PROPN
fcis-9409	73	12	w	w	PROPN
fcis-9409	73	13	w	w	PROPN
fcis-9409	73	14	x	x	PUNCT
fcis-9409	73	15	y	y	PROPN
fcis-9409	73	16	z	z	NOUN
fcis-9409	73	17	of	of	ADP
fcis-9409	73	18	point	point	NOUN
fcis-9409	73	19	p	p	NOUN
fcis-9409	73	20	in	in	ADP
fcis-9409	73	21	the	the	DET
fcis-9409	73	22	world	world	NOUN
fcis-9409	73	23	coordinate	coordinate	NOUN
fcis-9409	73	24	system	system	NOUN
fcis-9409	73	25	,	,	PUNCT
fcis-9409	73	26	the	the	DET
fcis-9409	73	27	value	value	NOUN
fcis-9409	73	28	of	of	ADP
fcis-9409	73	29	z	z	NOUN
fcis-9409	73	30	needs	need	VERB
fcis-9409	73	31	to	to	PART
fcis-9409	73	32	be	be	AUX
fcis-9409	73	33	calculated	calculate	VERB
fcis-9409	73	34	.	.	PUNCT
fcis-9409	74	1	in	in	ADP
fcis-9409	74	2	an	an	DET
fcis-9409	74	3	ideal	ideal	ADJ
fcis-9409	74	4	situation	situation	NOUN
fcis-9409	74	5	,	,	PUNCT
fcis-9409	74	6	binocular	binocular	ADJ
fcis-9409	74	7	ranging	range	VERB
fcis-9409	74	8	is	be	AUX
fcis-9409	74	9	to	to	PART
fcis-9409	74	10	obtain	obtain	VERB
fcis-9409	74	11	the	the	DET
fcis-9409	74	12	left	left	ADJ
fcis-9409	74	13	and	and	CCONJ
fcis-9409	74	14	right	right	ADJ
fcis-9409	74	15	pictures	picture	NOUN
fcis-9409	74	16	of	of	ADP
fcis-9409	74	17	the	the	DET
fcis-9409	74	18	target	target	NOUN
fcis-9409	74	19	respectively	respectively	ADV
fcis-9409	74	20	from	from	ADP
fcis-9409	74	21	two	two	NUM
fcis-9409	74	22	identical	identical	ADJ
fcis-9409	74	23	and	and	CCONJ
fcis-9409	74	24	parallel	parallel	ADJ
fcis-9409	74	25	cameras	camera	NOUN
fcis-9409	74	26	,	,	PUNCT
fcis-9409	74	27	so	so	SCONJ
fcis-9409	74	28	as	as	SCONJ
fcis-9409	74	29	to	to	PART
fcis-9409	74	30	calculate	calculate	VERB
fcis-9409	74	31	the	the	DET
fcis-9409	74	32	target	target	NOUN
fcis-9409	74	33	distance	distance	NOUN
fcis-9409	74	34	value	value	NOUN
fcis-9409	74	35	[	[	X
fcis-9409	74	36	10	10	NUM
fcis-9409	74	37	]	]	PUNCT
fcis-9409	74	38	.	.	PUNCT
fcis-9409	75	1	the	the	DET
fcis-9409	75	2	principle	principle	ADJ
fcis-9409	75	3	diagram	diagram	NOUN
fcis-9409	75	4	of	of	ADP
fcis-9409	75	5	binocular	binocular	ADJ
fcis-9409	75	6	ranging	ranging	NOUN
fcis-9409	75	7	is	be	AUX
fcis-9409	75	8	shown	show	VERB
fcis-9409	75	9	in	in	ADP
fcis-9409	75	10	figure	figure	NOUN
fcis-9409	75	11	3	3	NUM
fcis-9409	75	12	:	:	PUNCT
fcis-9409	75	13	in	in	ADP
fcis-9409	75	14	the	the	DET
fcis-9409	75	15	figure	figure	NOUN
fcis-9409	75	16	,	,	PUNCT
fcis-9409	75	17	p	p	NOUN
fcis-9409	75	18	is	be	AUX
fcis-9409	75	19	the	the	DET
fcis-9409	75	20	coordinate	coordinate	ADJ
fcis-9409	75	21	point	point	NOUN
fcis-9409	75	22	of	of	ADP
fcis-9409	75	23	the	the	DET
fcis-9409	75	24	three	three	NUM
fcis-9409	75	25	-	-	PUNCT
fcis-9409	75	26	dimensional	dimensional	ADJ
fcis-9409	75	27	space	space	NOUN
fcis-9409	75	28	to	to	PART
fcis-9409	75	29	be	be	AUX
fcis-9409	75	30	measured	measure	VERB
fcis-9409	75	31	;	;	PUNCT
fcis-9409	75	32	l	l	NOUN
fcis-9409	75	33	o	o	NOUN
fcis-9409	75	34	and	and	CCONJ
fcis-9409	75	35	r	r	NOUN
fcis-9409	75	36	o	o	NOUN
fcis-9409	75	37	are	be	AUX
fcis-9409	75	38	the	the	DET
fcis-9409	75	39	optical	optical	ADJ
fcis-9409	75	40	center	center	NOUN
fcis-9409	75	41	of	of	ADP
fcis-9409	75	42	the	the	DET
fcis-9409	75	43	left	left	ADJ
fcis-9409	75	44	and	and	CCONJ
fcis-9409	75	45	right	right	ADJ
fcis-9409	75	46	cameras	camera	NOUN
fcis-9409	75	47	;	;	PUNCT
fcis-9409	75	48	t	t	PROPN
fcis-9409	75	49	is	be	AUX
fcis-9409	75	50	the	the	DET
fcis-9409	75	51	optical	optical	ADJ
fcis-9409	75	52	center	center	NOUN
fcis-9409	75	53	distance	distance	NOUN
fcis-9409	75	54	of	of	ADP
fcis-9409	75	55	the	the	DET
fcis-9409	75	56	left	left	ADJ
fcis-9409	75	57	and	and	CCONJ
fcis-9409	75	58	right	right	ADJ
fcis-9409	75	59	cameras	camera	NOUN
fcis-9409	75	60	,	,	PUNCT
fcis-9409	75	61	namely	namely	ADV
fcis-9409	75	62	the	the	DET
fcis-9409	75	63	baseline	baseline	NOUN
fcis-9409	75	64	length	length	NOUN
fcis-9409	75	65	;	;	PUNCT
fcis-9409	75	66	l	l	PROPN
fcis-9409	75	67	p	p	NOUN
fcis-9409	75	68	and	and	CCONJ
fcis-9409	75	69	r	r	NOUN
fcis-9409	75	70	p	p	NOUN
fcis-9409	75	71	are	be	AUX
fcis-9409	75	72	the	the	DET
fcis-9409	75	73	coordinates	coordinate	NOUN
fcis-9409	75	74	of	of	ADP
fcis-9409	75	75	point	point	NOUN
fcis-9409	75	76	p	p	NOUN
fcis-9409	75	77	in	in	ADP
fcis-9409	75	78	the	the	DET
fcis-9409	75	79	image	image	NOUN
fcis-9409	75	80	coordinate	coordinate	NOUN
fcis-9409	75	81	system	system	NOUN
fcis-9409	75	82	of	of	ADP
fcis-9409	75	83	the	the	DET
fcis-9409	75	84	left	left	ADJ
fcis-9409	75	85	and	and	CCONJ
fcis-9409	75	86	right	right	ADJ
fcis-9409	75	87	cameras	camera	NOUN
fcis-9409	75	88	;	;	PUNCT
fcis-9409	75	89	the	the	DET
fcis-9409	75	90	horizontal	horizontal	ADJ
fcis-9409	75	91	coordinates	coordinate	NOUN
fcis-9409	75	92	of	of	ADP
fcis-9409	75	93	pixel	pixel	PROPN
fcis-9409	75	94	points	point	NOUN
fcis-9409	75	95	of	of	ADP
fcis-9409	75	96	point	point	NOUN
fcis-9409	75	97	p	p	NOUN
fcis-9409	75	98	in	in	ADP
fcis-9409	75	99	the	the	DET
fcis-9409	75	100	left	left	ADJ
fcis-9409	75	101	and	and	CCONJ
fcis-9409	75	102	right	right	ADJ
fcis-9409	75	103	images	image	NOUN
fcis-9409	75	104	are	be	AUX
fcis-9409	75	105	l	l	NOUN
fcis-9409	75	106	x	x	NOUN
fcis-9409	75	107	and	and	CCONJ
fcis-9409	75	108	r	r	NOUN
fcis-9409	75	109	x	x	PUNCT
fcis-9409	75	110	respectively	respectively	ADV
fcis-9409	75	111	;	;	PUNCT
fcis-9409	75	112	z	z	NOUN
fcis-9409	75	113	is	be	AUX
fcis-9409	75	114	the	the	DET
fcis-9409	75	115	vertical	vertical	ADJ
fcis-9409	75	116	distance	distance	NOUN
fcis-9409	75	117	between	between	ADP
fcis-9409	75	118	point	point	NOUN
fcis-9409	75	119	p	p	NOUN
fcis-9409	75	120	and	and	CCONJ
fcis-9409	75	121	the	the	DET
fcis-9409	75	122	camera	camera	NOUN
fcis-9409	75	123	.	.	PUNCT
fcis-9409	76	1	19	19	NUM
fcis-9409	76	2	p	p	NOUN
fcis-9409	76	3	t	t	PROPN
fcis-9409	76	4	z	z	NOUN
fcis-9409	76	5	xl	xl	PROPN
fcis-9409	76	6	xr	xr	PROPN
fcis-9409	76	7	pl	pl	PROPN
fcis-9409	76	8	pr	pr	NOUN
fcis-9409	76	9	ol	ol	ADJ
fcis-9409	76	10	or	or	CCONJ
fcis-9409	76	11	f	f	PROPN
fcis-9409	76	12	f	f	PROPN
fcis-9409	76	13	figure	figure	NOUN
fcis-9409	76	14	3	3	NUM
fcis-9409	76	15	.	.	PUNCT
fcis-9409	76	16	binocular	binocular	ADJ
fcis-9409	76	17	visual	visual	ADJ
fcis-9409	76	18	ranging	range	VERB
fcis-9409	76	19	principle	principle	NOUN
fcis-9409	76	20	as	as	SCONJ
fcis-9409	76	21	can	can	AUX
fcis-9409	76	22	be	be	AUX
fcis-9409	76	23	seen	see	VERB
fcis-9409	76	24	from	from	ADP
fcis-9409	76	25	figure	figure	NOUN
fcis-9409	76	26	3	3	NUM
fcis-9409	76	27	,	,	PUNCT
fcis-9409	76	28	l	l	NOUN
fcis-9409	76	29	r	r	NOUN
fcis-9409	76	30	l	l	NOUN
fcis-9409	76	31	r	r	NOUN
fcis-9409	76	32	ppp	ppp	NOUN
fcis-9409	76	33	poo	poo	NOUN
fcis-9409	76	34	∽	∽	PROPN
fcis-9409	76	35	.	.	PUNCT
fcis-9409	77	1	according	accord	VERB
fcis-9409	77	2	to	to	ADP
fcis-9409	77	3	the	the	DET
fcis-9409	77	4	triangle	triangle	NOUN
fcis-9409	77	5	similarity	similarity	NOUN
fcis-9409	77	6	relationship	relationship	NOUN
fcis-9409	77	7	[	[	X
fcis-9409	77	8	11	11	NUM
fcis-9409	77	9	]	]	X
fcis-9409	77	10	:	:	PUNCT
fcis-9409	77	11			X
fcis-9409	77	12	(	(	PUNCT
fcis-9409	77	13	)	)	PUNCT
fcis-9409	77	14	t	t	NOUN
fcis-9409	77	15	x	x	SYM
fcis-9409	77	16	x	x	SYM
fcis-9409	77	17	z	z	NOUN
fcis-9409	77	18	fl	fl	NOUN
fcis-9409	77	19	r	r	NOUN
fcis-9409	77	20	t	t	PROPN
fcis-9409	77	21	z	z	PROPN
fcis-9409	77	22			PROPN
fcis-9409	77	23			PROPN
fcis-9409	77	24			PROPN
fcis-9409	77	25			NOUN
fcis-9409	77	26			PROPN
fcis-9409	77	27			X
fcis-9409	77	28	the	the	DET
fcis-9409	77	29	expression	expression	NOUN
fcis-9409	77	30	of	of	ADP
fcis-9409	77	31	distance	distance	NOUN
fcis-9409	77	32	z	z	NOUN
fcis-9409	77	33	between	between	ADP
fcis-9409	77	34	the	the	DET
fcis-9409	77	35	target	target	NOUN
fcis-9409	77	36	to	to	PART
fcis-9409	77	37	be	be	AUX
fcis-9409	77	38	measured	measure	VERB
fcis-9409	77	39	and	and	CCONJ
fcis-9409	77	40	the	the	DET
fcis-9409	77	41	camera	camera	NOUN
fcis-9409	77	42	can	can	AUX
fcis-9409	77	43	be	be	AUX
fcis-9409	77	44	summarized	summarize	VERB
fcis-9409	77	45	as	as	SCONJ
fcis-9409	77	46	follows	follow	VERB
fcis-9409	77	47	:	:	PUNCT
fcis-9409	77	48			PROPN
fcis-9409	77	49	ft	ft	NOUN
fcis-9409	77	50	ft	ft	NOUN
fcis-9409	77	51	z	z	NOUN
fcis-9409	77	52	x	x	PUNCT
fcis-9409	77	53	x	x	X
fcis-9409	77	54	dl	dl	INTJ
fcis-9409	78	1	r	r	NOUN
fcis-9409	78	2			PROPN
fcis-9409	78	3			PROPN
fcis-9409	78	4			PROPN
fcis-9409	78	5			PROPN
fcis-9409	78	6			NOUN
fcis-9409	78	7	in	in	ADP
fcis-9409	78	8	the	the	DET
fcis-9409	78	9	formula	formula	NOUN
fcis-9409	78	10	,	,	PUNCT
fcis-9409	78	11	d	d	PRON
fcis-9409	78	12	is	be	AUX
fcis-9409	78	13	the	the	DET
fcis-9409	78	14	parallax	parallax	NOUN
fcis-9409	78	15	between	between	ADP
fcis-9409	78	16	the	the	DET
fcis-9409	78	17	left	left	ADJ
fcis-9409	78	18	and	and	CCONJ
fcis-9409	78	19	right	right	ADJ
fcis-9409	78	20	cameras	camera	NOUN
fcis-9409	78	21	,	,	PUNCT
fcis-9409	78	22	l	l	NOUN
fcis-9409	78	23	r	r	NOUN
fcis-9409	78	24	d	d	NOUN
fcis-9409	78	25	x	x	X
fcis-9409	78	26	x	x	PROPN
fcis-9409	78	27			PROPN
fcis-9409	78	28	;	;	PUNCT
fcis-9409	78	29	t	t	PROPN
fcis-9409	78	30	are	be	AUX
fcis-9409	78	31	known	know	VERB
fcis-9409	78	32	.	.	PUNCT
fcis-9409	79	1	thus	thus	ADV
fcis-9409	79	2	,	,	PUNCT
fcis-9409	79	3	the	the	DET
fcis-9409	79	4	depth	depth	NOUN
fcis-9409	79	5	z	z	NOUN
fcis-9409	79	6	of	of	ADP
fcis-9409	79	7	point	point	NOUN
fcis-9409	79	8	p	p	NOUN
fcis-9409	79	9	can	can	AUX
fcis-9409	79	10	be	be	AUX
fcis-9409	79	11	found	find	VERB
fcis-9409	79	12	simply	simply	ADV
fcis-9409	79	13	by	by	ADP
fcis-9409	79	14	obtaining	obtain	VERB
fcis-9409	79	15	parallax	parallax	ADJ
fcis-9409	79	16	d	d	NOUN
fcis-9409	79	17	.	.	PUNCT
fcis-9409	80	1	4	4	X
fcis-9409	80	2	.	.	NUM
fcis-9409	80	3	improved	improve	VERB
fcis-9409	80	4	limited	limited	ADJ
fcis-9409	80	5	contrast	contrast	NOUN
fcis-9409	80	6	adaptive	adaptive	ADJ
fcis-9409	80	7	histogram	histogram	NOUN
fcis-9409	80	8	equalization	equalization	NOUN
fcis-9409	80	9	image	image	NOUN
fcis-9409	80	10	processing	processing	NOUN
fcis-9409	80	11	method	method	NOUN
fcis-9409	80	12	the	the	DET
fcis-9409	80	13	main	main	ADJ
fcis-9409	80	14	feature	feature	NOUN
fcis-9409	80	15	of	of	ADP
fcis-9409	80	16	the	the	DET
fcis-9409	80	17	limited	limited	ADJ
fcis-9409	80	18	contrast	contrast	NOUN
fcis-9409	80	19	adaptive	adaptive	ADJ
fcis-9409	80	20	histogram	histogram	NOUN
fcis-9409	80	21	equalization	equalization	NOUN
fcis-9409	80	22	algorithm	algorithm	NOUN
fcis-9409	80	23	(	(	PUNCT
fcis-9409	80	24	clahe	clahe	PROPN
fcis-9409	80	25	)	)	PUNCT
fcis-9409	80	26	is	be	AUX
fcis-9409	80	27	that	that	SCONJ
fcis-9409	80	28	it	it	PRON
fcis-9409	80	29	limits	limit	VERB
fcis-9409	80	30	the	the	DET
fcis-9409	80	31	contrast	contrast	NOUN
fcis-9409	80	32	[	[	X
fcis-9409	80	33	12	12	NUM
fcis-9409	80	34	]	]	PUNCT
fcis-9409	80	35	,	,	PUNCT
fcis-9409	80	36	overcomes	overcome	VERB
fcis-9409	80	37	the	the	DET
fcis-9409	80	38	problem	problem	NOUN
fcis-9409	80	39	of	of	ADP
fcis-9409	80	40	excessive	excessive	ADJ
fcis-9409	80	41	amplification	amplification	NOUN
fcis-9409	80	42	noise	noise	NOUN
fcis-9409	80	43	and	and	CCONJ
fcis-9409	80	44	blocky	blocky	ADJ
fcis-9409	80	45	effect	effect	NOUN
fcis-9409	80	46	,	,	PUNCT
fcis-9409	80	47	and	and	CCONJ
fcis-9409	80	48	mainly	mainly	ADV
fcis-9409	80	49	enhances	enhance	VERB
fcis-9409	80	50	the	the	DET
fcis-9409	80	51	local	local	ADJ
fcis-9409	80	52	contrast	contrast	NOUN
fcis-9409	80	53	,	,	PUNCT
fcis-9409	80	54	thus	thus	ADV
fcis-9409	80	55	enhancing	enhance	VERB
fcis-9409	80	56	the	the	DET
fcis-9409	80	57	image	image	NOUN
fcis-9409	80	58	details	detail	NOUN
fcis-9409	80	59	[	[	X
fcis-9409	80	60	13	13	NUM
fcis-9409	80	61	]	]	PUNCT
fcis-9409	80	62	.	.	PUNCT
fcis-9409	81	1	common	common	ADJ
fcis-9409	81	2	clahe	clahe	PROPN
fcis-9409	81	3	algorithm	algorithm	NOUN
fcis-9409	81	4	enhances	enhance	VERB
fcis-9409	81	5	r	r	NOUN
fcis-9409	81	6	,	,	PUNCT
fcis-9409	81	7	g	g	PROPN
fcis-9409	81	8	and	and	CCONJ
fcis-9409	81	9	b	b	PROPN
fcis-9409	81	10	components	component	NOUN
fcis-9409	81	11	respectively	respectively	ADV
fcis-9409	81	12	in	in	ADP
fcis-9409	81	13	rgb	rgb	PROPN
fcis-9409	81	14	color	color	NOUN
fcis-9409	81	15	space	space	NOUN
fcis-9409	81	16	,	,	PUNCT
fcis-9409	81	17	and	and	CCONJ
fcis-9409	81	18	then	then	ADV
fcis-9409	81	19	combines	combine	VERB
fcis-9409	81	20	them	they	PRON
fcis-9409	81	21	into	into	ADP
fcis-9409	81	22	rgb	rgb	PROPN
fcis-9409	81	23	images	image	NOUN
fcis-9409	81	24	[	[	X
fcis-9409	81	25	14	14	NUM
fcis-9409	81	26	]	]	PUNCT
fcis-9409	81	27	.	.	PUNCT
fcis-9409	82	1	in	in	ADP
fcis-9409	82	2	this	this	DET
fcis-9409	82	3	paper	paper	NOUN
fcis-9409	82	4	,	,	PUNCT
fcis-9409	82	5	the	the	DET
fcis-9409	82	6	improved	improved	ADJ
fcis-9409	82	7	clahe	clahe	NOUN
fcis-9409	82	8	algorithm	algorithm	NOUN
fcis-9409	82	9	is	be	AUX
fcis-9409	82	10	used	use	VERB
fcis-9409	82	11	for	for	ADP
fcis-9409	82	12	color	color	NOUN
fcis-9409	82	13	space	space	NOUN
fcis-9409	82	14	conversion	conversion	NOUN
fcis-9409	82	15	on	on	ADP
fcis-9409	82	16	the	the	DET
fcis-9409	82	17	obtained	obtain	VERB
fcis-9409	82	18	underwater	underwater	NOUN
fcis-9409	82	19	left	leave	VERB
fcis-9409	82	20	and	and	CCONJ
fcis-9409	82	21	right	right	ADJ
fcis-9409	82	22	eye	eye	NOUN
fcis-9409	82	23	images	image	NOUN
fcis-9409	82	24	,	,	PUNCT
fcis-9409	82	25	converting	convert	VERB
fcis-9409	82	26	the	the	DET
fcis-9409	82	27	input	input	NOUN
fcis-9409	82	28	rgb	rgb	PROPN
fcis-9409	82	29	space	space	NOUN
fcis-9409	82	30	into	into	ADP
fcis-9409	82	31	lab	lab	NOUN
fcis-9409	82	32	space	space	NOUN
fcis-9409	82	33	.	.	PUNCT
fcis-9409	83	1	due	due	ADP
fcis-9409	83	2	to	to	ADP
fcis-9409	83	3	the	the	DET
fcis-9409	83	4	separation	separation	NOUN
fcis-9409	83	5	of	of	ADP
fcis-9409	83	6	brightness	brightness	NOUN
fcis-9409	83	7	components	component	NOUN
fcis-9409	83	8	in	in	ADP
fcis-9409	83	9	lab	lab	NOUN
fcis-9409	83	10	space	space	NOUN
fcis-9409	83	11	,	,	PUNCT
fcis-9409	83	12	it	it	PRON
fcis-9409	83	13	is	be	AUX
fcis-9409	83	14	easier	easy	ADJ
fcis-9409	83	15	to	to	PART
fcis-9409	83	16	process	process	VERB
fcis-9409	83	17	the	the	DET
fcis-9409	83	18	image	image	NOUN
fcis-9409	83	19	and	and	CCONJ
fcis-9409	83	20	improve	improve	VERB
fcis-9409	83	21	the	the	DET
fcis-9409	83	22	operational	operational	ADJ
fcis-9409	83	23	efficiency	efficiency	NOUN
fcis-9409	83	24	.	.	PUNCT
fcis-9409	84	1	finally	finally	ADV
fcis-9409	84	2	,	,	PUNCT
fcis-9409	84	3	rgb	rgb	PROPN
fcis-9409	84	4	synthesis	synthesis	NOUN
fcis-9409	84	5	is	be	AUX
fcis-9409	84	6	carried	carry	VERB
fcis-9409	84	7	out	out	ADP
fcis-9409	84	8	.	.	PUNCT
fcis-9409	85	1	the	the	DET
fcis-9409	85	2	improved	improved	ADJ
fcis-9409	85	3	clahe	clahe	NOUN
fcis-9409	85	4	algorithm	algorithm	NOUN
fcis-9409	85	5	is	be	AUX
fcis-9409	85	6	used	use	VERB
fcis-9409	85	7	to	to	PART
fcis-9409	85	8	process	process	VERB
fcis-9409	85	9	the	the	DET
fcis-9409	85	10	underwater	underwater	ADJ
fcis-9409	85	11	image	image	NOUN
fcis-9409	85	12	,	,	PUNCT
fcis-9409	85	13	as	as	SCONJ
fcis-9409	85	14	shown	show	VERB
fcis-9409	85	15	in	in	ADP
fcis-9409	85	16	figure	figure	NOUN
fcis-9409	85	17	4	4	NUM
fcis-9409	85	18	.	.	PUNCT
fcis-9409	86	1	it	it	PRON
fcis-9409	86	2	is	be	AUX
fcis-9409	86	3	obvious	obvious	ADJ
fcis-9409	86	4	that	that	SCONJ
fcis-9409	86	5	the	the	DET
fcis-9409	86	6	processed	process	VERB
fcis-9409	86	7	image	image	NOUN
fcis-9409	86	8	has	have	AUX
fcis-9409	86	9	enhanced	enhance	VERB
fcis-9409	86	10	the	the	DET
fcis-9409	86	11	details	detail	NOUN
fcis-9409	86	12	,	,	PUNCT
fcis-9409	86	13	improved	improve	VERB
fcis-9409	86	14	the	the	DET
fcis-9409	86	15	contrast	contrast	NOUN
fcis-9409	86	16	,	,	PUNCT
fcis-9409	86	17	and	and	CCONJ
fcis-9409	86	18	significantly	significantly	ADV
fcis-9409	86	19	improved	improve	VERB
fcis-9409	86	20	the	the	DET
fcis-9409	86	21	visual	visual	ADJ
fcis-9409	86	22	effect	effect	NOUN
fcis-9409	86	23	.	.	PUNCT
fcis-9409	87	1	(	(	PUNCT
fcis-9409	87	2	a	a	X
fcis-9409	87	3	)	)	PUNCT
fcis-9409	87	4	(	(	PUNCT
fcis-9409	87	5	b	b	X
fcis-9409	87	6	)	)	PUNCT
fcis-9409	87	7	figure	figure	NOUN
fcis-9409	87	8	4	4	NUM
fcis-9409	87	9	.	.	PUNCT
fcis-9409	87	10	improved	improve	VERB
fcis-9409	87	11	clahe	clahe	PROPN
fcis-9409	87	12	algorithm	algorithm	NOUN
fcis-9409	87	13	seabed	seabed	NOUN
fcis-9409	87	14	scene	scene	NOUN
fcis-9409	87	15	processing	process	VERB
fcis-9409	87	16	effect((a	effect((a	NOUN
fcis-9409	87	17	)	)	PUNCT
fcis-9409	87	18	original	original	ADJ
fcis-9409	87	19	view	view	NOUN
fcis-9409	87	20	of	of	ADP
fcis-9409	87	21	submarine	submarine	NOUN
fcis-9409	87	22	scenery	scenery	NOUN
fcis-9409	87	23	;	;	PUNCT
fcis-9409	87	24	(	(	PUNCT
fcis-9409	87	25	b	b	X
fcis-9409	87	26	)	)	PUNCT
fcis-9409	87	27	improved	improve	VERB
fcis-9409	87	28	clahe	clahe	NOUN
fcis-9409	87	29	algorithm	algorithm	NOUN
fcis-9409	87	30	handles	handle	VERB
fcis-9409	87	31	graphs	graph	NOUN
fcis-9409	87	32	)	)	PUNCT
fcis-9409	87	33	5	5	NUM
fcis-9409	87	34	.	.	X
fcis-9409	87	35	underwater	underwater	ADJ
fcis-9409	87	36	experiment	experiment	NOUN
fcis-9409	87	37	5.1	5.1	NUM
fcis-9409	87	38	.	.	PUNCT
fcis-9409	88	1	underwater	underwater	ADJ
fcis-9409	88	2	experiment	experiment	NOUN
fcis-9409	88	3	software	software	NOUN
fcis-9409	88	4	and	and	CCONJ
fcis-9409	88	5	hardware	hardware	NOUN
fcis-9409	88	6	environment	environment	NOUN
fcis-9409	88	7	the	the	DET
fcis-9409	88	8	hardware	hardware	NOUN
fcis-9409	88	9	used	use	VERB
fcis-9409	88	10	in	in	ADP
fcis-9409	88	11	the	the	DET
fcis-9409	88	12	experiment	experiment	NOUN
fcis-9409	88	13	includes	include	VERB
fcis-9409	88	14	:	:	PUNCT
fcis-9409	88	15	experimental	experimental	ADJ
fcis-9409	88	16	water	water	NOUN
fcis-9409	88	17	tank	tank	NOUN
fcis-9409	88	18	,	,	PUNCT
fcis-9409	88	19	laptop	laptop	NOUN
fcis-9409	88	20	and	and	CCONJ
fcis-9409	88	21	msk	msk	PROPN
fcis-9409	88	22	-	-	PUNCT
fcis-9409	88	23	sm	sm	PROPN
fcis-9409	88	24	binocular	binocular	ADJ
fcis-9409	88	25	camera	camera	NOUN
fcis-9409	88	26	,	,	PUNCT
fcis-9409	88	27	as	as	SCONJ
fcis-9409	88	28	shown	show	VERB
fcis-9409	88	29	in	in	ADP
fcis-9409	88	30	figure	figure	NOUN
fcis-9409	88	31	5	5	NUM
fcis-9409	88	32	.	.	PUNCT
fcis-9409	89	1	the	the	DET
fcis-9409	89	2	experimental	experimental	ADJ
fcis-9409	89	3	tank	tank	NOUN
fcis-9409	89	4	size	size	NOUN
fcis-9409	89	5	is	be	AUX
fcis-9409	89	6	1m×1m×1	1m×1m×1	NUM
fcis-9409	89	7	m	m	NUM
fcis-9409	89	8	,	,	PUNCT
fcis-9409	89	9	and	and	CCONJ
fcis-9409	89	10	the	the	DET
fcis-9409	89	11	actual	actual	ADJ
fcis-9409	89	12	water	water	NOUN
fcis-9409	89	13	discharge	discharge	NOUN
fcis-9409	89	14	depth	depth	NOUN
fcis-9409	89	15	is	be	AUX
fcis-9409	89	16	0.8	0.8	NUM
fcis-9409	89	17	m.	m.	NOUN
fcis-9409	89	18	the	the	DET
fcis-9409	89	19	configuration	configuration	NOUN
fcis-9409	89	20	of	of	ADP
fcis-9409	89	21	the	the	DET
fcis-9409	89	22	notebook	notebook	NOUN
fcis-9409	89	23	is	be	AUX
fcis-9409	89	24	as	as	SCONJ
fcis-9409	89	25	follows	follow	VERB
fcis-9409	89	26	:	:	PUNCT
fcis-9409	89	27	cpu	cpu	NOUN
fcis-9409	89	28	is	be	AUX
fcis-9409	89	29	amd	amd	ADJ
fcis-9409	89	30	5800h	5800h	NUM
fcis-9409	89	31	;	;	PUNCT
fcis-9409	89	32	the	the	DET
fcis-9409	89	33	memory	memory	NOUN
fcis-9409	89	34	is	be	AUX
fcis-9409	89	35	32	32	NUM
fcis-9409	89	36	gb	gb	NUM
fcis-9409	89	37	;	;	PUNCT
fcis-9409	89	38	the	the	DET
fcis-9409	89	39	gpu	gpu	NOUN
fcis-9409	89	40	is	be	AUX
fcis-9409	89	41	nvidia	nvidia	PROPN
fcis-9409	89	42	geforce	geforce	NOUN
fcis-9409	89	43	rtx	rtx	PROPN
fcis-9409	89	44	3070	3070	NUM
fcis-9409	89	45	.	.	PUNCT
fcis-9409	90	1	underwater	underwater	ADJ
fcis-9409	90	2	binocular	binocular	ADJ
fcis-9409	90	3	camera	camera	NOUN
fcis-9409	90	4	configuration	configuration	NOUN
fcis-9409	90	5	:	:	PUNCT
fcis-9409	90	6	msk	msk	PROPN
fcis-9409	90	7	-	-	PUNCT
fcis-9409	90	8	sm	sm	PROPN
fcis-9409	90	9	binocular	binocular	ADJ
fcis-9409	90	10	camera	camera	NOUN
fcis-9409	90	11	,	,	PUNCT
fcis-9409	90	12	image	image	NOUN
fcis-9409	90	13	resolution	resolution	NOUN
fcis-9409	90	14	640×480	640×480	PROPN
fcis-9409	90	15	,	,	PUNCT
fcis-9409	90	16	baseline	baseline	ADJ
fcis-9409	90	17	length	length	NOUN
fcis-9409	90	18	25	25	NUM
fcis-9409	90	19	mm	mm	NOUN
fcis-9409	90	20	.	.	PUNCT
fcis-9409	91	1	the	the	DET
fcis-9409	91	2	software	software	NOUN
fcis-9409	91	3	environment	environment	NOUN
fcis-9409	91	4	is	be	AUX
fcis-9409	91	5	windows	window	NOUN
fcis-9409	91	6	10	10	NUM
fcis-9409	91	7	,	,	PUNCT
fcis-9409	91	8	matlab	matlab	PROPN
fcis-9409	91	9	2021b	2021b	NUM
fcis-9409	91	10	,	,	PUNCT
fcis-9409	91	11	opencv	opencv	PROPN
fcis-9409	91	12	.	.	PROPN
fcis-9409	91	13	5.2	5.2	NUM
fcis-9409	91	14	.	.	PUNCT
fcis-9409	92	1	underwater	underwater	ADJ
fcis-9409	92	2	calibration	calibration	NOUN
fcis-9409	92	3	image	image	NOUN
fcis-9409	92	4	acquisition	acquisition	NOUN
fcis-9409	92	5	in	in	ADP
fcis-9409	92	6	this	this	DET
fcis-9409	92	7	paper	paper	NOUN
fcis-9409	92	8	,	,	PUNCT
fcis-9409	92	9	improved	improve	VERB
fcis-9409	92	10	zhang	zhang	PROPN
fcis-9409	92	11	's	's	PART
fcis-9409	92	12	calibration	calibration	NOUN
fcis-9409	92	13	method	method	NOUN
fcis-9409	92	14	is	be	AUX
fcis-9409	92	15	used	use	VERB
fcis-9409	92	16	to	to	PART
fcis-9409	92	17	calibrate	calibrate	VERB
fcis-9409	92	18	binocular	binocular	ADJ
fcis-9409	92	19	camera	camera	NOUN
fcis-9409	92	20	underwater	underwater	NOUN
fcis-9409	92	21	.	.	PUNCT
fcis-9409	93	1	gp400	gp400	PROPN
fcis-9409	93	2	standard	standard	ADJ
fcis-9409	93	3	checkerboard	checkerboard	NOUN
fcis-9409	93	4	calibration	calibration	NOUN
fcis-9409	93	5	board	board	NOUN
fcis-9409	93	6	with	with	ADP
fcis-9409	93	7	specification	specification	NOUN
fcis-9409	93	8	of	of	ADP
fcis-9409	93	9	12	12	NUM
fcis-9409	93	10	*	*	SYM
fcis-9409	93	11	9	9	NUM
fcis-9409	93	12	was	be	AUX
fcis-9409	93	13	adopted	adopt	VERB
fcis-9409	93	14	,	,	PUNCT
fcis-9409	93	15	and	and	CCONJ
fcis-9409	93	16	the	the	DET
fcis-9409	93	17	size	size	NOUN
fcis-9409	93	18	of	of	ADP
fcis-9409	93	19	each	each	DET
fcis-9409	93	20	square	square	NOUN
fcis-9409	93	21	was	be	AUX
fcis-9409	93	22	30mm*30	30mm*30	NUM
fcis-9409	93	23	mm	mm	NOUN
fcis-9409	93	24	.	.	PUNCT
fcis-9409	94	1	the	the	DET
fcis-9409	94	2	calibration	calibration	NOUN
fcis-9409	94	3	board	board	NOUN
fcis-9409	94	4	was	be	AUX
fcis-9409	94	5	shown	show	VERB
fcis-9409	94	6	in	in	ADP
fcis-9409	94	7	figure	figure	NOUN
fcis-9409	94	8	5	5	NUM
fcis-9409	94	9	.	.	PUNCT
fcis-9409	95	1	the	the	DET
fcis-9409	95	2	underwater	underwater	ADJ
fcis-9409	95	3	binocular	binocular	ADJ
fcis-9409	95	4	camera	camera	NOUN
fcis-9409	95	5	and	and	CCONJ
fcis-9409	95	6	checkerboard	checkerboard	NOUN
fcis-9409	95	7	calibration	calibration	NOUN
fcis-9409	95	8	board	board	NOUN
fcis-9409	95	9	were	be	AUX
fcis-9409	95	10	placed	place	VERB
fcis-9409	95	11	underwater	underwater	NOUN
fcis-9409	95	12	,	,	PUNCT
fcis-9409	95	13	and	and	CCONJ
fcis-9409	95	14	the	the	DET
fcis-9409	95	15	checkerboard	checkerboard	NOUN
fcis-9409	95	16	images	image	NOUN
fcis-9409	95	17	of	of	ADP
fcis-9409	95	18	the	the	DET
fcis-9409	95	19	underwater	underwater	NOUN
fcis-9409	95	20	left	leave	VERB
fcis-9409	95	21	and	and	CCONJ
fcis-9409	95	22	right	right	ADJ
fcis-9409	95	23	cameras	camera	NOUN
fcis-9409	95	24	with	with	ADP
fcis-9409	95	25	different	different	ADJ
fcis-9409	95	26	positions	position	NOUN
fcis-9409	95	27	were	be	AUX
fcis-9409	95	28	shot	shoot	VERB
fcis-9409	95	29	.	.	PUNCT
fcis-9409	96	1	among	among	ADP
fcis-9409	96	2	them	they	PRON
fcis-9409	96	3	,	,	PUNCT
fcis-9409	96	4	16	16	NUM
fcis-9409	96	5	pairs	pair	NOUN
fcis-9409	96	6	of	of	ADP
fcis-9409	96	7	clear	clear	ADJ
fcis-9409	96	8	underwater	underwater	ADJ
fcis-9409	96	9	calibration	calibration	NOUN
fcis-9409	96	10	maps	map	NOUN
fcis-9409	96	11	with	with	ADP
fcis-9409	96	12	a	a	DET
fcis-9409	96	13	total	total	NOUN
fcis-9409	96	14	of	of	ADP
fcis-9409	96	15	32	32	NUM
fcis-9409	96	16	were	be	AUX
fcis-9409	96	17	selected	select	VERB
fcis-9409	96	18	for	for	ADP
fcis-9409	96	19	underwater	underwater	ADJ
fcis-9409	96	20	calibration	calibration	NOUN
fcis-9409	96	21	.	.	PUNCT
fcis-9409	97	1	figure	figure	NOUN
fcis-9409	97	2	5	5	NUM
fcis-9409	97	3	.	.	PUNCT
fcis-9409	97	4	experimental	experimental	ADJ
fcis-9409	97	5	environment	environment	NOUN
fcis-9409	97	6	and	and	CCONJ
fcis-9409	97	7	checkerboard	checkerboard	NOUN
fcis-9409	97	8	calibration	calibration	NOUN
fcis-9409	97	9	board	board	PROPN
fcis-9409	97	10	5.3	5.3	NUM
fcis-9409	97	11	.	.	PUNCT
fcis-9409	98	1	improved	improve	VERB
fcis-9409	98	2	limited	limited	ADJ
fcis-9409	98	3	contrast	contrast	NOUN
fcis-9409	98	4	adaptive	adaptive	ADJ
fcis-9409	98	5	histogram	histogram	NOUN
fcis-9409	98	6	equalization	equalization	NOUN
fcis-9409	98	7	image	image	NOUN
fcis-9409	98	8	processing	processing	NOUN
fcis-9409	98	9	method	method	NOUN
fcis-9409	98	10	figure	figure	NOUN
fcis-9409	98	11	6	6	NUM
fcis-9409	98	12	.	.	PUNCT
fcis-9409	98	13	improved	improve	VERB
fcis-9409	98	14	clahe	clahe	NOUN
fcis-9409	98	15	algorithm	algorithm	NOUN
fcis-9409	98	16	for	for	ADP
fcis-9409	98	17	image	image	NOUN
fcis-9409	98	18	processing	processing	NOUN
fcis-9409	98	19	contrast	contrast	NOUN
fcis-9409	98	20	graph	graph	VERB
fcis-9409	98	21	the	the	DET
fcis-9409	98	22	improved	improved	ADJ
fcis-9409	98	23	clahe	clahe	NOUN
fcis-9409	98	24	algorithm	algorithm	NOUN
fcis-9409	98	25	is	be	AUX
fcis-9409	98	26	used	use	VERB
fcis-9409	98	27	to	to	PART
fcis-9409	98	28	process	process	VERB
fcis-9409	98	29	the	the	DET
fcis-9409	98	30	acquired	acquire	VERB
fcis-9409	98	31	calibration	calibration	NOUN
fcis-9409	98	32	images	image	NOUN
fcis-9409	98	33	and	and	CCONJ
fcis-9409	98	34	underwater	underwater	ADJ
fcis-9409	98	35	object	object	NOUN
fcis-9409	98	36	images	image	NOUN
fcis-9409	98	37	,	,	PUNCT
fcis-9409	98	38	20	20	NUM
fcis-9409	98	39	and	and	CCONJ
fcis-9409	98	40	the	the	DET
fcis-9409	98	41	processing	processing	NOUN
fcis-9409	98	42	results	result	NOUN
fcis-9409	98	43	are	be	AUX
fcis-9409	98	44	shown	show	VERB
fcis-9409	98	45	in	in	ADP
fcis-9409	98	46	figure	figure	NOUN
fcis-9409	98	47	6	6	NUM
fcis-9409	98	48	.	.	PUNCT
fcis-9409	99	1	the	the	DET
fcis-9409	99	2	processing	processing	NOUN
fcis-9409	99	3	results	result	NOUN
fcis-9409	99	4	show	show	VERB
fcis-9409	99	5	that	that	SCONJ
fcis-9409	99	6	the	the	DET
fcis-9409	99	7	color	color	NOUN
fcis-9409	99	8	and	and	CCONJ
fcis-9409	99	9	contrast	contrast	NOUN
fcis-9409	99	10	of	of	ADP
fcis-9409	99	11	the	the	DET
fcis-9409	99	12	underwater	underwater	ADJ
fcis-9409	99	13	image	image	NOUN
fcis-9409	99	14	after	after	ADP
fcis-9409	99	15	processing	processing	NOUN
fcis-9409	99	16	are	be	AUX
fcis-9409	99	17	enhanced	enhance	VERB
fcis-9409	99	18	obviously	obviously	ADV
fcis-9409	99	19	,	,	PUNCT
fcis-9409	99	20	which	which	PRON
fcis-9409	99	21	can	can	AUX
fcis-9409	99	22	effectively	effectively	ADV
fcis-9409	99	23	represent	represent	VERB
fcis-9409	99	24	the	the	DET
fcis-9409	99	25	object	object	NOUN
fcis-9409	99	26	features	feature	NOUN
fcis-9409	99	27	.	.	PUNCT
fcis-9409	100	1	5.4	5.4	NUM
fcis-9409	100	2	.	.	PUNCT
fcis-9409	100	3	calibration	calibration	NOUN
fcis-9409	100	4	and	and	CCONJ
fcis-9409	100	5	correction	correction	NOUN
fcis-9409	100	6	of	of	ADP
fcis-9409	100	7	underwater	underwater	ADJ
fcis-9409	100	8	binocular	binocular	ADJ
fcis-9409	100	9	camera	camera	NOUN
fcis-9409	100	10	using	use	VERB
fcis-9409	100	11	matlab	matlab	PROPN
fcis-9409	100	12	,	,	PUNCT
fcis-9409	100	13	13	13	NUM
fcis-9409	100	14	pairs	pair	NOUN
fcis-9409	100	15	of	of	ADP
fcis-9409	100	16	checkerboard	checkerboard	NOUN
fcis-9409	100	17	images	image	NOUN
fcis-9409	100	18	were	be	AUX
fcis-9409	100	19	read	read	VERB
fcis-9409	100	20	in	in	ADP
fcis-9409	100	21	turn	turn	NOUN
fcis-9409	100	22	,	,	PUNCT
fcis-9409	100	23	checkerboard	checkerboard	NOUN
fcis-9409	100	24	corner	corner	NOUN
fcis-9409	100	25	points	point	NOUN
fcis-9409	100	26	were	be	AUX
fcis-9409	100	27	extracted	extract	VERB
fcis-9409	100	28	from	from	ADP
fcis-9409	100	29	the	the	DET
fcis-9409	100	30	input	input	NOUN
fcis-9409	100	31	images	image	NOUN
fcis-9409	100	32	,	,	PUNCT
fcis-9409	100	33	and	and	CCONJ
fcis-9409	100	34	the	the	DET
fcis-9409	100	35	left	left	ADJ
fcis-9409	100	36	and	and	CCONJ
fcis-9409	100	37	right	right	ADJ
fcis-9409	100	38	underwater	underwater	ADJ
fcis-9409	100	39	cameras	camera	NOUN
fcis-9409	100	40	were	be	AUX
fcis-9409	100	41	calibrated	calibrate	VERB
fcis-9409	100	42	respectively	respectively	ADV
fcis-9409	100	43	.	.	PUNCT
fcis-9409	101	1	after	after	SCONJ
fcis-9409	101	2	corner	corner	NOUN
fcis-9409	101	3	points	point	NOUN
fcis-9409	101	4	were	be	AUX
fcis-9409	101	5	extracted	extract	VERB
fcis-9409	101	6	,	,	PUNCT
fcis-9409	101	7	the	the	DET
fcis-9409	101	8	parameters	parameter	NOUN
fcis-9409	101	9	of	of	ADP
fcis-9409	101	10	the	the	DET
fcis-9409	101	11	corresponding	corresponding	ADJ
fcis-9409	101	12	monocular	monocular	ADJ
fcis-9409	101	13	camera	camera	NOUN
fcis-9409	101	14	were	be	AUX
fcis-9409	101	15	obtained	obtain	VERB
fcis-9409	101	16	through	through	ADP
fcis-9409	101	17	calculation	calculation	NOUN
fcis-9409	101	18	.	.	PUNCT
fcis-9409	102	1	the	the	DET
fcis-9409	102	2	corner	corner	NOUN
fcis-9409	102	3	error	error	NOUN
fcis-9409	102	4	distribution	distribution	NOUN
fcis-9409	102	5	diagram	diagram	NOUN
fcis-9409	102	6	of	of	ADP
fcis-9409	102	7	a	a	DET
fcis-9409	102	8	single	single	ADJ
fcis-9409	102	9	camera	camera	NOUN
fcis-9409	102	10	was	be	AUX
fcis-9409	102	11	obtained	obtain	VERB
fcis-9409	102	12	,	,	PUNCT
fcis-9409	102	13	as	as	SCONJ
fcis-9409	102	14	shown	show	VERB
fcis-9409	102	15	in	in	ADP
fcis-9409	102	16	figure	figure	NOUN
fcis-9409	102	17	7(a	7(a	NUM
fcis-9409	102	18	)	)	PUNCT
fcis-9409	102	19	,	,	PUNCT
fcis-9409	102	20	and	and	CCONJ
fcis-9409	102	21	the	the	DET
fcis-9409	102	22	relative	relative	ADJ
fcis-9409	102	23	position	position	NOUN
fcis-9409	102	24	diagram	diagram	NOUN
fcis-9409	102	25	between	between	ADP
fcis-9409	102	26	a	a	DET
fcis-9409	102	27	single	single	ADJ
fcis-9409	102	28	camera	camera	NOUN
fcis-9409	102	29	and	and	CCONJ
fcis-9409	102	30	the	the	DET
fcis-9409	102	31	checkerboard	checkerboard	NOUN
fcis-9409	102	32	calibration	calibration	NOUN
fcis-9409	102	33	board	board	NOUN
fcis-9409	102	34	was	be	AUX
fcis-9409	102	35	shown	show	VERB
fcis-9409	102	36	in	in	ADP
fcis-9409	102	37	figure	figure	NOUN
fcis-9409	102	38	7(b	7(b	NUM
fcis-9409	102	39	)	)	PUNCT
fcis-9409	102	40	.	.	PUNCT
fcis-9409	103	1	it	it	PRON
fcis-9409	103	2	can	can	AUX
fcis-9409	103	3	be	be	AUX
fcis-9409	103	4	seen	see	VERB
fcis-9409	103	5	from	from	ADP
fcis-9409	103	6	figure	figure	NOUN
fcis-9409	103	7	7(a	7(a	NUM
fcis-9409	103	8	)	)	PUNCT
fcis-9409	103	9	that	that	SCONJ
fcis-9409	103	10	most	most	ADJ
fcis-9409	103	11	of	of	ADP
fcis-9409	103	12	the	the	DET
fcis-9409	103	13	scattered	scatter	VERB
fcis-9409	103	14	points	point	NOUN
fcis-9409	103	15	are	be	AUX
fcis-9409	103	16	clustered	cluster	VERB
fcis-9409	103	17	in	in	ADP
fcis-9409	103	18	the	the	DET
fcis-9409	103	19	interval	interval	NOUN
fcis-9409	104	1	[	[	X
fcis-9409	104	2	-0.1	-0.1	X
fcis-9409	104	3	,	,	PUNCT
fcis-9409	104	4	0.1	0.1	NUM
fcis-9409	104	5	]	]	PUNCT
fcis-9409	104	6	,	,	PUNCT
fcis-9409	104	7	with	with	ADP
fcis-9409	104	8	high	high	ADJ
fcis-9409	104	9	precision	precision	NOUN
fcis-9409	104	10	.	.	PUNCT
fcis-9409	105	1	(	(	PUNCT
fcis-9409	105	2	a	a	X
fcis-9409	105	3	)	)	PUNCT
fcis-9409	105	4	(	(	PUNCT
fcis-9409	105	5	b	b	X
fcis-9409	105	6	)	)	PUNCT
fcis-9409	105	7	(	(	PUNCT
fcis-9409	105	8	c	c	X
fcis-9409	105	9	)	)	PUNCT
fcis-9409	105	10	figure	figure	NOUN
fcis-9409	105	11	7	7	NUM
fcis-9409	105	12	.	.	PUNCT
fcis-9409	105	13	underwater	underwater	ADJ
fcis-9409	105	14	calibration	calibration	NOUN
fcis-9409	105	15	effect	effect	NOUN
fcis-9409	105	16	diagram((a	diagram((a	NOUN
fcis-9409	105	17	)	)	PUNCT
fcis-9409	105	18	corner	corner	NOUN
fcis-9409	105	19	error	error	NOUN
fcis-9409	105	20	distribution	distribution	NOUN
fcis-9409	105	21	diagram	diagram	NOUN
fcis-9409	105	22	;	;	PUNCT
fcis-9409	105	23	(	(	PUNCT
fcis-9409	105	24	b	b	X
fcis-9409	105	25	)	)	PUNCT
fcis-9409	105	26	position	position	NOUN
fcis-9409	105	27	diagram	diagram	NOUN
fcis-9409	105	28	of	of	ADP
fcis-9409	105	29	a	a	DET
fcis-9409	105	30	single	single	ADJ
fcis-9409	105	31	camera	camera	NOUN
fcis-9409	105	32	relative	relative	NOUN
fcis-9409	105	33	to	to	ADP
fcis-9409	105	34	the	the	DET
fcis-9409	105	35	calibration	calibration	NOUN
fcis-9409	105	36	plate	plate	NOUN
fcis-9409	105	37	;	;	PUNCT
fcis-9409	105	38	(	(	PUNCT
fcis-9409	105	39	c	c	X
fcis-9409	105	40	)	)	PUNCT
fcis-9409	105	41	the	the	DET
fcis-9409	105	42	relative	relative	ADJ
fcis-9409	105	43	position	position	NOUN
fcis-9409	105	44	of	of	ADP
fcis-9409	105	45	binocular	binocular	ADJ
fcis-9409	105	46	camera	camera	NOUN
fcis-9409	105	47	and	and	CCONJ
fcis-9409	105	48	calibration	calibration	NOUN
fcis-9409	105	49	plate	plate	NOUN
fcis-9409	105	50	)	)	PUNCT
fcis-9409	105	51	according	accord	VERB
fcis-9409	105	52	to	to	ADP
fcis-9409	105	53	the	the	DET
fcis-9409	105	54	above	above	ADJ
fcis-9409	105	55	analysis	analysis	NOUN
fcis-9409	105	56	,	,	PUNCT
fcis-9409	105	57	the	the	DET
fcis-9409	105	58	underwater	underwater	ADJ
fcis-9409	105	59	refraction	refraction	NOUN
fcis-9409	105	60	makes	make	VERB
fcis-9409	105	61	the	the	DET
fcis-9409	105	62	underwater	underwater	ADJ
fcis-9409	105	63	image	image	NOUN
fcis-9409	105	64	distortion	distortion	NOUN
fcis-9409	105	65	more	more	ADV
fcis-9409	105	66	serious	serious	ADJ
fcis-9409	105	67	.	.	PUNCT
fcis-9409	106	1	therefore	therefore	ADV
fcis-9409	106	2	,	,	PUNCT
fcis-9409	106	3	the	the	DET
fcis-9409	106	4	first	first	ADJ
fcis-9409	106	5	three	three	NUM
fcis-9409	106	6	distortion	distortion	NOUN
fcis-9409	106	7	coefficients	coefficient	NOUN
fcis-9409	106	8	of	of	ADP
fcis-9409	106	9	the	the	DET
fcis-9409	106	10	radial	radial	ADJ
fcis-9409	106	11	distortion	distortion	NOUN
fcis-9409	106	12	correction	correction	NOUN
fcis-9409	106	13	polynomial	polynomial	ADJ
fcis-9409	106	14	and	and	CCONJ
fcis-9409	106	15	the	the	DET
fcis-9409	106	16	first	first	ADJ
fcis-9409	106	17	two	two	NUM
fcis-9409	106	18	distortion	distortion	NOUN
fcis-9409	106	19	coefficients	coefficient	NOUN
fcis-9409	106	20	of	of	ADP
fcis-9409	106	21	the	the	DET
fcis-9409	106	22	tangential	tangential	ADJ
fcis-9409	106	23	distortion	distortion	NOUN
fcis-9409	106	24	correction	correction	NOUN
fcis-9409	106	25	polynomial	polynomial	NOUN
fcis-9409	106	26	are	be	AUX
fcis-9409	106	27	obtained	obtain	VERB
fcis-9409	106	28	by	by	ADP
fcis-9409	106	29	using	use	VERB
fcis-9409	106	30	the	the	DET
fcis-9409	106	31	high	high	ADJ
fcis-9409	106	32	-	-	PUNCT
fcis-9409	106	33	order	order	NOUN
fcis-9409	106	34	polynomial	polynomial	NOUN
fcis-9409	106	35	for	for	ADP
fcis-9409	106	36	calibration	calibration	NOUN
fcis-9409	106	37	calculation	calculation	NOUN
fcis-9409	106	38	in	in	ADP
fcis-9409	106	39	this	this	DET
fcis-9409	106	40	paper	paper	NOUN
fcis-9409	106	41	.	.	PUNCT
fcis-9409	107	1	the	the	DET
fcis-9409	107	2	underwater	underwater	ADJ
fcis-9409	107	3	calibration	calibration	NOUN
fcis-9409	107	4	parameters	parameter	NOUN
fcis-9409	107	5	of	of	ADP
fcis-9409	107	6	the	the	DET
fcis-9409	107	7	binocular	binocular	ADJ
fcis-9409	107	8	camera	camera	NOUN
fcis-9409	107	9	are	be	AUX
fcis-9409	107	10	shown	show	VERB
fcis-9409	107	11	in	in	ADP
fcis-9409	107	12	table	table	NOUN
fcis-9409	107	13	1	1	NUM
fcis-9409	107	14	.	.	PUNCT
fcis-9409	108	1	finally	finally	ADV
fcis-9409	108	2	,	,	PUNCT
fcis-9409	108	3	the	the	DET
fcis-9409	108	4	relative	relative	ADJ
fcis-9409	108	5	position	position	NOUN
fcis-9409	108	6	diagram	diagram	NOUN
fcis-9409	108	7	of	of	ADP
fcis-9409	108	8	binocular	binocular	ADJ
fcis-9409	108	9	camera	camera	NOUN
fcis-9409	108	10	and	and	CCONJ
fcis-9409	108	11	calibration	calibration	NOUN
fcis-9409	108	12	plate	plate	NOUN
fcis-9409	108	13	was	be	AUX
fcis-9409	108	14	obtained	obtain	VERB
fcis-9409	108	15	,	,	PUNCT
fcis-9409	108	16	as	as	SCONJ
fcis-9409	108	17	shown	show	VERB
fcis-9409	108	18	in	in	ADP
fcis-9409	108	19	figure	figure	NOUN
fcis-9409	108	20	7(c	7(c	NUM
fcis-9409	108	21	)	)	PUNCT
fcis-9409	108	22	.	.	PUNCT
fcis-9409	109	1	table	table	NOUN
fcis-9409	109	2	1	1	NUM
fcis-9409	109	3	.	.	PUNCT
fcis-9409	110	1	calibration	calibration	NOUN
fcis-9409	110	2	parameters	parameter	NOUN
fcis-9409	110	3	of	of	ADP
fcis-9409	110	4	underwater	underwater	ADJ
fcis-9409	110	5	binocular	binocular	ADJ
fcis-9409	110	6	camera	camera	NOUN
fcis-9409	110	7	parameter	parameter	NOUN
fcis-9409	110	8	left	leave	VERB
fcis-9409	110	9	camera	camera	NOUN
fcis-9409	110	10	right	right	ADJ
fcis-9409	110	11	camera	camera	NOUN
fcis-9409	110	12	internal	internal	ADJ
fcis-9409	110	13	parameter	parameter	NOUN
fcis-9409	110	14	matrix	matrix	NOUN
fcis-9409	111	1	441.9644	441.9644	NUM
fcis-9409	111	2	316.4981	316.4981	NUM
fcis-9409	111	3	441.58	441.58	NUM
fcis-9409	111	4	0	0	NUM
fcis-9409	111	5	0	0	NUM
fcis-9409	111	6	0	0	NUM
fcis-9409	111	7	0	0	NUM
fcis-9409	111	8	39	39	NUM
fcis-9409	111	9	234.520	234.520	NUM
fcis-9409	111	10	1	1	NUM
fcis-9409	111	11			NUM
fcis-9409	111	12			ADJ
fcis-9409	111	13			NOUN
fcis-9409	111	14			PROPN
fcis-9409	111	15			NOUN
fcis-9409	111	16			NOUN
fcis-9409	111	17			NOUN
fcis-9409	111	18			PROPN
fcis-9409	111	19			PROPN
fcis-9409	111	20	440.2659	440.2659	NUM
fcis-9409	111	21	323.7030	323.7030	NUM
fcis-9409	111	22	439.92	439.92	NUM
fcis-9409	111	23	0	0	NUM
fcis-9409	111	24	0	0	NUM
fcis-9409	111	25	0	0	NUM
fcis-9409	111	26	12	12	NUM
fcis-9409	111	27	225.5039	225.5039	NUM
fcis-9409	111	28	10	10	NUM
fcis-9409	111	29			NUM
fcis-9409	111	30			ADJ
fcis-9409	111	31			NOUN
fcis-9409	111	32			PROPN
fcis-9409	111	33			NOUN
fcis-9409	111	34			NOUN
fcis-9409	111	35			NOUN
fcis-9409	111	36			PRON
fcis-9409	111	37			PROPN
fcis-9409	111	38	distortion	distortion	NOUN
fcis-9409	111	39	coefficient	coefficient	NOUN
fcis-9409	111	40			PROPN
fcis-9409	111	41	0.7512	0.7512	PROPN
fcis-9409	111	42	0.4994	0.4994	NUM
fcis-9409	111	43	0.0001	0.0001	NUM
fcis-9409	111	44	0.0014	0.0014	NUM
fcis-9409	111	45	0.5704	0.5704	NOUN
fcis-9409	111	46			ADJ
fcis-9409	111	47	0.7524	0.7524	PROPN
fcis-9409	111	48	0.5419	0.5419	NUM
fcis-9409	111	49	0.0017	0.0017	NUM
fcis-9409	111	50	0.0015	0.0015	NUM
fcis-9409	111	51	0.6471	0.6471	NUM
fcis-9409	111	52			NOUN
fcis-9409	111	53	rotation	rotation	NOUN
fcis-9409	111	54	matrix	matrix	NOUN
fcis-9409	111	55	0.9999	0.9999	NUM
fcis-9409	111	56	0.0002	0.0002	NUM
fcis-9409	111	57	0.0037	0.0037	NUM
fcis-9409	111	58	0.0002	0.0002	NUM
fcis-9409	111	59	0.9999	0.9999	NUM
fcis-9409	111	60	0.0013	0.0013	NUM
fcis-9409	111	61	0.0037	0.0037	NUM
fcis-9409	111	62	0.0013	0.0013	NUM
fcis-9409	111	63	0.9999	0.9999	NUM
fcis-9409	111	64			PROPN
fcis-9409	111	65			ADJ
fcis-9409	111	66			NOUN
fcis-9409	111	67			PROPN
fcis-9409	111	68			NOUN
fcis-9409	111	69			NOUN
fcis-9409	111	70			NOUN
fcis-9409	111	71			PROPN
fcis-9409	111	72			PROPN
fcis-9409	111	73			PROPN
fcis-9409	111	74			PROPN
fcis-9409	111	75			PROPN
fcis-9409	111	76	translation	translation	NOUN
fcis-9409	111	77	vector	vector	NOUN
fcis-9409	111	78			PROPN
fcis-9409	111	79	24.9695	24.9695	PROPN
fcis-9409	111	80	1.1318	1.1318	NUM
fcis-9409	111	81	1.4443	1.4443	NUM
fcis-9409	111	82			NOUN
fcis-9409	111	83	the	the	DET
fcis-9409	111	84	underwater	underwater	ADJ
fcis-9409	111	85	image	image	NOUN
fcis-9409	111	86	was	be	AUX
fcis-9409	111	87	corrected	correct	VERB
fcis-9409	111	88	by	by	ADP
fcis-9409	111	89	using	use	VERB
fcis-9409	111	90	the	the	DET
fcis-9409	111	91	internal	internal	ADJ
fcis-9409	111	92	and	and	CCONJ
fcis-9409	111	93	external	external	ADJ
fcis-9409	111	94	parameters	parameter	NOUN
fcis-9409	111	95	obtained	obtain	VERB
fcis-9409	111	96	from	from	ADP
fcis-9409	111	97	underwater	underwater	ADJ
fcis-9409	111	98	calibration	calibration	NOUN
fcis-9409	111	99	,	,	PUNCT
fcis-9409	111	100	so	so	SCONJ
fcis-9409	111	101	that	that	SCONJ
fcis-9409	111	102	the	the	DET
fcis-9409	111	103	left	left	ADJ
fcis-9409	111	104	and	and	CCONJ
fcis-9409	111	105	right	right	ADJ
fcis-9409	111	106	eye	eye	NOUN
fcis-9409	111	107	underwater	underwater	NOUN
fcis-9409	111	108	images	image	NOUN
fcis-9409	111	109	were	be	AUX
fcis-9409	111	110	coplanar	coplanar	ADJ
fcis-9409	111	111	and	and	CCONJ
fcis-9409	111	112	aligned	align	VERB
fcis-9409	111	113	.	.	PUNCT
fcis-9409	112	1	the	the	DET
fcis-9409	112	2	comparison	comparison	NOUN
fcis-9409	112	3	of	of	ADP
fcis-9409	112	4	underwater	underwater	ADJ
fcis-9409	112	5	images	image	NOUN
fcis-9409	112	6	before	before	ADV
fcis-9409	112	7	and	and	CCONJ
fcis-9409	112	8	after	after	ADP
fcis-9409	112	9	correction	correction	NOUN
fcis-9409	112	10	is	be	AUX
fcis-9409	112	11	shown	show	VERB
fcis-9409	112	12	in	in	ADP
fcis-9409	112	13	figure	figure	NOUN
fcis-9409	112	14	8	8	NUM
fcis-9409	112	15	.	.	PUNCT
fcis-9409	113	1	(	(	PUNCT
fcis-9409	113	2	a	a	X
fcis-9409	113	3	)	)	PUNCT
fcis-9409	113	4	underwater	underwater	ADJ
fcis-9409	113	5	image	image	NOUN
fcis-9409	113	6	before	before	ADP
fcis-9409	113	7	correction	correction	NOUN
fcis-9409	113	8	(	(	PUNCT
fcis-9409	113	9	b	b	NOUN
fcis-9409	113	10	)	)	PUNCT
fcis-9409	113	11	corrected	correct	VERB
fcis-9409	113	12	underwater	underwater	ADJ
fcis-9409	113	13	image	image	NOUN
fcis-9409	113	14	figure	figure	NOUN
fcis-9409	113	15	8	8	NUM
fcis-9409	113	16	.	.	PUNCT
fcis-9409	114	1	underwater	underwater	ADJ
fcis-9409	114	2	image	image	NOUN
fcis-9409	114	3	before	before	ADP
fcis-9409	114	4	and	and	CCONJ
fcis-9409	114	5	after	after	ADP
fcis-9409	114	6	correction	correction	NOUN
fcis-9409	114	7	5.5	5.5	NUM
fcis-9409	114	8	.	.	PUNCT
fcis-9409	115	1	underwater	underwater	NOUN
fcis-9409	115	2	distance	distance	NOUN
fcis-9409	115	3	measurement	measurement	NOUN
fcis-9409	115	4	experiment	experiment	NOUN
fcis-9409	115	5	the	the	DET
fcis-9409	115	6	images	image	NOUN
fcis-9409	115	7	of	of	ADP
fcis-9409	115	8	underwater	underwater	ADJ
fcis-9409	115	9	objects	object	NOUN
fcis-9409	115	10	are	be	AUX
fcis-9409	115	11	obtained	obtain	VERB
fcis-9409	115	12	by	by	ADP
fcis-9409	115	13	binocular	binocular	ADJ
fcis-9409	115	14	underwater	underwater	ADJ
fcis-9409	115	15	camera	camera	NOUN
fcis-9409	115	16	,	,	PUNCT
fcis-9409	115	17	and	and	CCONJ
fcis-9409	115	18	the	the	DET
fcis-9409	115	19	improved	improved	ADJ
fcis-9409	115	20	clahe	clahe	NOUN
fcis-9409	115	21	algorithm	algorithm	NOUN
fcis-9409	115	22	is	be	AUX
fcis-9409	115	23	used	use	VERB
fcis-9409	115	24	to	to	PART
fcis-9409	115	25	process	process	VERB
fcis-9409	115	26	the	the	DET
fcis-9409	115	27	images	image	NOUN
fcis-9409	115	28	.	.	PUNCT
fcis-9409	116	1	the	the	DET
fcis-9409	116	2	sgbm	sgbm	NOUN
fcis-9409	116	3	algorithm	algorithm	NOUN
fcis-9409	116	4	is	be	AUX
fcis-9409	116	5	used	use	VERB
fcis-9409	116	6	for	for	ADP
fcis-9409	116	7	stereo	stereo	NOUN
fcis-9409	116	8	matching	matching	NOUN
fcis-9409	116	9	and	and	CCONJ
fcis-9409	116	10	the	the	DET
fcis-9409	116	11	depth	depth	NOUN
fcis-9409	116	12	map	map	NOUN
fcis-9409	116	13	of	of	ADP
fcis-9409	116	14	the	the	DET
fcis-9409	116	15	target	target	NOUN
fcis-9409	116	16	at	at	ADP
fcis-9409	116	17	different	different	ADJ
fcis-9409	116	18	distances	distance	NOUN
fcis-9409	116	19	is	be	AUX
fcis-9409	116	20	obtained	obtain	VERB
fcis-9409	116	21	.	.	PUNCT
fcis-9409	117	1	the	the	DET
fcis-9409	117	2	binocular	binocular	ADJ
fcis-9409	117	3	ranging	range	VERB
fcis-9409	117	4	principle	principle	NOUN
fcis-9409	117	5	is	be	AUX
fcis-9409	117	6	used	use	VERB
fcis-9409	117	7	to	to	PART
fcis-9409	117	8	measure	measure	VERB
fcis-9409	117	9	the	the	DET
fcis-9409	117	10	distance	distance	NOUN
fcis-9409	117	11	of	of	ADP
fcis-9409	117	12	the	the	DET
fcis-9409	117	13	target	target	NOUN
fcis-9409	117	14	in	in	ADP
fcis-9409	117	15	the	the	DET
fcis-9409	117	16	way	way	NOUN
fcis-9409	117	17	of	of	ADP
fcis-9409	117	18	selecting	select	VERB
fcis-9409	117	19	points	point	NOUN
fcis-9409	117	20	with	with	ADP
fcis-9409	117	21	the	the	DET
fcis-9409	117	22	mouse	mouse	NOUN
fcis-9409	117	23	.	.	PUNCT
fcis-9409	118	1	the	the	DET
fcis-9409	118	2	actual	actual	ADJ
fcis-9409	118	3	underwater	underwater	ADJ
fcis-9409	118	4	target	target	NOUN
fcis-9409	118	5	ranging	ranging	NOUN
fcis-9409	118	6	effect	effect	NOUN
fcis-9409	118	7	is	be	AUX
fcis-9409	118	8	shown	show	VERB
fcis-9409	118	9	in	in	ADP
fcis-9409	118	10	figure	figure	NOUN
fcis-9409	118	11	9	9	NUM
fcis-9409	118	12	.	.	PUNCT
fcis-9409	119	1	figure	figure	NOUN
fcis-9409	119	2	9	9	NUM
fcis-9409	119	3	.	.	PUNCT
fcis-9409	120	1	underwater	underwater	ADJ
fcis-9409	120	2	target	target	NOUN
fcis-9409	120	3	ranging	range	VERB
fcis-9409	120	4	actual	actual	ADJ
fcis-9409	120	5	effect	effect	NOUN
fcis-9409	120	6	images	image	NOUN
fcis-9409	120	7	of	of	ADP
fcis-9409	120	8	underwater	underwater	ADJ
fcis-9409	120	9	targets	target	NOUN
fcis-9409	120	10	were	be	AUX
fcis-9409	120	11	collected	collect	VERB
fcis-9409	120	12	by	by	ADP
fcis-9409	120	13	the	the	DET
fcis-9409	120	14	binocular	binocular	ADJ
fcis-9409	120	15	camera	camera	NOUN
fcis-9409	120	16	at	at	ADP
fcis-9409	120	17	a	a	DET
fcis-9409	120	18	distance	distance	NOUN
fcis-9409	120	19	of	of	ADP
fcis-9409	120	20	0.30	0.30	NUM
fcis-9409	120	21	m	m	NOUN
fcis-9409	120	22	,	,	PUNCT
fcis-9409	120	23	0.40	0.40	NUM
fcis-9409	120	24	m	m	NOUN
fcis-9409	120	25	,	,	PUNCT
fcis-9409	120	26	0.50	0.50	NUM
fcis-9409	120	27	m	m	NOUN
fcis-9409	120	28	,	,	PUNCT
fcis-9409	120	29	0.60	0.60	NUM
fcis-9409	120	30	m	m	NOUN
fcis-9409	120	31	,	,	PUNCT
fcis-9409	120	32	0.70	0.70	NUM
fcis-9409	120	33	m	m	NOUN
fcis-9409	120	34	and	and	CCONJ
fcis-9409	120	35	0.8	0.8	NUM
fcis-9409	120	36	m.	m.	NOUN
fcis-9409	120	37	the	the	DET
fcis-9409	120	38	depth	depth	NOUN
fcis-9409	120	39	of	of	ADP
fcis-9409	120	40	different	different	ADJ
fcis-9409	120	41	positions	position	NOUN
fcis-9409	120	42	is	be	AUX
fcis-9409	120	43	shown	show	VERB
fcis-9409	120	44	in	in	ADP
fcis-9409	120	45	figure	figure	NOUN
fcis-9409	120	46	10	10	NUM
fcis-9409	120	47	:	:	PUNCT
fcis-9409	120	48	(	(	PUNCT
fcis-9409	120	49	a	a	X
fcis-9409	120	50	)	)	PUNCT
fcis-9409	120	51	0.30	0.30	NUM
fcis-9409	120	52	m	m	NOUN
fcis-9409	120	53	(	(	PUNCT
fcis-9409	120	54	b	b	NOUN
fcis-9409	120	55	)	)	PUNCT
fcis-9409	120	56	0.40	0.40	NUM
fcis-9409	120	57	m	m	NOUN
fcis-9409	120	58	(	(	PUNCT
fcis-9409	120	59	c	c	NOUN
fcis-9409	120	60	)	)	PUNCT
fcis-9409	120	61	0.50	0.50	NUM
fcis-9409	120	62	m	m	NOUN
fcis-9409	120	63	(	(	PUNCT
fcis-9409	120	64	d	d	NOUN
fcis-9409	120	65	)	)	PUNCT
fcis-9409	120	66	0.60	0.60	NUM
fcis-9409	120	67	m	m	NOUN
fcis-9409	120	68	(	(	PUNCT
fcis-9409	120	69	e	e	NOUN
fcis-9409	120	70	)	)	PUNCT
fcis-9409	120	71	0.70	0.70	NUM
fcis-9409	120	72	m	m	NOUN
fcis-9409	120	73	(	(	PUNCT
fcis-9409	120	74	f	f	X
fcis-9409	120	75	)	)	PUNCT
fcis-9409	121	1	0.80	0.80	NUM
fcis-9409	121	2	m	m	NOUN
fcis-9409	121	3	figure	figure	NOUN
fcis-9409	121	4	10	10	NUM
fcis-9409	121	5	.	.	PUNCT
fcis-9409	122	1	parallax	parallax	NOUN
fcis-9409	122	2	map	map	NOUN
fcis-9409	122	3	of	of	ADP
fcis-9409	122	4	target	target	NOUN
fcis-9409	122	5	at	at	ADP
fcis-9409	122	6	different	different	ADJ
fcis-9409	122	7	distances	distance	NOUN
fcis-9409	122	8	the	the	DET
fcis-9409	122	9	average	average	ADJ
fcis-9409	122	10	value	value	NOUN
fcis-9409	122	11	of	of	ADP
fcis-9409	122	12	multiple	multiple	ADJ
fcis-9409	122	13	measurements	measurement	NOUN
fcis-9409	122	14	is	be	AUX
fcis-9409	122	15	taken	take	VERB
fcis-9409	122	16	.	.	PUNCT
fcis-9409	123	1	the	the	DET
fcis-9409	123	2	results	result	NOUN
fcis-9409	123	3	obtained	obtain	VERB
fcis-9409	123	4	from	from	ADP
fcis-9409	123	5	the	the	DET
fcis-9409	123	6	underwater	underwater	ADJ
fcis-9409	123	7	target	target	NOUN
fcis-9409	123	8	ranging	range	VERB
fcis-9409	123	9	21	21	NUM
fcis-9409	123	10	experiment	experiment	NOUN
fcis-9409	123	11	of	of	ADP
fcis-9409	123	12	the	the	DET
fcis-9409	123	13	system	system	NOUN
fcis-9409	123	14	are	be	AUX
fcis-9409	123	15	shown	show	VERB
fcis-9409	123	16	in	in	ADP
fcis-9409	123	17	table	table	NOUN
fcis-9409	123	18	2	2	NUM
fcis-9409	123	19	below	below	ADP
fcis-9409	123	20	table	table	NOUN
fcis-9409	123	21	2	2	NUM
fcis-9409	123	22	.	.	PUNCT
fcis-9409	123	23	experimental	experimental	ADJ
fcis-9409	123	24	results	result	NOUN
fcis-9409	123	25	of	of	ADP
fcis-9409	123	26	underwater	underwater	ADJ
fcis-9409	123	27	target	target	NOUN
fcis-9409	123	28	ranging	range	VERB
fcis-9409	123	29	true	true	ADJ
fcis-9409	123	30	distance	distance	NOUN
fcis-9409	123	31	(	(	PUNCT
fcis-9409	123	32	m	m	NOUN
fcis-9409	123	33	)	)	PUNCT
fcis-9409	123	34	experimental	experimental	ADJ
fcis-9409	123	35	ranging	ranging	NOUN
fcis-9409	123	36	value	value	NOUN
fcis-9409	123	37	(	(	PUNCT
fcis-9409	123	38	m	m	NOUN
fcis-9409	123	39	)	)	PUNCT
fcis-9409	123	40	absolute	absolute	ADJ
fcis-9409	123	41	error	error	NOUN
fcis-9409	123	42	(	(	PUNCT
fcis-9409	123	43	m	m	NOUN
fcis-9409	123	44	)	)	PUNCT
fcis-9409	123	45	relative	relative	ADJ
fcis-9409	123	46	error	error	NOUN
fcis-9409	123	47	(	(	PUNCT
fcis-9409	123	48	%	%	INTJ
fcis-9409	123	49	)	)	PUNCT
fcis-9409	123	50	0.300	0.300	NUM
fcis-9409	123	51	0.3036	0.3036	NUM
fcis-9409	123	52	0.0036	0.0036	NUM
fcis-9409	123	53	1.20	1.20	NUM
fcis-9409	123	54	0.400	0.400	NUM
fcis-9409	123	55	0.4079	0.4079	NUM
fcis-9409	123	56	0.0079	0.0079	NUM
fcis-9409	123	57	1.98	1.98	NUM
fcis-9409	123	58	0.500	0.500	NUM
fcis-9409	123	59	0.5120	0.5120	NUM
fcis-9409	123	60	0.0120	0.0120	NUM
fcis-9409	123	61	2.40	2.40	NUM
fcis-9409	123	62	0.600	0.600	NUM
fcis-9409	123	63	0.5781	0.5781	NUM
fcis-9409	123	64	0.0219	0.0219	NUM
fcis-9409	123	65	3.65	3.65	NUM
fcis-9409	123	66	0.700	0.700	NUM
fcis-9409	123	67	0.6662	0.6662	NUM
fcis-9409	123	68	0.0338	0.0338	NUM
fcis-9409	123	69	4.83	4.83	NUM
fcis-9409	123	70	0.800	0.800	NUM
fcis-9409	123	71	0.7536	0.7536	NUM
fcis-9409	123	72	0.0464	0.0464	NUM
fcis-9409	123	73	5.80	5.80	NUM
fcis-9409	123	74	according	accord	VERB
fcis-9409	123	75	to	to	ADP
fcis-9409	123	76	the	the	DET
fcis-9409	123	77	experimental	experimental	ADJ
fcis-9409	123	78	results	result	NOUN
fcis-9409	123	79	in	in	ADP
fcis-9409	123	80	table	table	NOUN
fcis-9409	123	81	2	2	NUM
fcis-9409	123	82	,	,	PUNCT
fcis-9409	123	83	when	when	SCONJ
fcis-9409	123	84	the	the	DET
fcis-9409	123	85	measured	measured	ADJ
fcis-9409	123	86	distance	distance	NOUN
fcis-9409	123	87	is	be	AUX
fcis-9409	123	88	within	within	ADP
fcis-9409	123	89	0.5	0.5	NUM
fcis-9409	123	90	m	m	NOUN
fcis-9409	123	91	,	,	PUNCT
fcis-9409	123	92	the	the	DET
fcis-9409	123	93	error	error	NOUN
fcis-9409	123	94	between	between	ADP
fcis-9409	123	95	the	the	DET
fcis-9409	123	96	measured	measured	ADJ
fcis-9409	123	97	value	value	NOUN
fcis-9409	123	98	of	of	ADP
fcis-9409	123	99	the	the	DET
fcis-9409	123	100	target	target	NOUN
fcis-9409	123	101	and	and	CCONJ
fcis-9409	123	102	the	the	DET
fcis-9409	123	103	real	real	ADJ
fcis-9409	123	104	distance	distance	NOUN
fcis-9409	123	105	between	between	ADP
fcis-9409	123	106	the	the	DET
fcis-9409	123	107	target	target	NOUN
fcis-9409	123	108	and	and	CCONJ
fcis-9409	123	109	the	the	DET
fcis-9409	123	110	camera	camera	NOUN
fcis-9409	123	111	is	be	AUX
fcis-9409	123	112	small	small	ADJ
fcis-9409	123	113	,	,	PUNCT
fcis-9409	123	114	the	the	DET
fcis-9409	123	115	error	error	NOUN
fcis-9409	123	116	is	be	AUX
fcis-9409	123	117	less	less	ADJ
fcis-9409	123	118	than	than	ADP
fcis-9409	123	119	2.4	2.4	NUM
fcis-9409	123	120	%	%	NOUN
fcis-9409	123	121	,	,	PUNCT
fcis-9409	123	122	and	and	CCONJ
fcis-9409	123	123	the	the	DET
fcis-9409	123	124	ranging	range	VERB
fcis-9409	123	125	effect	effect	NOUN
fcis-9409	123	126	is	be	AUX
fcis-9409	123	127	ideal	ideal	ADJ
fcis-9409	123	128	.	.	PUNCT
fcis-9409	124	1	when	when	SCONJ
fcis-9409	124	2	the	the	DET
fcis-9409	124	3	measured	measured	ADJ
fcis-9409	124	4	distance	distance	NOUN
fcis-9409	124	5	is	be	AUX
fcis-9409	124	6	greater	great	ADJ
fcis-9409	124	7	than	than	ADP
fcis-9409	124	8	0.5	0.5	NUM
fcis-9409	124	9	m	m	NOUN
fcis-9409	124	10	,	,	PUNCT
fcis-9409	124	11	the	the	DET
fcis-9409	124	12	error	error	NOUN
fcis-9409	124	13	between	between	ADP
fcis-9409	124	14	the	the	DET
fcis-9409	124	15	measured	measure	VERB
fcis-9409	124	16	distance	distance	NOUN
fcis-9409	124	17	value	value	NOUN
fcis-9409	124	18	of	of	ADP
fcis-9409	124	19	the	the	DET
fcis-9409	124	20	target	target	NOUN
fcis-9409	124	21	and	and	CCONJ
fcis-9409	124	22	the	the	DET
fcis-9409	124	23	real	real	ADJ
fcis-9409	124	24	distance	distance	NOUN
fcis-9409	124	25	value	value	NOUN
fcis-9409	124	26	of	of	ADP
fcis-9409	124	27	the	the	DET
fcis-9409	124	28	camera	camera	NOUN
fcis-9409	124	29	increases	increase	VERB
fcis-9409	124	30	gradually	gradually	ADV
fcis-9409	124	31	,	,	PUNCT
fcis-9409	124	32	but	but	CCONJ
fcis-9409	124	33	the	the	DET
fcis-9409	124	34	error	error	NOUN
fcis-9409	124	35	is	be	AUX
fcis-9409	124	36	less	less	ADJ
fcis-9409	124	37	than	than	ADP
fcis-9409	124	38	6	6	NUM
fcis-9409	124	39	%	%	NOUN
fcis-9409	124	40	,	,	PUNCT
fcis-9409	124	41	which	which	PRON
fcis-9409	124	42	meets	meet	VERB
fcis-9409	124	43	the	the	DET
fcis-9409	124	44	requirements	requirement	NOUN
fcis-9409	124	45	of	of	ADP
fcis-9409	124	46	underwater	underwater	ADJ
fcis-9409	124	47	experiment	experiment	NOUN
fcis-9409	124	48	.	.	PUNCT
fcis-9409	125	1	5.6	5.6	NUM
fcis-9409	125	2	.	.	X
fcis-9409	125	3	underwater	underwater	ADJ
fcis-9409	125	4	dimensional	dimensional	ADJ
fcis-9409	125	5	measurement	measurement	NOUN
fcis-9409	125	6	experiment	experiment	NOUN
fcis-9409	125	7	the	the	DET
fcis-9409	125	8	target	target	NOUN
fcis-9409	125	9	images	image	NOUN
fcis-9409	125	10	are	be	AUX
fcis-9409	125	11	collected	collect	VERB
fcis-9409	125	12	and	and	CCONJ
fcis-9409	125	13	processed	process	VERB
fcis-9409	125	14	successively	successively	ADV
fcis-9409	125	15	at	at	ADP
fcis-9409	125	16	0.2	0.2	NUM
fcis-9409	125	17	m	m	NOUN
fcis-9409	125	18	,	,	PUNCT
fcis-9409	125	19	0.30	0.30	NUM
fcis-9409	125	20	m	m	PROPN
fcis-9409	125	21	,	,	PUNCT
fcis-9409	125	22	0.40	0.40	NUM
fcis-9409	125	23	m	m	NOUN
fcis-9409	125	24	,	,	PUNCT
fcis-9409	125	25	0.50	0.50	NUM
fcis-9409	125	26	m	m	NOUN
fcis-9409	125	27	,	,	PUNCT
fcis-9409	125	28	0.60	0.60	NUM
fcis-9409	125	29	m	m	NOUN
fcis-9409	125	30	and	and	CCONJ
fcis-9409	125	31	0.70	0.70	NUM
fcis-9409	125	32	m	m	NOUN
fcis-9409	125	33	from	from	ADP
fcis-9409	125	34	the	the	DET
fcis-9409	125	35	distance	distance	NOUN
fcis-9409	125	36	camera	camera	NOUN
fcis-9409	125	37	.	.	PUNCT
fcis-9409	126	1	sgbm	sgbm	NOUN
fcis-9409	126	2	algorithm	algorithm	NOUN
fcis-9409	126	3	is	be	AUX
fcis-9409	126	4	used	use	VERB
fcis-9409	126	5	for	for	ADP
fcis-9409	126	6	stereo	stereo	NOUN
fcis-9409	126	7	matching	matching	NOUN
fcis-9409	126	8	and	and	CCONJ
fcis-9409	126	9	the	the	DET
fcis-9409	126	10	depth	depth	NOUN
fcis-9409	126	11	map	map	NOUN
fcis-9409	126	12	of	of	ADP
fcis-9409	126	13	the	the	DET
fcis-9409	126	14	target	target	NOUN
fcis-9409	126	15	at	at	ADP
fcis-9409	126	16	different	different	ADJ
fcis-9409	126	17	distances	distance	NOUN
fcis-9409	126	18	is	be	AUX
fcis-9409	126	19	obtained	obtain	VERB
fcis-9409	126	20	.	.	PUNCT
fcis-9409	127	1	the	the	DET
fcis-9409	127	2	dimensions	dimension	NOUN
fcis-9409	127	3	between	between	ADP
fcis-9409	127	4	the	the	DET
fcis-9409	127	5	selected	select	VERB
fcis-9409	127	6	two	two	NUM
fcis-9409	127	7	points	point	NOUN
fcis-9409	127	8	on	on	ADP
fcis-9409	127	9	the	the	DET
fcis-9409	127	10	target	target	NOUN
fcis-9409	127	11	are	be	AUX
fcis-9409	127	12	obtained	obtain	VERB
fcis-9409	127	13	by	by	ADP
fcis-9409	127	14	using	use	VERB
fcis-9409	127	15	the	the	DET
fcis-9409	127	16	binocular	binocular	ADJ
fcis-9409	127	17	ranging	range	VERB
fcis-9409	127	18	principle	principle	NOUN
fcis-9409	127	19	and	and	CCONJ
fcis-9409	127	20	the	the	DET
fcis-9409	127	21	distance	distance	NOUN
fcis-9409	127	22	formula	formula	NOUN
fcis-9409	127	23	.	.	PUNCT
fcis-9409	128	1	the	the	DET
fcis-9409	128	2	known	know	VERB
fcis-9409	128	3	actual	actual	ADJ
fcis-9409	128	4	diameter	diameter	NOUN
fcis-9409	128	5	of	of	ADP
fcis-9409	128	6	the	the	DET
fcis-9409	128	7	target	target	NOUN
fcis-9409	128	8	is	be	AUX
fcis-9409	128	9	0.21	0.21	NUM
fcis-9409	128	10	m	m	NOUN
fcis-9409	128	11	,	,	PUNCT
fcis-9409	128	12	and	and	CCONJ
fcis-9409	128	13	the	the	DET
fcis-9409	128	14	measurement	measurement	NOUN
fcis-9409	128	15	effect	effect	NOUN
fcis-9409	128	16	of	of	ADP
fcis-9409	128	17	the	the	DET
fcis-9409	128	18	actual	actual	ADJ
fcis-9409	128	19	underwater	underwater	ADJ
fcis-9409	128	20	target	target	NOUN
fcis-9409	128	21	size	size	NOUN
fcis-9409	128	22	is	be	AUX
fcis-9409	128	23	shown	show	VERB
fcis-9409	128	24	in	in	ADP
fcis-9409	128	25	figure	figure	NOUN
fcis-9409	128	26	11	11	NUM
fcis-9409	128	27	.	.	PUNCT
fcis-9409	129	1	figure	figure	VERB
fcis-9409	129	2	11	11	NUM
fcis-9409	129	3	.	.	PUNCT
fcis-9409	130	1	actual	actual	ADJ
fcis-9409	130	2	rendering	rendering	NOUN
fcis-9409	130	3	of	of	ADP
fcis-9409	130	4	underwater	underwater	ADJ
fcis-9409	130	5	target	target	NOUN
fcis-9409	130	6	size	size	NOUN
fcis-9409	130	7	measurement	measurement	NOUN
fcis-9409	130	8	images	image	NOUN
fcis-9409	130	9	of	of	ADP
fcis-9409	130	10	underwater	underwater	ADJ
fcis-9409	130	11	targets	target	NOUN
fcis-9409	130	12	are	be	AUX
fcis-9409	130	13	collected	collect	VERB
fcis-9409	130	14	at	at	ADP
fcis-9409	130	15	0.20	0.20	NUM
fcis-9409	130	16	m	m	NOUN
fcis-9409	130	17	,	,	PUNCT
fcis-9409	130	18	0.30	0.30	NUM
fcis-9409	130	19	m	m	PROPN
fcis-9409	130	20	,	,	PUNCT
fcis-9409	130	21	0.40	0.40	NUM
fcis-9409	130	22	m	m	NOUN
fcis-9409	130	23	,	,	PUNCT
fcis-9409	130	24	0.50	0.50	NUM
fcis-9409	130	25	m	m	NOUN
fcis-9409	130	26	,	,	PUNCT
fcis-9409	130	27	0.60	0.60	NUM
fcis-9409	130	28	m	m	NOUN
fcis-9409	130	29	and	and	CCONJ
fcis-9409	130	30	0.7	0.7	NUM
fcis-9409	130	31	m	m	NOUN
fcis-9409	130	32	away	away	ADV
fcis-9409	130	33	from	from	ADP
fcis-9409	130	34	the	the	DET
fcis-9409	130	35	underwater	underwater	ADJ
fcis-9409	130	36	camera	camera	NOUN
fcis-9409	130	37	.	.	PUNCT
fcis-9409	131	1	the	the	DET
fcis-9409	131	2	depth	depth	NOUN
fcis-9409	131	3	of	of	ADP
fcis-9409	131	4	different	different	ADJ
fcis-9409	131	5	positions	position	NOUN
fcis-9409	131	6	is	be	AUX
fcis-9409	131	7	shown	show	VERB
fcis-9409	131	8	in	in	ADP
fcis-9409	131	9	figure	figure	NOUN
fcis-9409	131	10	12	12	NUM
fcis-9409	131	11	.	.	PUNCT
fcis-9409	132	1	(	(	PUNCT
fcis-9409	132	2	a	a	X
fcis-9409	132	3	)	)	PUNCT
fcis-9409	132	4	0.20	0.20	NUM
fcis-9409	132	5	m	m	NOUN
fcis-9409	132	6	(	(	PUNCT
fcis-9409	132	7	b	b	NOUN
fcis-9409	132	8	)	)	PUNCT
fcis-9409	132	9	0.30	0.30	NUM
fcis-9409	132	10	m	m	NOUN
fcis-9409	132	11	(	(	PUNCT
fcis-9409	132	12	c	c	NOUN
fcis-9409	132	13	)	)	PUNCT
fcis-9409	132	14	0.40	0.40	NUM
fcis-9409	132	15	m	m	NOUN
fcis-9409	132	16	(	(	PUNCT
fcis-9409	132	17	d	d	NOUN
fcis-9409	132	18	)	)	PUNCT
fcis-9409	132	19	0.5	0.5	NUM
fcis-9409	132	20	m	m	NOUN
fcis-9409	132	21	(	(	PUNCT
fcis-9409	132	22	e	e	NOUN
fcis-9409	132	23	)	)	PUNCT
fcis-9409	132	24	0.6	0.6	NUM
fcis-9409	132	25	m	m	PROPN
fcis-9409	132	26	(	(	PUNCT
fcis-9409	132	27	f	f	X
fcis-9409	132	28	)	)	PUNCT
fcis-9409	132	29	0.8	0.8	NUM
fcis-9409	132	30	m	m	NOUN
fcis-9409	132	31	figure	figure	NOUN
fcis-9409	132	32	12	12	NUM
fcis-9409	132	33	.	.	PUNCT
fcis-9409	133	1	parallax	parallax	NOUN
fcis-9409	133	2	map	map	NOUN
fcis-9409	133	3	of	of	ADP
fcis-9409	133	4	target	target	NOUN
fcis-9409	133	5	at	at	ADP
fcis-9409	133	6	different	different	ADJ
fcis-9409	133	7	distances	distance	NOUN
fcis-9409	133	8	at	at	ADP
fcis-9409	133	9	different	different	ADJ
fcis-9409	133	10	positions	position	NOUN
fcis-9409	133	11	,	,	PUNCT
fcis-9409	133	12	two	two	NUM
fcis-9409	133	13	points	point	NOUN
fcis-9409	133	14	around	around	ADP
fcis-9409	133	15	the	the	DET
fcis-9409	133	16	edge	edge	NOUN
fcis-9409	133	17	of	of	ADP
fcis-9409	133	18	the	the	DET
fcis-9409	133	19	target	target	NOUN
fcis-9409	133	20	diameter	diameter	NOUN
fcis-9409	133	21	are	be	AUX
fcis-9409	133	22	selected	select	VERB
fcis-9409	133	23	to	to	PART
fcis-9409	133	24	calculate	calculate	VERB
fcis-9409	133	25	its	its	PRON
fcis-9409	133	26	size	size	NOUN
fcis-9409	133	27	value	value	NOUN
fcis-9409	133	28	.	.	PUNCT
fcis-9409	134	1	the	the	DET
fcis-9409	134	2	average	average	ADJ
fcis-9409	134	3	value	value	NOUN
fcis-9409	134	4	of	of	ADP
fcis-9409	134	5	multiple	multiple	ADJ
fcis-9409	134	6	measurements	measurement	NOUN
fcis-9409	134	7	is	be	AUX
fcis-9409	134	8	the	the	DET
fcis-9409	134	9	measurement	measurement	NOUN
fcis-9409	134	10	value	value	NOUN
fcis-9409	134	11	of	of	ADP
fcis-9409	134	12	the	the	DET
fcis-9409	134	13	underwater	underwater	ADJ
fcis-9409	134	14	binocular	binocular	ADJ
fcis-9409	134	15	size	size	NOUN
fcis-9409	134	16	of	of	ADP
fcis-9409	134	17	the	the	DET
fcis-9409	134	18	system	system	NOUN
fcis-9409	134	19	.	.	PUNCT
fcis-9409	135	1	the	the	DET
fcis-9409	135	2	experimental	experimental	ADJ
fcis-9409	135	3	results	result	NOUN
fcis-9409	135	4	of	of	ADP
fcis-9409	135	5	the	the	DET
fcis-9409	135	6	measurement	measurement	NOUN
fcis-9409	135	7	of	of	ADP
fcis-9409	135	8	the	the	DET
fcis-9409	135	9	underwater	underwater	ADJ
fcis-9409	135	10	target	target	NOUN
fcis-9409	135	11	size	size	NOUN
fcis-9409	135	12	are	be	AUX
fcis-9409	135	13	shown	show	VERB
fcis-9409	135	14	in	in	ADP
fcis-9409	135	15	table	table	NOUN
fcis-9409	135	16	3	3	NUM
fcis-9409	135	17	below	below	ADV
fcis-9409	135	18	.	.	PUNCT
fcis-9409	136	1	table	table	NOUN
fcis-9409	136	2	3	3	NUM
fcis-9409	136	3	.	.	PUNCT
fcis-9409	137	1	experimental	experimental	ADJ
fcis-9409	137	2	results	result	NOUN
fcis-9409	137	3	of	of	ADP
fcis-9409	137	4	size	size	NOUN
fcis-9409	137	5	measurement	measurement	NOUN
fcis-9409	137	6	of	of	ADP
fcis-9409	137	7	underwater	underwater	ADJ
fcis-9409	137	8	target	target	NOUN
fcis-9409	137	9	measuring	measure	VERB
fcis-9409	137	10	distance	distance	NOUN
fcis-9409	137	11	(	(	PUNCT
fcis-9409	137	12	m	m	NOUN
fcis-9409	137	13	)	)	PUNCT
fcis-9409	137	14	binocular	binocular	ADJ
fcis-9409	137	15	size	size	NOUN
fcis-9409	137	16	measurement(m	measurement(m	PROPN
fcis-9409	137	17	)	)	PUNCT
fcis-9409	137	18	absolute	absolute	ADJ
fcis-9409	137	19	error	error	NOUN
fcis-9409	137	20	(	(	PUNCT
fcis-9409	137	21	m	m	NOUN
fcis-9409	137	22	)	)	PUNCT
fcis-9409	137	23	relative	relative	ADJ
fcis-9409	137	24	error	error	NOUN
fcis-9409	137	25	(	(	PUNCT
fcis-9409	137	26	%	%	INTJ
fcis-9409	137	27	)	)	PUNCT
fcis-9409	137	28	0.20	0.20	NUM
fcis-9409	137	29	0.2129	0.2129	NUM
fcis-9409	137	30	0.0029	0.0029	NUM
fcis-9409	137	31	1.38	1.38	NUM
fcis-9409	137	32	0.30	0.30	NUM
fcis-9409	137	33	0.2136	0.2136	NUM
fcis-9409	137	34	0.0036	0.0036	NUM
fcis-9409	137	35	1.71	1.71	NUM
fcis-9409	137	36	0.40	0.40	NUM
fcis-9409	137	37	0.2132	0.2132	NUM
fcis-9409	137	38	0.0032	0.0032	NUM
fcis-9409	137	39	1.52	1.52	NUM
fcis-9409	137	40	0.50	0.50	NUM
fcis-9409	137	41	0.2041	0.2041	NUM
fcis-9409	137	42	0.0059	0.0059	NUM
fcis-9409	137	43	2.81	2.81	NUM
fcis-9409	137	44	0.60	0.60	NUM
fcis-9409	137	45	0.2027	0.2027	NUM
fcis-9409	137	46	0.0073	0.0073	NUM
fcis-9409	137	47	3.48	3.48	NUM
fcis-9409	137	48	0.70	0.70	NUM
fcis-9409	137	49	0.1997	0.1997	NUM
fcis-9409	137	50	0.0103	0.0103	NUM
fcis-9409	137	51	4.90	4.90	NUM
fcis-9409	137	52	according	accord	VERB
fcis-9409	137	53	to	to	ADP
fcis-9409	137	54	the	the	DET
fcis-9409	137	55	experimental	experimental	ADJ
fcis-9409	137	56	results	result	NOUN
fcis-9409	137	57	in	in	ADP
fcis-9409	137	58	table	table	NOUN
fcis-9409	137	59	3	3	NUM
fcis-9409	137	60	,	,	PUNCT
fcis-9409	137	61	when	when	SCONJ
fcis-9409	137	62	the	the	DET
fcis-9409	137	63	measurement	measurement	NOUN
fcis-9409	137	64	distance	distance	NOUN
fcis-9409	137	65	is	be	AUX
fcis-9409	137	66	less	less	ADJ
fcis-9409	137	67	than	than	ADP
fcis-9409	137	68	0.5	0.5	NUM
fcis-9409	137	69	m	m	NOUN
fcis-9409	137	70	,	,	PUNCT
fcis-9409	137	71	the	the	DET
fcis-9409	137	72	system	system	NOUN
fcis-9409	137	73	has	have	VERB
fcis-9409	137	74	a	a	DET
fcis-9409	137	75	small	small	ADJ
fcis-9409	137	76	error	error	NOUN
fcis-9409	137	77	between	between	ADP
fcis-9409	137	78	the	the	DET
fcis-9409	137	79	measured	measure	VERB
fcis-9409	137	80	value	value	NOUN
fcis-9409	137	81	and	and	CCONJ
fcis-9409	137	82	the	the	DET
fcis-9409	137	83	actual	actual	ADJ
fcis-9409	137	84	size	size	NOUN
fcis-9409	137	85	of	of	ADP
fcis-9409	137	86	the	the	DET
fcis-9409	137	87	underwater	underwater	ADJ
fcis-9409	137	88	target	target	NOUN
fcis-9409	137	89	,	,	PUNCT
fcis-9409	137	90	which	which	PRON
fcis-9409	137	91	is	be	AUX
fcis-9409	137	92	less	less	ADJ
fcis-9409	137	93	than	than	ADP
fcis-9409	137	94	2.81	2.81	NUM
fcis-9409	137	95	%	%	NOUN
fcis-9409	137	96	,	,	PUNCT
fcis-9409	137	97	indicating	indicate	VERB
fcis-9409	137	98	a	a	DET
fcis-9409	137	99	high	high	ADJ
fcis-9409	137	100	accuracy	accuracy	NOUN
fcis-9409	137	101	.	.	PUNCT
fcis-9409	138	1	when	when	SCONJ
fcis-9409	138	2	the	the	DET
fcis-9409	138	3	measurement	measurement	NOUN
fcis-9409	138	4	distance	distance	NOUN
fcis-9409	138	5	is	be	AUX
fcis-9409	138	6	greater	great	ADJ
fcis-9409	138	7	than	than	ADP
fcis-9409	138	8	0.5	0.5	NUM
fcis-9409	138	9	m	m	NOUN
fcis-9409	138	10	,	,	PUNCT
fcis-9409	138	11	the	the	DET
fcis-9409	138	12	error	error	NOUN
fcis-9409	138	13	between	between	ADP
fcis-9409	138	14	the	the	DET
fcis-9409	138	15	measured	measure	VERB
fcis-9409	138	16	value	value	NOUN
fcis-9409	138	17	and	and	CCONJ
fcis-9409	138	18	the	the	DET
fcis-9409	138	19	actual	actual	ADJ
fcis-9409	138	20	size	size	NOUN
fcis-9409	138	21	of	of	ADP
fcis-9409	138	22	the	the	DET
fcis-9409	138	23	underwater	underwater	ADJ
fcis-9409	138	24	target	target	NOUN
fcis-9409	138	25	obtained	obtain	VERB
fcis-9409	138	26	by	by	ADP
fcis-9409	138	27	the	the	DET
fcis-9409	138	28	system	system	NOUN
fcis-9409	138	29	gradually	gradually	ADV
fcis-9409	138	30	increases	increase	VERB
fcis-9409	138	31	,	,	PUNCT
fcis-9409	138	32	but	but	CCONJ
fcis-9409	138	33	the	the	DET
fcis-9409	138	34	error	error	NOUN
fcis-9409	138	35	is	be	AUX
fcis-9409	138	36	less	less	ADJ
fcis-9409	138	37	than	than	ADP
fcis-9409	138	38	6	6	NUM
fcis-9409	138	39	%	%	NOUN
fcis-9409	138	40	,	,	PUNCT
fcis-9409	138	41	which	which	PRON
fcis-9409	138	42	meets	meet	VERB
fcis-9409	138	43	the	the	DET
fcis-9409	138	44	requirements	requirement	NOUN
fcis-9409	138	45	of	of	ADP
fcis-9409	138	46	underwater	underwater	ADJ
fcis-9409	138	47	experiment	experiment	NOUN
fcis-9409	138	48	6	6	NUM
fcis-9409	138	49	.	.	PUNCT
fcis-9409	138	50	conclusion	conclusion	NOUN
fcis-9409	138	51	in	in	ADP
fcis-9409	138	52	view	view	NOUN
fcis-9409	138	53	of	of	ADP
fcis-9409	138	54	the	the	DET
fcis-9409	138	55	technical	technical	ADJ
fcis-9409	138	56	requirements	requirement	NOUN
fcis-9409	138	57	of	of	ADP
fcis-9409	138	58	underwater	underwater	ADJ
fcis-9409	138	59	binocular	binocular	ADJ
fcis-9409	138	60	vision	vision	NOUN
fcis-9409	138	61	target	target	NOUN
fcis-9409	138	62	ranging	ranging	NOUN
fcis-9409	138	63	and	and	CCONJ
fcis-9409	138	64	size	size	NOUN
fcis-9409	138	65	measurement	measurement	NOUN
fcis-9409	138	66	,	,	PUNCT
fcis-9409	138	67	a	a	DET
fcis-9409	138	68	binocular	binocular	ADJ
fcis-9409	138	69	vision	vision	NOUN
fcis-9409	138	70	based	base	VERB
fcis-9409	138	71	underwater	underwater	ADJ
fcis-9409	138	72	target	target	NOUN
fcis-9409	138	73	ranging	ranging	NOUN
fcis-9409	138	74	and	and	CCONJ
fcis-9409	138	75	size	size	NOUN
fcis-9409	138	76	measurement	measurement	NOUN
fcis-9409	138	77	system	system	NOUN
fcis-9409	138	78	is	be	AUX
fcis-9409	138	79	designed	design	VERB
fcis-9409	138	80	.	.	PUNCT
fcis-9409	139	1	the	the	DET
fcis-9409	139	2	system	system	NOUN
fcis-9409	139	3	uses	use	VERB
fcis-9409	139	4	underwater	underwater	ADJ
fcis-9409	139	5	binocular	binocular	ADJ
fcis-9409	139	6	proximity	proximity	NOUN
fcis-9409	139	7	for	for	ADP
fcis-9409	139	8	underwater	underwater	ADJ
fcis-9409	139	9	target	target	NOUN
fcis-9409	139	10	image	image	NOUN
fcis-9409	139	11	acquisition	acquisition	NOUN
fcis-9409	139	12	.	.	PUNCT
fcis-9409	140	1	through	through	ADP
fcis-9409	140	2	improved	improve	VERB
fcis-9409	140	3	clahe	clahe	NOUN
fcis-9409	140	4	algorithm	algorithm	NOUN
fcis-9409	140	5	,	,	PUNCT
fcis-9409	140	6	the	the	DET
fcis-9409	140	7	obtained	obtain	VERB
fcis-9409	140	8	underwater	underwater	ADJ
fcis-9409	140	9	image	image	NOUN
fcis-9409	140	10	is	be	AUX
fcis-9409	140	11	processed	process	VERB
fcis-9409	140	12	and	and	CCONJ
fcis-9409	140	13	the	the	DET
fcis-9409	140	14	image	image	NOUN
fcis-9409	140	15	contrast	contrast	NOUN
fcis-9409	140	16	is	be	AUX
fcis-9409	140	17	improved	improve	VERB
fcis-9409	140	18	.	.	PUNCT
fcis-9409	141	1	the	the	DET
fcis-9409	141	2	first	first	ADJ
fcis-9409	141	3	three	three	NUM
fcis-9409	141	4	distortion	distortion	NOUN
fcis-9409	141	5	coefficients	coefficient	NOUN
fcis-9409	141	6	of	of	ADP
fcis-9409	141	7	the	the	DET
fcis-9409	141	8	radial	radial	ADJ
fcis-9409	141	9	distortion	distortion	NOUN
fcis-9409	141	10	correction	correction	NOUN
fcis-9409	141	11	polynomial	polynomial	ADJ
fcis-9409	141	12	and	and	CCONJ
fcis-9409	141	13	the	the	DET
fcis-9409	141	14	first	first	ADJ
fcis-9409	141	15	two	two	NUM
fcis-9409	141	16	distortion	distortion	NOUN
fcis-9409	141	17	coefficients	coefficient	NOUN
fcis-9409	141	18	of	of	ADP
fcis-9409	141	19	the	the	DET
fcis-9409	141	20	tangential	tangential	ADJ
fcis-9409	141	21	distortion	distortion	NOUN
fcis-9409	141	22	correction	correction	NOUN
fcis-9409	141	23	polynomial	polynomial	NOUN
fcis-9409	141	24	are	be	AUX
fcis-9409	141	25	obtained	obtain	VERB
fcis-9409	141	26	by	by	ADP
fcis-9409	141	27	using	use	VERB
fcis-9409	141	28	the	the	DET
fcis-9409	141	29	improved	improve	VERB
fcis-9409	141	30	zhang	zhang	PROPN
fcis-9409	141	31	's	's	PART
fcis-9409	141	32	calibration	calibration	NOUN
fcis-9409	141	33	method	method	NOUN
fcis-9409	141	34	to	to	PART
fcis-9409	141	35	calculate	calculate	VERB
fcis-9409	141	36	the	the	DET
fcis-9409	141	37	camera	camera	NOUN
fcis-9409	141	38	underwater	underwater	NOUN
fcis-9409	141	39	calibration	calibration	NOUN
fcis-9409	141	40	.	.	PUNCT
fcis-9409	142	1	the	the	DET
fcis-9409	142	2	left	left	ADJ
fcis-9409	142	3	and	and	CCONJ
fcis-9409	142	4	right	right	ADJ
fcis-9409	142	5	eye	eye	NOUN
fcis-9409	142	6	underwater	underwater	NOUN
fcis-9409	142	7	images	image	NOUN
fcis-9409	142	8	are	be	AUX
fcis-9409	142	9	corrected	correct	VERB
fcis-9409	142	10	in	in	ADP
fcis-9409	142	11	stereo	stereo	NOUN
fcis-9409	142	12	by	by	ADP
fcis-9409	142	13	using	use	VERB
fcis-9409	142	14	the	the	DET
fcis-9409	142	15	internal	internal	ADJ
fcis-9409	142	16	and	and	CCONJ
fcis-9409	142	17	external	external	ADJ
fcis-9409	142	18	parameters	parameter	NOUN
fcis-9409	142	19	of	of	ADP
fcis-9409	142	20	the	the	DET
fcis-9409	142	21	camera	camera	NOUN
fcis-9409	142	22	underwater	underwater	NOUN
fcis-9409	142	23	calibration	calibration	NOUN
fcis-9409	142	24	,	,	PUNCT
fcis-9409	142	25	so	so	SCONJ
fcis-9409	142	26	that	that	SCONJ
fcis-9409	142	27	the	the	DET
fcis-9409	142	28	underwater	underwater	ADJ
fcis-9409	142	29	images	image	NOUN
fcis-9409	142	30	meet	meet	VERB
fcis-9409	142	31	the	the	DET
fcis-9409	142	32	requirements	requirement	NOUN
fcis-9409	142	33	of	of	ADP
fcis-9409	142	34	coplanar	coplanar	ADJ
fcis-9409	142	35	and	and	CCONJ
fcis-9409	142	36	line	line	NOUN
fcis-9409	142	37	alignment	alignment	NOUN
fcis-9409	142	38	.	.	PUNCT
fcis-9409	143	1	sgbm	sgbm	PROPN
fcis-9409	143	2	stereo	stereo	PROPN
fcis-9409	143	3	matching	matching	NOUN
fcis-9409	143	4	algorithm	algorithm	NOUN
fcis-9409	143	5	is	be	AUX
fcis-9409	143	6	used	use	VERB
fcis-9409	143	7	to	to	PART
fcis-9409	143	8	obtain	obtain	VERB
fcis-9409	143	9	the	the	DET
fcis-9409	143	10	parallax	parallax	NOUN
fcis-9409	143	11	map	map	NOUN
fcis-9409	143	12	of	of	ADP
fcis-9409	143	13	the	the	DET
fcis-9409	143	14	corrected	correct	VERB
fcis-9409	143	15	underwater	underwater	ADJ
fcis-9409	143	16	image	image	NOUN
fcis-9409	143	17	,	,	PUNCT
fcis-9409	143	18	and	and	CCONJ
fcis-9409	143	19	then	then	ADV
fcis-9409	143	20	the	the	DET
fcis-9409	143	21	underwater	underwater	ADJ
fcis-9409	143	22	target	target	NOUN
fcis-9409	143	23	ranging	range	VERB
fcis-9409	143	24	and	and	CCONJ
fcis-9409	143	25	size	size	NOUN
fcis-9409	143	26	measurement	measurement	NOUN
fcis-9409	143	27	are	be	AUX
fcis-9409	143	28	completed	complete	VERB
fcis-9409	143	29	.	.	PUNCT
fcis-9409	144	1	the	the	DET
fcis-9409	144	2	results	result	NOUN
fcis-9409	144	3	of	of	ADP
fcis-9409	144	4	underwater	underwater	ADJ
fcis-9409	144	5	experiments	experiment	NOUN
fcis-9409	144	6	show	show	VERB
fcis-9409	144	7	that	that	SCONJ
fcis-9409	144	8	the	the	DET
fcis-9409	144	9	underwater	underwater	ADJ
fcis-9409	144	10	images	image	NOUN
fcis-9409	144	11	processed	process	VERB
fcis-9409	144	12	by	by	ADP
fcis-9409	144	13	the	the	DET
fcis-9409	144	14	improved	improved	ADJ
fcis-9409	144	15	clahe	clahe	NOUN
fcis-9409	144	16	algorithm	algorithm	NOUN
fcis-9409	144	17	can	can	AUX
fcis-9409	144	18	enhance	enhance	VERB
fcis-9409	144	19	the	the	DET
fcis-9409	144	20	details	detail	NOUN
fcis-9409	144	21	,	,	PUNCT
fcis-9409	144	22	improve	improve	VERB
fcis-9409	144	23	the	the	DET
fcis-9409	144	24	contrast	contrast	NOUN
fcis-9409	144	25	,	,	PUNCT
fcis-9409	144	26	and	and	CCONJ
fcis-9409	144	27	greatly	greatly	ADV
fcis-9409	144	28	improve	improve	VERB
fcis-9409	144	29	the	the	DET
fcis-9409	144	30	visual	visual	ADJ
fcis-9409	144	31	effect	effect	NOUN
fcis-9409	144	32	.	.	PUNCT
fcis-9409	145	1	in	in	ADP
fcis-9409	145	2	the	the	DET
fcis-9409	145	3	distance	distance	NOUN
fcis-9409	145	4	of	of	ADP
fcis-9409	145	5	0.5	0.5	NUM
fcis-9409	145	6	m	m	NOUN
fcis-9409	145	7	,	,	PUNCT
fcis-9409	145	8	the	the	DET
fcis-9409	145	9	average	average	ADJ
fcis-9409	145	10	accuracy	accuracy	NOUN
fcis-9409	145	11	of	of	ADP
fcis-9409	145	12	the	the	DET
fcis-9409	145	13	system	system	NOUN
fcis-9409	145	14	measurement	measurement	NOUN
fcis-9409	145	15	is	be	AUX
fcis-9409	145	16	97.19	97.19	NUM
fcis-9409	145	17	%	%	NOUN
fcis-9409	145	18	,	,	PUNCT
fcis-9409	145	19	which	which	PRON
fcis-9409	145	20	has	have	VERB
fcis-9409	145	21	a	a	DET
fcis-9409	145	22	high	high	ADJ
fcis-9409	145	23	accuracy	accuracy	NOUN
fcis-9409	145	24	.	.	PUNCT
fcis-9409	146	1	when	when	SCONJ
fcis-9409	146	2	the	the	DET
fcis-9409	146	3	measurement	measurement	NOUN
fcis-9409	146	4	distance	distance	NOUN
fcis-9409	146	5	is	be	AUX
fcis-9409	146	6	greater	great	ADJ
fcis-9409	146	7	than	than	ADP
fcis-9409	146	8	0.5	0.5	NUM
fcis-9409	146	9	m	m	NOUN
fcis-9409	146	10	,	,	PUNCT
fcis-9409	146	11	due	due	ADP
fcis-9409	146	12	to	to	ADP
fcis-9409	146	13	the	the	DET
fcis-9409	146	14	scattering	scattering	NOUN
fcis-9409	146	15	and	and	CCONJ
fcis-9409	146	16	refraction	refraction	NOUN
fcis-9409	146	17	of	of	ADP
fcis-9409	146	18	light	light	NOUN
fcis-9409	146	19	in	in	ADP
fcis-9409	146	20	the	the	DET
fcis-9409	146	21	underwater	underwater	ADJ
fcis-9409	146	22	environment	environment	NOUN
fcis-9409	146	23	,	,	PUNCT
fcis-9409	146	24	and	and	CCONJ
fcis-9409	146	25	the	the	DET
fcis-9409	146	26	increase	increase	NOUN
fcis-9409	146	27	of	of	ADP
fcis-9409	146	28	distance	distance	NOUN
fcis-9409	146	29	,	,	PUNCT
fcis-9409	146	30	there	there	PRON
fcis-9409	146	31	will	will	AUX
fcis-9409	146	32	be	be	AUX
fcis-9409	146	33	more	more	ADJ
fcis-9409	146	34	interference	interference	NOUN
fcis-9409	146	35	of	of	ADP
fcis-9409	146	36	invalid	invalid	ADJ
fcis-9409	146	37	pixels	pixel	NOUN
fcis-9409	146	38	in	in	ADP
fcis-9409	146	39	the	the	DET
fcis-9409	146	40	imaging	imaging	NOUN
fcis-9409	146	41	plane	plane	NOUN
fcis-9409	146	42	,	,	PUNCT
fcis-9409	146	43	which	which	PRON
fcis-9409	146	44	increases	increase	VERB
fcis-9409	146	45	the	the	DET
fcis-9409	146	46	difficulty	difficulty	NOUN
fcis-9409	146	47	of	of	ADP
fcis-9409	146	48	binocular	binocular	ADJ
fcis-9409	146	49	stereo	stereo	NOUN
fcis-9409	146	50	matching	matching	NOUN
fcis-9409	146	51	,	,	PUNCT
fcis-9409	146	52	decreases	decrease	VERB
fcis-9409	146	53	the	the	DET
fcis-9409	146	54	matching	matching	NOUN
fcis-9409	146	55	accuracy	accuracy	NOUN
fcis-9409	146	56	,	,	PUNCT
fcis-9409	146	57	and	and	CCONJ
fcis-9409	146	58	leads	lead	VERB
fcis-9409	146	59	to	to	ADP
fcis-9409	146	60	the	the	DET
fcis-9409	146	61	corresponding	corresponding	ADJ
fcis-9409	146	62	increase	increase	NOUN
fcis-9409	146	63	of	of	ADP
fcis-9409	146	64	measurement	measurement	NOUN
fcis-9409	146	65	error	error	NOUN
fcis-9409	146	66	.	.	PUNCT
fcis-9409	147	1	however	however	ADV
fcis-9409	147	2	,	,	PUNCT
fcis-9409	147	3	the	the	DET
fcis-9409	147	4	measurement	measurement	NOUN
fcis-9409	147	5	error	error	NOUN
fcis-9409	147	6	of	of	ADP
fcis-9409	147	7	the	the	DET
fcis-9409	147	8	system	system	NOUN
fcis-9409	147	9	is	be	AUX
fcis-9409	147	10	still	still	ADV
fcis-9409	147	11	within	within	ADP
fcis-9409	147	12	6	6	NUM
fcis-9409	147	13	%	%	NOUN
fcis-9409	147	14	,	,	PUNCT
fcis-9409	147	15	which	which	PRON
fcis-9409	147	16	meets	meet	VERB
fcis-9409	147	17	the	the	DET
fcis-9409	147	18	requirements	requirement	NOUN
fcis-9409	147	19	of	of	ADP
fcis-9409	147	20	underwater	underwater	ADJ
fcis-9409	147	21	experiment	experiment	NOUN
fcis-9409	147	22	.	.	PUNCT
fcis-9409	148	1	22	22	NUM
fcis-9409	148	2	references	reference	NOUN
fcis-9409	148	3	[	[	X
fcis-9409	148	4	1	1	NUM
fcis-9409	148	5	]	]	PUNCT
fcis-9409	148	6	shuai	shuai	PROPN
fcis-9409	148	7	peng	peng	PROPN
fcis-9409	148	8	.	.	PUNCT
fcis-9409	149	1	application	application	NOUN
fcis-9409	149	2	of	of	ADP
fcis-9409	149	3	underwater	underwater	ADJ
fcis-9409	149	4	robot	robot	NOUN
fcis-9409	149	5	in	in	ADP
fcis-9409	149	6	offshore	offshore	ADJ
fcis-9409	149	7	petroleum	petroleum	NOUN
fcis-9409	149	8	engineering	engineering	NOUN
fcis-9409	150	1	[	[	X
fcis-9409	150	2	j	j	X
fcis-9409	150	3	]	]	X
fcis-9409	150	4	.	.	PUNCT
fcis-9409	151	1	petroleum	petroleum	NOUN
fcis-9409	151	2	and	and	CCONJ
fcis-9409	151	3	chemical	chemical	NOUN
fcis-9409	151	4	equipment	equipment	NOUN
fcis-9409	151	5	,	,	PUNCT
fcis-9409	151	6	2019	2019	NUM
fcis-9409	151	7	,	,	PUNCT
fcis-9409	151	8	22(05):63	22(05):63	NUM
fcis-9409	151	9	-	-	SYM
fcis-9409	151	10	65	65	NUM
fcis-9409	151	11	.	.	PUNCT
fcis-9409	152	1	[	[	X
fcis-9409	152	2	2	2	NUM
fcis-9409	152	3	]	]	PUNCT
fcis-9409	152	4	li	li	PROPN
fcis-9409	152	5	xiaowei	xiaowei	PROPN
fcis-9409	152	6	,	,	PUNCT
fcis-9409	152	7	ge	ge	PROPN
fcis-9409	152	8	xiyun	xiyun	PROPN
fcis-9409	152	9	,	,	PUNCT
fcis-9409	152	10	feng	feng	PROPN
fcis-9409	152	11	xuelei	xuelei	PROPN
fcis-9409	152	12	,	,	PUNCT
fcis-9409	152	13	chen	chen	PROPN
fcis-9409	152	14	nanruo	nanruo	PROPN
fcis-9409	152	15	.	.	PUNCT
fcis-9409	153	1	development	development	NOUN
fcis-9409	153	2	of	of	ADP
fcis-9409	153	3	deep	deep	ADJ
fcis-9409	153	4	-	-	PUNCT
fcis-9409	153	5	sea	sea	NOUN
fcis-9409	153	6	exploration	exploration	NOUN
fcis-9409	153	7	target	target	NOUN
fcis-9409	153	8	tracking	tracking	NOUN
fcis-9409	153	9	system	system	NOUN
fcis-9409	153	10	based	base	VERB
fcis-9409	153	11	on	on	ADP
fcis-9409	153	12	image	image	NOUN
fcis-9409	153	13	recognition	recognition	NOUN
fcis-9409	154	1	[	[	X
fcis-9409	154	2	j	j	X
fcis-9409	154	3	]	]	X
fcis-9409	154	4	.	.	PUNCT
fcis-9409	155	1	mechanical	mechanical	ADJ
fcis-9409	155	2	engineering	engineering	PROPN
fcis-9409	155	3	&	&	CCONJ
fcis-9409	155	4	automation,2018(03):172	automation,2018(03):172	PROPN
fcis-9409	155	5	-	-	PUNCT
fcis-9409	155	6	174	174	NUM
fcis-9409	155	7	.	.	PUNCT
fcis-9409	156	1	[	[	X
fcis-9409	156	2	3	3	X
fcis-9409	156	3	]	]	X
fcis-9409	156	4	huang	huang	PROPN
fcis-9409	156	5	shuling	shuling	NOUN
fcis-9409	156	6	.	.	PUNCT
fcis-9409	157	1	research	research	NOUN
fcis-9409	157	2	on	on	ADP
fcis-9409	157	3	underwater	underwater	ADJ
fcis-9409	157	4	target	target	NOUN
fcis-9409	157	5	detection	detection	NOUN
fcis-9409	157	6	and	and	CCONJ
fcis-9409	157	7	tracking	tracking	NOUN
fcis-9409	157	8	method	method	NOUN
fcis-9409	157	9	of	of	ADP
fcis-9409	157	10	auv	auv	PROPN
fcis-9409	158	1	[	[	X
fcis-9409	158	2	d	d	X
fcis-9409	158	3	]	]	X
fcis-9409	158	4	.	.	PUNCT
fcis-9409	159	1	harbin	harbin	PROPN
fcis-9409	159	2	engineering	engineering	PROPN
fcis-9409	159	3	university	university	PROPN
fcis-9409	159	4	,	,	PUNCT
fcis-9409	159	5	2014	2014	NUM
fcis-9409	159	6	.	.	PUNCT
fcis-9409	160	1	yao	yao	PROPN
fcis-9409	160	2	bin	bin	PROPN
fcis-9409	160	3	,	,	PUNCT
fcis-9409	160	4	yang	yang	PROPN
fcis-9409	160	5	lingzhi	lingzhi	PROPN
fcis-9409	160	6	,	,	PUNCT
fcis-9409	160	7	yu	yu	PROPN
fcis-9409	160	8	jiuzheng	jiuzheng	PROPN
fcis-9409	160	9	,	,	PUNCT
fcis-9409	160	10	ji	ji	PROPN
fcis-9409	160	11	zhenning	zhenning	PROPN
fcis-9409	160	12	,	,	PUNCT
fcis-9409	160	13	hu	hu	PROPN
fcis-9409	160	14	gaixing	gaixing	PROPN
fcis-9409	160	15	.	.	PUNCT
fcis-9409	161	1	research	research	NOUN
fcis-9409	161	2	and	and	CCONJ
fcis-9409	161	3	application	application	NOUN
fcis-9409	161	4	of	of	ADP
fcis-9409	161	5	digital	digital	ADJ
fcis-9409	161	6	stratified	stratified	ADJ
fcis-9409	161	7	water	water	NOUN
fcis-9409	161	8	flooding	flooding	NOUN
fcis-9409	161	9	technique	technique	NOUN
fcis-9409	161	10	based	base	VERB
fcis-9409	161	11	on	on	ADP
fcis-9409	161	12	wave	wave	NOUN
fcis-9409	161	13	code	code	NOUN
fcis-9409	161	14	communication	communication	NOUN
fcis-9409	162	1	[	[	X
fcis-9409	162	2	j	j	X
fcis-9409	162	3	]	]	X
fcis-9409	162	4	.	.	PUNCT
fcis-9409	163	1	china	china	PROPN
fcis-9409	163	2	petroleum	petroleum	PROPN
fcis-9409	163	3	machinery	machinery	NOUN
fcis-9409	163	4	,	,	PUNCT
fcis-9409	163	5	20	20	NUM
fcis-9409	163	6	,	,	PUNCT
fcis-9409	163	7	48	48	NUM
fcis-9409	163	8	(	(	PUNCT
fcis-9409	163	9	05	05	NUM
fcis-9409	163	10	):	):	PUNCT
fcis-9409	163	11	71	71	NUM
fcis-9409	163	12	-	-	SYM
fcis-9409	163	13	77	77	NUM
fcis-9409	163	14	.	.	PUNCT
fcis-9409	164	1	[	[	X
fcis-9409	164	2	4	4	NUM
fcis-9409	164	3	]	]	X
fcis-9409	164	4	lionetto	lionetto	NOUN
fcis-9409	164	5	l	l	NOUN
fcis-9409	164	6	,	,	PUNCT
fcis-9409	164	7	casolla	casolla	NOUN
fcis-9409	164	8	b	b	PROPN
fcis-9409	164	9	,	,	PUNCT
fcis-9409	164	10	mastropietri	mastropietri	PROPN
fcis-9409	164	11	f	f	PROPN
fcis-9409	164	12	,	,	PUNCT
fcis-9409	164	13	et	et	PROPN
fcis-9409	164	14	al	al	PROPN
fcis-9409	164	15	.	.	PUNCT
fcis-9409	164	16	application	application	NOUN
fcis-9409	164	17	research	research	NOUN
fcis-9409	164	18	of	of	ADP
fcis-9409	164	19	3d	3d	NUM
fcis-9409	164	20	imaging	imaging	NOUN
fcis-9409	164	21	sonar	sonar	ADJ
fcis-9409	164	22	system	system	NOUN
fcis-9409	164	23	in	in	ADP
fcis-9409	164	24	salvage	salvage	NOUN
fcis-9409	164	25	process[j	process[j	PROPN
fcis-9409	164	26	]	]	PUNCT
fcis-9409	164	27	.	.	PUNCT
fcis-9409	165	1	applied	apply	VERB
fcis-9409	165	2	mechanics	mechanic	NOUN
fcis-9409	165	3	and	and	CCONJ
fcis-9409	165	4	materials	material	NOUN
fcis-9409	165	5	,	,	PUNCT
fcis-9409	165	6	2014	2014	NUM
fcis-9409	165	7	,	,	PUNCT
fcis-9409	165	8	643(8	643(8	NUM
fcis-9409	165	9	):	):	PUNCT
fcis-9409	165	10	279	279	NUM
fcis-9409	165	11	-	-	SYM
fcis-9409	165	12	282	282	NUM
fcis-9409	165	13	.	.	PUNCT
fcis-9409	166	1	[	[	X
fcis-9409	166	2	5	5	X
fcis-9409	166	3	]	]	PUNCT
fcis-9409	166	4	zhuang	zhuang	PROPN
fcis-9409	166	5	sufeng	sufeng	PROPN
fcis-9409	166	6	,	,	PUNCT
fcis-9409	166	7	tu	tu	PROPN
fcis-9409	166	8	dawei	dawei	PROPN
fcis-9409	166	9	,	,	PUNCT
fcis-9409	166	10	zhang	zhang	PROPN
fcis-9409	166	11	xu	xu	PROPN
fcis-9409	166	12	,	,	PUNCT
fcis-9409	166	13	yao	yao	PROPN
fcis-9409	166	14	qinzhou	qinzhou	NOUN
fcis-9409	166	15	.	.	PUNCT
fcis-9409	167	1	binocular	binocular	ADJ
fcis-9409	167	2	stereo	stereo	PROPN
fcis-9409	167	3	vision	vision	PROPN
fcis-9409	167	4	underwater	underwater	NOUN
fcis-9409	167	5	corresponding	corresponding	ADJ
fcis-9409	167	6	points	point	NOUN
fcis-9409	167	7	matching	matching	NOUN
fcis-9409	167	8	and	and	CCONJ
fcis-9409	167	9	3	3	NUM
fcis-9409	167	10	d	d	NOUN
fcis-9409	167	11	reconstruction	reconstruction	NOUN
fcis-9409	167	12	method	method	NOUN
fcis-9409	167	13	research	research	NOUN
fcis-9409	168	1	[	[	X
fcis-9409	168	2	j	j	X
fcis-9409	168	3	]	]	X
fcis-9409	168	4	.	.	PUNCT
fcis-9409	169	1	journal	journal	PROPN
fcis-9409	169	2	of	of	ADP
fcis-9409	169	3	instruments	instrument	NOUN
fcis-9409	169	4	and	and	CCONJ
fcis-9409	169	5	meters	meter	NOUN
fcis-9409	169	6	,	,	PUNCT
fcis-9409	169	7	2022	2022	NUM
fcis-9409	169	8	lancet	lancet	NOUN
fcis-9409	169	9	(	(	PUNCT
fcis-9409	169	10	5	5	NUM
fcis-9409	169	11	):	):	PUNCT
fcis-9409	169	12	147	147	NUM
fcis-9409	169	13	-	-	SYM
fcis-9409	169	14	154	154	NUM
fcis-9409	169	15	.	.	PUNCT
fcis-9409	170	1	the	the	DET
fcis-9409	170	2	doi	doi	NOUN
fcis-9409	170	3	:	:	PUNCT
fcis-9409	170	4	10.19650	10.19650	NUM
fcis-9409	170	5	/	/	SYM
fcis-9409	170	6	j.	j.	PROPN
fcis-9409	170	7	carol	carol	PROPN
fcis-9409	170	8	carroll	carroll	PROPN
fcis-9409	170	9	nki	nki	PROPN
fcis-9409	170	10	cjsi	cjsi	PROPN
fcis-9409	170	11	.	.	PUNCT
fcis-9409	171	1	j2209215	j2209215	PROPN
fcis-9409	171	2	.	.	PUNCT
fcis-9409	172	1	[	[	X
fcis-9409	172	2	6	6	NUM
fcis-9409	172	3	]	]	X
fcis-9409	172	4	wei	wei	PROPN
fcis-9409	172	5	jingyang	jingyang	PROPN
fcis-9409	172	6	.	.	PUNCT
fcis-9409	173	1	underwater	underwater	ADJ
fcis-9409	173	2	high	high	ADJ
fcis-9409	173	3	-	-	PUNCT
fcis-9409	173	4	precision	precision	NOUN
fcis-9409	173	5	3d	3d	NOUN
fcis-9409	173	6	reconstruction	reconstruction	NOUN
fcis-9409	173	7	method	method	NOUN
fcis-9409	173	8	based	base	VERB
fcis-9409	173	9	on	on	ADP
fcis-9409	173	10	binocular	binocular	ADJ
fcis-9409	173	11	stereo	stereo	NOUN
fcis-9409	173	12	vision	vision	NOUN
fcis-9409	174	1	[	[	X
fcis-9409	174	2	d	d	X
fcis-9409	174	3	]	]	X
fcis-9409	174	4	.	.	PUNCT
fcis-9409	175	1	harbin	harbin	PROPN
fcis-9409	175	2	institute	institute	PROPN
fcis-9409	175	3	of	of	ADP
fcis-9409	175	4	technology,2017	technology,2017	AUX
fcis-9409	175	5	.	.	PUNCT
fcis-9409	176	1	[	[	X
fcis-9409	176	2	7	7	X
fcis-9409	176	3	]	]	X
fcis-9409	176	4	yang	yang	PROPN
fcis-9409	176	5	weimin	weimin	PROPN
fcis-9409	176	6	,	,	PUNCT
fcis-9409	176	7	yang	yang	PROPN
fcis-9409	176	8	guangxi	guangxi	PROPN
fcis-9409	176	9	,	,	PUNCT
fcis-9409	176	10	sun	sun	PROPN
fcis-9409	176	11	shuang	shuang	PROPN
fcis-9409	176	12	.	.	PUNCT
fcis-9409	176	13	application	application	NOUN
fcis-9409	176	14	of	of	ADP
fcis-9409	176	15	camera	camera	NOUN
fcis-9409	176	16	calibration	calibration	NOUN
fcis-9409	176	17	technology	technology	NOUN
fcis-9409	176	18	in	in	ADP
fcis-9409	176	19	oilfield	oilfield	NOUN
fcis-9409	176	20	monitoring	monitoring	NOUN
fcis-9409	176	21	equipment	equipment	NOUN
fcis-9409	176	22	[	[	X
fcis-9409	176	23	j	j	X
fcis-9409	176	24	]	]	X
fcis-9409	176	25	.	.	PUNCT
fcis-9409	177	1	information	information	NOUN
fcis-9409	177	2	systems	system	NOUN
fcis-9409	177	3	engineering	engineering	NOUN
fcis-9409	177	4	,	,	PUNCT
fcis-9409	177	5	2020(05	2020(05	NUM
fcis-9409	177	6	):	):	PUNCT
fcis-9409	177	7	90	90	NUM
fcis-9409	177	8	-	-	PUNCT
fcis-9409	177	9	91	91	NUM
fcis-9409	177	10	.	.	PUNCT
fcis-9409	178	1	[	[	X
fcis-9409	178	2	8	8	NUM
fcis-9409	178	3	]	]	X
fcis-9409	178	4	liu	liu	PROPN
fcis-9409	178	5	yangyang	yangyang	PROPN
fcis-9409	178	6	.	.	PUNCT
fcis-9409	179	1	research	research	NOUN
fcis-9409	179	2	on	on	ADP
fcis-9409	179	3	binocular	binocular	ADJ
fcis-9409	179	4	vision	vision	NOUN
fcis-9409	179	5	target	target	NOUN
fcis-9409	179	6	detection	detection	NOUN
fcis-9409	179	7	and	and	CCONJ
fcis-9409	179	8	ranging	ranging	NOUN
fcis-9409	179	9	method	method	NOUN
fcis-9409	179	10	of	of	ADP
fcis-9409	179	11	uav	uav	PROPN
fcis-9409	180	1	[	[	X
fcis-9409	180	2	d	d	X
fcis-9409	180	3	]	]	X
fcis-9409	180	4	.	.	PUNCT
fcis-9409	181	1	chongqing	chongqing	PROPN
fcis-9409	181	2	university	university	PROPN
fcis-9409	181	3	,	,	PUNCT
fcis-9409	181	4	2019	2019	NUM
fcis-9409	181	5	.	.	PUNCT
fcis-9409	182	1	[	[	X
fcis-9409	182	2	9	9	NUM
fcis-9409	182	3	]	]	SYM
fcis-9409	182	4	dong	dong	PROPN
fcis-9409	182	5	peng	peng	PROPN
fcis-9409	182	6	,	,	PUNCT
fcis-9409	182	7	zhou	zhou	PROPN
fcis-9409	182	8	feng	feng	PROPN
fcis-9409	182	9	,	,	PUNCT
fcis-9409	182	10	zhao	zhao	PROPN
fcis-9409	182	11	,	,	PUNCT
fcis-9409	182	12	yafei	yafei	PROPN
fcis-9409	182	13	wang	wang	PROPN
fcis-9409	182	14	,	,	PUNCT
fcis-9409	182	15	zetian	zetian	PROPN
fcis-9409	182	16	mi	mi	PROPN
fcis-9409	182	17	,	,	PUNCT
fcis-9409	182	18	and	and	CCONJ
fcis-9409	182	19	xianping	xianpe	VERB
fcis-9409	182	20	fu	fu	PROPN
fcis-9409	182	21	.	.	PUNCT
fcis-9409	183	1	automatic	automatic	ADJ
fcis-9409	183	2	size	size	NOUN
fcis-9409	183	3	measurement	measurement	NOUN
fcis-9409	183	4	method	method	NOUN
fcis-9409	183	5	of	of	ADP
fcis-9409	183	6	underwater	underwater	ADJ
fcis-9409	183	7	sea	sea	NOUN
fcis-9409	183	8	cucumber	cucumber	NOUN
fcis-9409	183	9	based	base	VERB
fcis-9409	183	10	on	on	ADP
fcis-9409	183	11	binocular	binocular	ADJ
fcis-9409	183	12	vision	vision	NOUN
fcis-9409	184	1	[	[	X
fcis-9409	184	2	j	j	X
fcis-9409	184	3	]	]	X
fcis-9409	184	4	.	.	PUNCT
fcis-9409	185	1	computer	computer	NOUN
fcis-9409	185	2	engineering	engineering	NOUN
fcis-9409	185	3	and	and	CCONJ
fcis-9409	185	4	applications,2021,57(08):271	applications,2021,57(08):271	PROPN
fcis-9409	185	5	-	-	PUNCT
fcis-9409	185	6	278	278	NUM
fcis-9409	185	7	.	.	PUNCT
fcis-9409	186	1	[	[	X
fcis-9409	186	2	10	10	NUM
fcis-9409	186	3	]	]	X
fcis-9409	186	4	li	li	PROPN
fcis-9409	186	5	ke	ke	PROPN
fcis-9409	186	6	,	,	PUNCT
fcis-9409	186	7	wu	wu	PROPN
fcis-9409	186	8	tao	tao	PROPN
fcis-9409	186	9	,	,	PUNCT
fcis-9409	186	10	liu	liu	PROPN
fcis-9409	186	11	qingqing	qingqing	PROPN
fcis-9409	186	12	.	.	PUNCT
fcis-9409	187	1	human	human	ADJ
fcis-9409	187	2	contour	contour	NOUN
fcis-9409	187	3	extraction	extraction	NOUN
fcis-9409	187	4	based	base	VERB
fcis-9409	187	5	on	on	ADP
fcis-9409	187	6	depth	depth	NOUN
fcis-9409	187	7	map	map	NOUN
fcis-9409	187	8	and	and	CCONJ
fcis-9409	187	9	improved	improve	VERB
fcis-9409	187	10	canny	canny	ADJ
fcis-9409	187	11	algorithm	algorithm	NOUN
fcis-9409	188	1	[	[	X
fcis-9409	188	2	j	j	X
fcis-9409	188	3	]	]	X
fcis-9409	188	4	.	.	PUNCT
fcis-9409	189	1	computer	computer	NOUN
fcis-9409	189	2	technology	technology	NOUN
fcis-9409	189	3	and	and	CCONJ
fcis-9409	189	4	development	development	NOUN
fcis-9409	189	5	,	,	PUNCT
fcis-9409	189	6	2021	2021	NUM
fcis-9409	189	7	,	,	PUNCT
fcis-9409	189	8	31(05	31(05	NUM
fcis-9409	189	9	):	):	PUNCT
fcis-9409	189	10	67	67	NUM
fcis-9409	189	11	-	-	SYM
fcis-9409	189	12	72	72	NUM
fcis-9409	189	13	.	.	PUNCT
fcis-9409	190	1	[	[	X
fcis-9409	190	2	11	11	NUM
fcis-9409	190	3	]	]	X
fcis-9409	190	4	wang	wang	PROPN
fcis-9409	190	5	mingji	mingji	PROPN
fcis-9409	190	6	,	,	PUNCT
fcis-9409	190	7	chen	chen	PROPN
fcis-9409	190	8	qiumeng	qiumeng	PROPN
fcis-9409	190	9	,	,	PUNCT
fcis-9409	190	10	ren	ren	PROPN
fcis-9409	190	11	fushen	fushen	PROPN
fcis-9409	190	12	.	.	PUNCT
fcis-9409	191	1	target	target	NOUN
fcis-9409	191	2	distance	distance	NOUN
fcis-9409	191	3	measurement	measurement	NOUN
fcis-9409	191	4	system	system	NOUN
fcis-9409	191	5	based	base	VERB
fcis-9409	191	6	on	on	ADP
fcis-9409	191	7	binocular	binocular	ADJ
fcis-9409	191	8	vision	vision	NOUN
fcis-9409	192	1	[	[	X
fcis-9409	192	2	j	j	X
fcis-9409	192	3	]	]	X
fcis-9409	192	4	.	.	PUNCT
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fcis-9409	193	2	and	and	CCONJ
fcis-9409	193	3	instrumentation	instrumentation	NOUN
fcis-9409	193	4	,	,	PUNCT
fcis-9409	193	5	2022	2022	NUM
fcis-9409	193	6	(	(	PUNCT
fcis-9409	193	7	7	7	NUM
fcis-9409	193	8	):	):	PUNCT
fcis-9409	193	9	5	5	NUM
fcis-9409	193	10	-	-	SYM
fcis-9409	193	11	8	8	NUM
fcis-9409	193	12	.	.	PUNCT
fcis-9409	194	1	doi	doi	NOUN
fcis-9409	194	2	:	:	PUNCT
fcis-9409	194	3	10.14016	10.14016	NUM
fcis-9409	194	4	/	/	SYM
fcis-9409	194	5	j.	j.	PROPN
fcis-9409	194	6	carol	carol	PROPN
fcis-9409	194	7	carroll	carroll	PROPN
fcis-9409	194	8	nki	nki	PROPN
fcis-9409	194	9	.	.	PUNCT
fcis-9409	194	10	1001	1001	NUM
fcis-9409	194	11	-	-	SYM
fcis-9409	194	12	9227.2022.07.005	9227.2022.07.005	NUM
fcis-9409	194	13	.	.	PUNCT
fcis-9409	195	1	[	[	X
fcis-9409	195	2	12	12	NUM
fcis-9409	195	3	]	]	X
fcis-9409	195	4	li	li	PROPN
fcis-9409	195	5	mingjie	mingjie	PROPN
fcis-9409	195	6	,	,	PUNCT
fcis-9409	195	7	liu	liu	PROPN
fcis-9409	195	8	xiaofei	xiaofei	PROPN
fcis-9409	195	9	.	.	PUNCT
fcis-9409	196	1	underwater	underwater	ADJ
fcis-9409	196	2	image	image	NOUN
fcis-9409	196	3	enhancement	enhancement	NOUN
fcis-9409	196	4	algorithm	algorithm	NOUN
fcis-9409	196	5	based	base	VERB
fcis-9409	196	6	on	on	ADP
fcis-9409	196	7	clahe	clahe	PROPN
fcis-9409	196	8	study	study	PROPN
fcis-9409	197	1	[	[	X
fcis-9409	197	2	j	j	X
fcis-9409	197	3	]	]	X
fcis-9409	197	4	.	.	PUNCT
fcis-9409	198	1	journal	journal	PROPN
fcis-9409	198	2	of	of	ADP
fcis-9409	198	3	the	the	DET
fcis-9409	198	4	science	science	NOUN
fcis-9409	198	5	and	and	CCONJ
fcis-9409	198	6	technology	technology	NOUN
fcis-9409	198	7	,	,	PUNCT
fcis-9409	198	8	2014	2014	NUM
fcis-9409	198	9	(	(	PUNCT
fcis-9409	198	10	10	10	NUM
fcis-9409	198	11	):	):	PUNCT
fcis-9409	198	12	93	93	NUM
fcis-9409	198	13	.	.	PUNCT
fcis-9409	199	1	doi	doi	NOUN
fcis-9409	199	2	:	:	PUNCT
fcis-9409	199	3	10.19392	10.19392	NUM
fcis-9409	199	4	/	/	SYM
fcis-9409	199	5	j.	j.	PROPN
fcis-9409	199	6	carol	carol	PROPN
fcis-9409	199	7	carroll	carroll	PROPN
fcis-9409	199	8	nki	nki	PROPN
fcis-9409	199	9	.	.	PUNCT
fcis-9409	200	1	1671	1671	NUM
fcis-9409	200	2	-	-	SYM
fcis-9409	200	3	7341.2014.10.075	7341.2014.10.075	NOUN
fcis-9409	200	4	.	.	PUNCT
fcis-9409	201	1	[	[	X
fcis-9409	201	2	13	13	NUM
fcis-9409	201	3	]	]	PUNCT
fcis-9409	201	4	yu	yu	PROPN
fcis-9409	201	5	yide	yide	PROPN
fcis-9409	201	6	,	,	PUNCT
fcis-9409	201	7	zhou	zhou	PROPN
fcis-9409	201	8	manli	manli	PROPN
fcis-9409	201	9	,	,	PUNCT
fcis-9409	201	10	wang	wang	PROPN
fcis-9409	201	11	hongping	hongping	NOUN
fcis-9409	201	12	.	.	PUNCT
fcis-9409	202	1	underwater	underwater	ADJ
fcis-9409	202	2	image	image	NOUN
fcis-9409	202	3	enhancement	enhancement	NOUN
fcis-9409	202	4	based	base	VERB
fcis-9409	202	5	on	on	ADP
fcis-9409	202	6	limited	limited	ADJ
fcis-9409	202	7	contrast	contrast	NOUN
fcis-9409	202	8	color	color	NOUN
fcis-9409	202	9	correction	correction	NOUN
fcis-9409	202	10	[	[	X
fcis-9409	202	11	j	j	X
fcis-9409	202	12	]	]	X
fcis-9409	202	13	.	.	PUNCT
fcis-9409	203	1	radio	radio	PROPN
fcis-9409	203	2	engineering,2017,47(09):16	engineering,2017,47(09):16	PROPN
fcis-9409	203	3	-	-	PUNCT
fcis-9409	203	4	20	20	NUM
fcis-9409	203	5	.	.	PUNCT
fcis-9409	204	1	[	[	X
fcis-9409	204	2	14	14	NUM
fcis-9409	204	3	]	]	PUNCT
fcis-9409	204	4	cui	cui	X
fcis-9409	204	5	qianqian	qianqian	PROPN
fcis-9409	204	6	,	,	PUNCT
fcis-9409	204	7	li	li	PROPN
fcis-9409	204	8	ruiyang	ruiyang	PROPN
fcis-9409	204	9	.	.	PUNCT
fcis-9409	205	1	research	research	NOUN
fcis-9409	205	2	on	on	ADP
fcis-9409	205	3	defogging	defogge	VERB
fcis-9409	205	4	algorithm	algorithm	NOUN
fcis-9409	205	5	based	base	VERB
fcis-9409	205	6	on	on	ADP
fcis-9409	205	7	clahe	clahe	NOUN
fcis-9409	205	8	color	color	NOUN
fcis-9409	205	9	image	image	NOUN
fcis-9409	206	1	[	[	X
fcis-9409	206	2	j	j	X
fcis-9409	206	3	]	]	X
fcis-9409	206	4	.	.	PUNCT
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fcis-9409	207	2	and	and	CCONJ
fcis-9409	207	3	technology	technology	NOUN
fcis-9409	207	4	innovation,2019(33):56	innovation,2019(33):56	NOUN
fcis-9409	207	5	-	-	SYM
fcis-9409	207	6	57	57	NUM
fcis-9409	207	7	.	.	PUNCT