id	sid	tid	token	lemma	pos
gi-2563	1	1	application	application	NOUN
gi-2563	1	2	of	of	ADP
gi-2563	1	3	computer	computer	NOUN
gi-2563	1	4	vision	vision	NOUN
gi-2563	1	5	methods	method	NOUN
gi-2563	1	6	and	and	CCONJ
gi-2563	1	7	algorithms	algorithm	NOUN
gi-2563	1	8	in	in	ADP
gi-2563	1	9	documentation	documentation	NOUN
gi-2563	1	10	of	of	ADP
gi-2563	1	11	cultural	cultural	ADJ
gi-2563	1	12	heritage	heritage	NOUN
gi-2563	1	13	david	david	PROPN
gi-2563	1	14	káňa1	káňa1	PROPN
gi-2563	1	15	,	,	PUNCT
gi-2563	1	16	vlastimil	vlastimil	ADJ
gi-2563	1	17	hanzl2	hanzl2	NOUN
gi-2563	1	18	1geodis	1geodis	NUM
gi-2563	1	19	brno	brno	NOUN
gi-2563	1	20	,	,	PUNCT
gi-2563	1	21	ltd	ltd	PROPN
gi-2563	1	22	lazaretní	lazaretní	PROPN
gi-2563	1	23	11a	11a	NOUN
gi-2563	1	24	,	,	PUNCT
gi-2563	1	25	brno	brno	NOUN
gi-2563	1	26	,	,	PUNCT
gi-2563	1	27	czech	czech	PROPN
gi-2563	1	28	republic	republic	NOUN
gi-2563	1	29	dkana@geodis.cz	dkana@geodis.cz	PROPN
gi-2563	2	1	2brno	2brno	PROPN
gi-2563	2	2	university	university	PROPN
gi-2563	2	3	of	of	ADP
gi-2563	2	4	technology	technology	NOUN
gi-2563	2	5	,	,	PUNCT
gi-2563	2	6	faculty	faculty	NOUN
gi-2563	2	7	of	of	ADP
gi-2563	2	8	civil	civil	ADJ
gi-2563	2	9	engineering	engineering	NOUN
gi-2563	2	10	veveří	veveří	ADP
gi-2563	2	11	331/98	331/98	NUM
gi-2563	2	12	,	,	PUNCT
gi-2563	2	13	brno	brno	NOUN
gi-2563	2	14	,	,	PUNCT
gi-2563	2	15	czech	czech	PROPN
gi-2563	2	16	republic	republic	NOUN
gi-2563	2	17	hanzl.v@fce.vutbr.cz	hanzl.v@fce.vutbr.cz	ADV
gi-2563	2	18	abstract	abstract	VERB
gi-2563	2	19	the	the	DET
gi-2563	2	20	main	main	ADJ
gi-2563	2	21	task	task	NOUN
gi-2563	2	22	of	of	ADP
gi-2563	2	23	this	this	DET
gi-2563	2	24	paper	paper	NOUN
gi-2563	2	25	is	be	AUX
gi-2563	2	26	to	to	PART
gi-2563	2	27	describe	describe	VERB
gi-2563	2	28	methods	method	NOUN
gi-2563	2	29	and	and	CCONJ
gi-2563	2	30	algorithms	algorithm	NOUN
gi-2563	2	31	used	use	VERB
gi-2563	2	32	in	in	ADP
gi-2563	2	33	computer	computer	NOUN
gi-2563	2	34	vision	vision	NOUN
gi-2563	2	35	for	for	ADP
gi-2563	2	36	fully	fully	ADV
gi-2563	2	37	automatic	automatic	ADJ
gi-2563	2	38	reconstruction	reconstruction	NOUN
gi-2563	2	39	of	of	ADP
gi-2563	2	40	exterior	exterior	ADJ
gi-2563	2	41	orientation	orientation	NOUN
gi-2563	2	42	in	in	ADP
gi-2563	2	43	ordered	order	VERB
gi-2563	2	44	and	and	CCONJ
gi-2563	2	45	unordered	unordered	ADJ
gi-2563	2	46	sets	set	NOUN
gi-2563	2	47	of	of	ADP
gi-2563	2	48	images	image	NOUN
gi-2563	2	49	captured	capture	VERB
gi-2563	2	50	by	by	ADP
gi-2563	2	51	digital	digital	ADJ
gi-2563	2	52	calibrated	calibrate	VERB
gi-2563	2	53	cameras	camera	NOUN
gi-2563	2	54	without	without	ADP
gi-2563	2	55	prior	prior	ADJ
gi-2563	2	56	informations	information	NOUN
gi-2563	2	57	about	about	ADP
gi-2563	2	58	camera	camera	NOUN
gi-2563	2	59	positions	position	NOUN
gi-2563	2	60	or	or	CCONJ
gi-2563	2	61	scene	scene	NOUN
gi-2563	2	62	structure	structure	NOUN
gi-2563	2	63	.	.	PUNCT
gi-2563	3	1	attention	attention	NOUN
gi-2563	3	2	will	will	AUX
gi-2563	3	3	be	be	AUX
gi-2563	3	4	paid	pay	VERB
gi-2563	3	5	to	to	ADP
gi-2563	3	6	the	the	DET
gi-2563	3	7	sift	sift	ADJ
gi-2563	3	8	interest	interest	NOUN
gi-2563	3	9	operator	operator	NOUN
gi-2563	3	10	for	for	ADP
gi-2563	3	11	finding	find	VERB
gi-2563	3	12	key	key	ADJ
gi-2563	3	13	points	point	NOUN
gi-2563	3	14	clearly	clearly	ADV
gi-2563	3	15	describing	describe	VERB
gi-2563	3	16	the	the	DET
gi-2563	3	17	image	image	NOUN
gi-2563	3	18	areas	area	NOUN
gi-2563	3	19	with	with	ADP
gi-2563	3	20	respect	respect	NOUN
gi-2563	3	21	to	to	ADP
gi-2563	3	22	scale	scale	NOUN
gi-2563	3	23	and	and	CCONJ
gi-2563	3	24	rotation	rotation	NOUN
gi-2563	3	25	,	,	PUNCT
gi-2563	3	26	so	so	SCONJ
gi-2563	3	27	that	that	SCONJ
gi-2563	3	28	these	these	DET
gi-2563	3	29	areas	area	NOUN
gi-2563	3	30	could	could	AUX
gi-2563	3	31	be	be	AUX
gi-2563	3	32	compared	compare	VERB
gi-2563	3	33	to	to	ADP
gi-2563	3	34	the	the	DET
gi-2563	3	35	regions	region	NOUN
gi-2563	3	36	in	in	ADP
gi-2563	3	37	other	other	ADJ
gi-2563	3	38	images	image	NOUN
gi-2563	3	39	.	.	PUNCT
gi-2563	4	1	there	there	PRON
gi-2563	4	2	will	will	AUX
gi-2563	4	3	also	also	ADV
gi-2563	4	4	be	be	AUX
gi-2563	4	5	discussed	discuss	VERB
gi-2563	4	6	methods	method	NOUN
gi-2563	4	7	of	of	ADP
gi-2563	4	8	matching	match	VERB
gi-2563	4	9	key	key	ADJ
gi-2563	4	10	points	point	NOUN
gi-2563	4	11	,	,	PUNCT
gi-2563	4	12	calculation	calculation	NOUN
gi-2563	4	13	of	of	ADP
gi-2563	4	14	the	the	DET
gi-2563	4	15	relative	relative	ADJ
gi-2563	4	16	orientation	orientation	NOUN
gi-2563	4	17	and	and	CCONJ
gi-2563	4	18	strategy	strategy	NOUN
gi-2563	4	19	of	of	ADP
gi-2563	4	20	linking	link	VERB
gi-2563	4	21	sub	sub	NOUN
gi-2563	4	22	-	-	NOUN
gi-2563	4	23	models	model	NOUN
gi-2563	4	24	to	to	PART
gi-2563	4	25	estimate	estimate	VERB
gi-2563	4	26	the	the	DET
gi-2563	4	27	parameters	parameter	NOUN
gi-2563	4	28	entering	enter	VERB
gi-2563	4	29	complex	complex	ADJ
gi-2563	4	30	bundle	bundle	NOUN
gi-2563	4	31	adjustment	adjustment	NOUN
gi-2563	4	32	.	.	PUNCT
gi-2563	5	1	the	the	DET
gi-2563	5	2	paper	paper	NOUN
gi-2563	5	3	also	also	ADV
gi-2563	5	4	compares	compare	VERB
gi-2563	5	5	the	the	DET
gi-2563	5	6	results	result	NOUN
gi-2563	5	7	achieved	achieve	VERB
gi-2563	5	8	with	with	ADP
gi-2563	5	9	above	above	ADJ
gi-2563	5	10	system	system	NOUN
gi-2563	5	11	with	with	ADP
gi-2563	5	12	the	the	DET
gi-2563	5	13	results	result	NOUN
gi-2563	5	14	obtained	obtain	VERB
gi-2563	5	15	by	by	ADP
gi-2563	5	16	standard	standard	ADJ
gi-2563	5	17	photogrammetric	photogrammetric	ADJ
gi-2563	5	18	methods	method	NOUN
gi-2563	5	19	in	in	ADP
gi-2563	5	20	processing	processing	NOUN
gi-2563	5	21	of	of	ADP
gi-2563	5	22	project	project	NOUN
gi-2563	5	23	documentation	documentation	NOUN
gi-2563	5	24	for	for	ADP
gi-2563	5	25	reconstruction	reconstruction	NOUN
gi-2563	5	26	of	of	ADP
gi-2563	5	27	the	the	DET
gi-2563	5	28	žinkovy	žinkovy	NOUN
gi-2563	5	29	castle	castle	NOUN
gi-2563	5	30	.	.	PUNCT
gi-2563	6	1	keywords	keyword	NOUN
gi-2563	6	2	:	:	PUNCT
gi-2563	6	3	computer	computer	NOUN
gi-2563	6	4	vision	vision	NOUN
gi-2563	6	5	,	,	PUNCT
gi-2563	6	6	interest	interest	NOUN
gi-2563	6	7	operator	operator	NOUN
gi-2563	6	8	,	,	PUNCT
gi-2563	6	9	matching	match	VERB
gi-2563	6	10	1	1	NUM
gi-2563	6	11	.	.	PUNCT
gi-2563	7	1	introduction	introduction	NOUN
gi-2563	7	2	images	image	NOUN
gi-2563	7	3	captured	capture	VERB
gi-2563	7	4	by	by	ADP
gi-2563	7	5	digital	digital	ADJ
gi-2563	7	6	cameras	camera	NOUN
gi-2563	7	7	are	be	AUX
gi-2563	7	8	one	one	NUM
gi-2563	7	9	of	of	ADP
gi-2563	7	10	the	the	DET
gi-2563	7	11	most	most	ADV
gi-2563	7	12	important	important	ADJ
gi-2563	7	13	form	form	NOUN
gi-2563	7	14	of	of	ADP
gi-2563	7	15	information	information	NOUN
gi-2563	7	16	in	in	ADP
gi-2563	7	17	documentation	documentation	NOUN
gi-2563	7	18	of	of	ADP
gi-2563	7	19	cultural	cultural	ADJ
gi-2563	7	20	heritage	heritage	NOUN
gi-2563	7	21	.	.	PUNCT
gi-2563	8	1	effective	effective	ADJ
gi-2563	8	2	assignment	assignment	NOUN
gi-2563	8	3	of	of	ADP
gi-2563	8	4	camera	camera	NOUN
gi-2563	8	5	pose	pose	VERB
gi-2563	8	6	in	in	ADP
gi-2563	8	7	space	space	NOUN
gi-2563	8	8	is	be	AUX
gi-2563	8	9	necessary	necessary	ADJ
gi-2563	8	10	for	for	ADP
gi-2563	8	11	consequential	consequential	ADJ
gi-2563	8	12	usage	usage	NOUN
gi-2563	8	13	for	for	ADP
gi-2563	8	14	measuring	measure	VERB
gi-2563	8	15	purposes	purpose	NOUN
gi-2563	8	16	.	.	PUNCT
gi-2563	9	1	the	the	DET
gi-2563	9	2	automatic	automatic	ADJ
gi-2563	9	3	process	process	NOUN
gi-2563	9	4	of	of	ADP
gi-2563	9	5	finding	find	VERB
gi-2563	9	6	exterior	exterior	ADJ
gi-2563	9	7	orientation	orientation	NOUN
gi-2563	9	8	can	can	AUX
gi-2563	9	9	be	be	AUX
gi-2563	9	10	divided	divide	VERB
gi-2563	9	11	to	to	ADP
gi-2563	9	12	three	three	NUM
gi-2563	9	13	main	main	ADJ
gi-2563	9	14	tasks	task	NOUN
gi-2563	9	15	:	:	PUNCT
gi-2563	9	16	key	key	ADJ
gi-2563	9	17	point	point	NOUN
gi-2563	9	18	finding	finding	NOUN
gi-2563	9	19	and	and	CCONJ
gi-2563	9	20	matching	matching	NOUN
gi-2563	9	21	,	,	PUNCT
gi-2563	9	22	relative	relative	ADJ
gi-2563	9	23	orientation	orientation	NOUN
gi-2563	9	24	and	and	CCONJ
gi-2563	9	25	bundle	bundle	NOUN
gi-2563	9	26	adjustment	adjustment	NOUN
gi-2563	9	27	.	.	PUNCT
gi-2563	10	1	our	our	PRON
gi-2563	10	2	paper	paper	NOUN
gi-2563	10	3	presents	present	VERB
gi-2563	10	4	practical	practical	ADJ
gi-2563	10	5	experiment	experiment	NOUN
gi-2563	10	6	of	of	ADP
gi-2563	10	7	such	such	ADJ
gi-2563	10	8	procedure	procedure	NOUN
gi-2563	10	9	.	.	PUNCT
gi-2563	11	1	2	2	X
gi-2563	11	2	.	.	X
gi-2563	11	3	key	key	ADJ
gi-2563	11	4	points	point	NOUN
gi-2563	11	5	extraction	extraction	NOUN
gi-2563	11	6	2.1	2.1	NUM
gi-2563	11	7	.	.	PUNCT
gi-2563	12	1	sift	sift	VERB
gi-2563	12	2	–	–	PUNCT
gi-2563	12	3	scale	scale	NOUN
gi-2563	12	4	invariant	invariant	ADJ
gi-2563	12	5	feature	feature	NOUN
gi-2563	12	6	transform	transform	VERB
gi-2563	12	7	the	the	DET
gi-2563	12	8	initial	initial	ADJ
gi-2563	12	9	phase	phase	NOUN
gi-2563	12	10	during	during	ADP
gi-2563	12	11	comparing	compare	VERB
gi-2563	12	12	and	and	CCONJ
gi-2563	12	13	relative	relative	ADJ
gi-2563	12	14	orientation	orientation	NOUN
gi-2563	12	15	of	of	ADP
gi-2563	12	16	two	two	NUM
gi-2563	12	17	images	image	NOUN
gi-2563	12	18	is	be	AUX
gi-2563	12	19	to	to	PART
gi-2563	12	20	choose	choose	VERB
gi-2563	12	21	characteristic	characteristic	ADJ
gi-2563	12	22	or	or	CCONJ
gi-2563	12	23	key	key	ADJ
gi-2563	12	24	points	point	NOUN
gi-2563	12	25	in	in	ADP
gi-2563	12	26	images	image	NOUN
gi-2563	12	27	.	.	PUNCT
gi-2563	13	1	the	the	DET
gi-2563	13	2	key	key	ADJ
gi-2563	13	3	point	point	NOUN
gi-2563	13	4	should	should	AUX
gi-2563	13	5	by	by	ADP
gi-2563	13	6	no	no	DET
gi-2563	13	7	mean	mean	NOUN
gi-2563	13	8	characterize	characterize	VERB
gi-2563	13	9	the	the	DET
gi-2563	13	10	image	image	NOUN
gi-2563	13	11	area	area	NOUN
gi-2563	13	12	so	so	SCONJ
gi-2563	13	13	that	that	SCONJ
gi-2563	13	14	this	this	DET
gi-2563	13	15	area	area	NOUN
gi-2563	13	16	could	could	AUX
gi-2563	13	17	be	be	AUX
gi-2563	13	18	reliably	reliably	ADV
gi-2563	13	19	found	find	VERB
gi-2563	13	20	and	and	CCONJ
gi-2563	13	21	compared	compare	VERB
gi-2563	13	22	with	with	ADP
gi-2563	13	23	the	the	DET
gi-2563	13	24	same	same	ADJ
gi-2563	13	25	area	area	NOUN
gi-2563	13	26	in	in	ADP
gi-2563	13	27	different	different	ADJ
gi-2563	13	28	image	image	NOUN
gi-2563	13	29	.	.	PUNCT
gi-2563	14	1	by	by	ADP
gi-2563	14	2	finding	find	VERB
gi-2563	14	3	corresponding	corresponding	ADJ
gi-2563	14	4	points	point	NOUN
gi-2563	14	5	in	in	ADP
gi-2563	14	6	both	both	DET
gi-2563	14	7	images	image	NOUN
gi-2563	14	8	a	a	DET
gi-2563	14	9	correspondent	correspondent	NOUN
gi-2563	14	10	couple	couple	NOUN
gi-2563	14	11	(	(	PUNCT
gi-2563	14	12	correspondence	correspondence	NOUN
gi-2563	14	13	)	)	PUNCT
gi-2563	14	14	is	be	AUX
gi-2563	14	15	defined	define	VERB
gi-2563	14	16	.	.	PUNCT
gi-2563	15	1	for	for	ADP
gi-2563	15	2	detection	detection	NOUN
gi-2563	15	3	and	and	CCONJ
gi-2563	15	4	comparison	comparison	NOUN
gi-2563	15	5	of	of	ADP
gi-2563	15	6	significant	significant	ADJ
gi-2563	15	7	points	point	NOUN
gi-2563	15	8	in	in	ADP
gi-2563	15	9	the	the	DET
gi-2563	15	10	image	image	NOUN
gi-2563	15	11	sift	sift	NOUN
gi-2563	15	12	operator	operator	NOUN
gi-2563	15	13	was	be	AUX
gi-2563	15	14	geoinformatics	geoinformatic	NOUN
gi-2563	15	15	fce	fce	VERB
gi-2563	15	16	ctu	ctu	NOUN
gi-2563	15	17	9	9	NUM
gi-2563	15	18	,	,	PUNCT
gi-2563	15	19	2012	2012	NUM
gi-2563	15	20	27	27	NUM
gi-2563	15	21	káňa	káňa	PROPN
gi-2563	15	22	,	,	PUNCT
gi-2563	15	23	d.	d.	PROPN
gi-2563	15	24	,	,	PUNCT
gi-2563	15	25	hanzl	hanzl	PROPN
gi-2563	16	1	v.	v.	CCONJ
gi-2563	16	2	:	:	PUNCT
gi-2563	16	3	application	application	NOUN
gi-2563	16	4	of	of	ADP
gi-2563	16	5	computer	computer	NOUN
gi-2563	16	6	vision	vision	NOUN
gi-2563	16	7	methods	method	NOUN
gi-2563	16	8	.	.	PUNCT
gi-2563	16	9	.	.	PUNCT
gi-2563	16	10	.	.	PUNCT
gi-2563	17	1	chosen	choose	VERB
gi-2563	17	2	as	as	ADP
gi-2563	17	3	the	the	DET
gi-2563	17	4	most	most	ADV
gi-2563	17	5	convenient	convenient	ADJ
gi-2563	17	6	detector	detector	NOUN
gi-2563	17	7	.	.	PUNCT
gi-2563	18	1	this	this	DET
gi-2563	18	2	detector	detector	NOUN
gi-2563	18	3	is	be	AUX
gi-2563	18	4	unlike	unlike	ADP
gi-2563	18	5	simple	simple	ADJ
gi-2563	18	6	correlation	correlation	NOUN
gi-2563	18	7	between	between	ADP
gi-2563	18	8	two	two	NUM
gi-2563	18	9	areas	area	NOUN
gi-2563	18	10	in	in	ADP
gi-2563	18	11	the	the	DET
gi-2563	18	12	images	image	NOUN
gi-2563	18	13	with	with	ADP
gi-2563	18	14	the	the	DET
gi-2563	18	15	size	size	NOUN
gi-2563	18	16	of	of	ADP
gi-2563	18	17	for	for	ADP
gi-2563	18	18	example	example	NOUN
gi-2563	18	19	21x	21x	NOUN
gi-2563	18	20	21	21	NUM
gi-2563	18	21	pixels	pixel	NOUN
gi-2563	18	22	partly	partly	ADV
gi-2563	18	23	invariant	invariant	ADJ
gi-2563	18	24	toward	toward	ADP
gi-2563	18	25	view	view	NOUN
gi-2563	18	26	geometry	geometry	NOUN
gi-2563	18	27	change	change	NOUN
gi-2563	18	28	therefore	therefore	ADV
gi-2563	18	29	rotation	rotation	NOUN
gi-2563	18	30	(	(	PUNCT
gi-2563	18	31	circa	circa	NOUN
gi-2563	18	32	15	15	NUM
gi-2563	18	33	degrees	degree	NOUN
gi-2563	18	34	)	)	PUNCT
gi-2563	18	35	,	,	PUNCT
gi-2563	18	36	scale	scale	NOUN
gi-2563	18	37	change	change	NOUN
gi-2563	18	38	and	and	CCONJ
gi-2563	18	39	is	be	AUX
gi-2563	18	40	partly	partly	ADV
gi-2563	18	41	invariant	invariant	ADJ
gi-2563	18	42	to	to	PART
gi-2563	18	43	noise	noise	VERB
gi-2563	18	44	as	as	ADV
gi-2563	18	45	well	well	ADV
gi-2563	18	46	.	.	PUNCT
gi-2563	19	1	sift	sift	ADJ
gi-2563	19	2	detector	detector	NOUN
gi-2563	19	3	is	be	AUX
gi-2563	19	4	based	base	VERB
gi-2563	19	5	on	on	ADP
gi-2563	19	6	searching	search	VERB
gi-2563	19	7	for	for	ADP
gi-2563	19	8	extremities	extremity	NOUN
gi-2563	19	9	in	in	ADP
gi-2563	19	10	the	the	DET
gi-2563	19	11	images	image	NOUN
gi-2563	19	12	by	by	ADP
gi-2563	19	13	finding	find	VERB
gi-2563	19	14	differences	difference	NOUN
gi-2563	19	15	among	among	ADP
gi-2563	19	16	images	image	NOUN
gi-2563	19	17	incurred	incur	VERB
gi-2563	19	18	by	by	ADP
gi-2563	19	19	the	the	DET
gi-2563	19	20	convolution	convolution	NOUN
gi-2563	19	21	of	of	ADP
gi-2563	19	22	image	image	NOUN
gi-2563	19	23	function	function	NOUN
gi-2563	19	24	i(x	i(x	PROPN
gi-2563	19	25	,	,	PUNCT
gi-2563	19	26	y	y	PROPN
gi-2563	19	27	)	)	PUNCT
gi-2563	19	28	and	and	CCONJ
gi-2563	19	29	gauss	gauss	ADJ
gi-2563	19	30	filter	filter	NOUN
gi-2563	19	31	g(x	g(x	PROPN
gi-2563	19	32	,	,	PUNCT
gi-2563	19	33	y	y	PROPN
gi-2563	19	34	,	,	PUNCT
gi-2563	19	35	δ	δ	PROPN
gi-2563	19	36	)	)	PUNCT
gi-2563	19	37	with	with	ADP
gi-2563	19	38	variable	variable	ADJ
gi-2563	19	39	values	value	NOUN
gi-2563	19	40	of	of	ADP
gi-2563	19	41	sigma	sigma	PROPN
gi-2563	19	42	.	.	PUNCT
gi-2563	20	1	d(x	d(x	PROPN
gi-2563	20	2	,	,	PUNCT
gi-2563	20	3	y	y	PROPN
gi-2563	20	4	,	,	PUNCT
gi-2563	20	5	δ	δ	PROPN
gi-2563	20	6	)	)	PUNCT
gi-2563	21	1	=	=	SYM
gi-2563	21	2	l(x	l(x	PROPN
gi-2563	21	3	,	,	PUNCT
gi-2563	21	4	y	y	PROPN
gi-2563	21	5	,	,	PUNCT
gi-2563	21	6	kδ)−	kδ)−	X
gi-2563	21	7	l(x	l(x	PROPN
gi-2563	21	8	,	,	PUNCT
gi-2563	21	9	y	y	PROPN
gi-2563	21	10	,	,	PUNCT
gi-2563	21	11	δ	δ	PROPN
gi-2563	21	12	)	)	PUNCT
gi-2563	21	13	=	=	SYM
gi-2563	22	1	(	(	PUNCT
gi-2563	22	2	g(x	g(x	PROPN
gi-2563	22	3	,	,	PUNCT
gi-2563	22	4	y	y	PROPN
gi-2563	22	5	,	,	PUNCT
gi-2563	22	6	kδ)−g(x	kδ)−g(x	ADJ
gi-2563	22	7	,	,	PUNCT
gi-2563	22	8	y	y	PROPN
gi-2563	22	9	,	,	PUNCT
gi-2563	22	10	δ	δ	PROPN
gi-2563	22	11	)	)	PUNCT
gi-2563	22	12	)	)	PUNCT
gi-2563	23	1	∗	∗	NOUN
gi-2563	23	2	i(x	i(x	PROPN
gi-2563	23	3	,	,	PUNCT
gi-2563	23	4	y	y	PROPN
gi-2563	23	5	)	)	PUNCT
gi-2563	23	6	.	.	PUNCT
gi-2563	24	1	(	(	PUNCT
gi-2563	24	2	1	1	X
gi-2563	24	3	)	)	PUNCT
gi-2563	24	4	exact	exact	ADJ
gi-2563	24	5	procedure	procedure	NOUN
gi-2563	24	6	is	be	AUX
gi-2563	24	7	described	describe	VERB
gi-2563	24	8	for	for	ADP
gi-2563	24	9	example	example	NOUN
gi-2563	24	10	in	in	ADP
gi-2563	24	11	[	[	X
gi-2563	24	12	2	2	NUM
gi-2563	24	13	]	]	PUNCT
gi-2563	24	14	.	.	PUNCT
gi-2563	25	1	figure	figure	NOUN
gi-2563	25	2	1	1	NUM
gi-2563	25	3	:	:	PUNCT
gi-2563	25	4	blurred	blur	VERB
gi-2563	25	5	images	image	NOUN
gi-2563	25	6	and	and	CCONJ
gi-2563	25	7	their	their	PRON
gi-2563	25	8	differences	difference	NOUN
gi-2563	25	9	2.2	2.2	NUM
gi-2563	25	10	.	.	PUNCT
gi-2563	26	1	finding	find	VERB
gi-2563	26	2	extremities	extremity	NOUN
gi-2563	26	3	single	single	ADJ
gi-2563	26	4	images	image	NOUN
gi-2563	26	5	with	with	ADP
gi-2563	26	6	a	a	DET
gi-2563	26	7	different	different	ADJ
gi-2563	26	8	degree	degree	NOUN
gi-2563	26	9	of	of	ADP
gi-2563	26	10	blurring	blurring	NOUN
gi-2563	26	11	are	be	AUX
gi-2563	26	12	subtracted	subtract	VERB
gi-2563	26	13	each	each	DET
gi-2563	26	14	other	other	ADJ
gi-2563	26	15	and	and	CCONJ
gi-2563	26	16	difference	difference	NOUN
gi-2563	26	17	imagess	imagess	NOUN
gi-2563	26	18	would	would	AUX
gi-2563	26	19	come	come	VERB
gi-2563	26	20	into	into	ADP
gi-2563	26	21	being	be	AUX
gi-2563	26	22	.	.	PUNCT
gi-2563	27	1	these	these	DET
gi-2563	27	2	differences	difference	NOUN
gi-2563	27	3	are	be	AUX
gi-2563	27	4	evidently	evidently	ADV
gi-2563	27	5	approximation	approximation	NOUN
gi-2563	27	6	of	of	ADP
gi-2563	27	7	the	the	DET
gi-2563	27	8	second	second	ADJ
gi-2563	27	9	derivation	derivation	NOUN
gi-2563	27	10	of	of	ADP
gi-2563	27	11	the	the	DET
gi-2563	27	12	image	image	NOUN
gi-2563	27	13	function	function	NOUN
gi-2563	27	14	i(x	i(x	PROPN
gi-2563	27	15	,	,	PUNCT
gi-2563	27	16	y	y	PROPN
gi-2563	27	17	)	)	PUNCT
gi-2563	27	18	and	and	CCONJ
gi-2563	27	19	serve	serve	VERB
gi-2563	27	20	to	to	PART
gi-2563	27	21	detect	detect	VERB
gi-2563	27	22	local	local	ADJ
gi-2563	27	23	extremities	extremity	NOUN
gi-2563	27	24	.	.	PUNCT
gi-2563	28	1	after	after	ADP
gi-2563	28	2	creation	creation	NOUN
gi-2563	28	3	of	of	ADP
gi-2563	28	4	differential	differential	ADJ
gi-2563	28	5	images	image	NOUN
gi-2563	28	6	(	(	PUNCT
gi-2563	28	7	fig	fig	NOUN
gi-2563	28	8	.	.	NOUN
gi-2563	28	9	1	1	NUM
gi-2563	28	10	)	)	PUNCT
gi-2563	28	11	each	each	DET
gi-2563	28	12	pixel	pixel	PROPN
gi-2563	28	13	value	value	NOUN
gi-2563	28	14	is	be	AUX
gi-2563	28	15	compared	compare	VERB
gi-2563	28	16	with	with	ADP
gi-2563	28	17	six	six	NUM
gi-2563	28	18	neighbouring	neighbouring	ADJ
gi-2563	28	19	pixels	pixel	NOUN
gi-2563	28	20	in	in	ADP
gi-2563	28	21	the	the	DET
gi-2563	28	22	image	image	NOUN
gi-2563	28	23	and	and	CCONJ
gi-2563	28	24	nine	nine	NUM
gi-2563	28	25	neighbouring	neighbouring	ADJ
gi-2563	28	26	pixels	pixel	NOUN
gi-2563	28	27	in	in	ADP
gi-2563	28	28	the	the	DET
gi-2563	28	29	image	image	NOUN
gi-2563	28	30	with	with	ADP
gi-2563	28	31	blurring	blur	VERB
gi-2563	28	32	partly	partly	ADV
gi-2563	28	33	a	a	DET
gi-2563	28	34	level	level	NOUN
gi-2563	28	35	higher	high	ADJ
gi-2563	28	36	and	and	CCONJ
gi-2563	28	37	partly	partly	ADV
gi-2563	28	38	a	a	DET
gi-2563	28	39	level	level	NOUN
gi-2563	28	40	lower	low	ADJ
gi-2563	28	41	.	.	PUNCT
gi-2563	29	1	if	if	SCONJ
gi-2563	29	2	the	the	DET
gi-2563	29	3	value	value	NOUN
gi-2563	29	4	of	of	ADP
gi-2563	29	5	the	the	DET
gi-2563	29	6	tested	test	VERB
gi-2563	29	7	pixel	pixel	NOUN
gi-2563	29	8	is	be	AUX
gi-2563	29	9	the	the	DET
gi-2563	29	10	lowest	low	ADJ
gi-2563	29	11	or	or	CCONJ
gi-2563	29	12	eventually	eventually	ADV
gi-2563	29	13	the	the	DET
gi-2563	29	14	highest	high	ADJ
gi-2563	29	15	out	out	ADP
gi-2563	29	16	of	of	ADP
gi-2563	29	17	all	all	DET
gi-2563	29	18	the	the	DET
gi-2563	29	19	neighbouring	neighbouring	NOUN
gi-2563	29	20	pixels	pixel	NOUN
gi-2563	29	21	,	,	PUNCT
gi-2563	29	22	this	this	DET
gi-2563	29	23	pixel	pixel	NOUN
gi-2563	29	24	is	be	AUX
gi-2563	29	25	chosen	choose	VERB
gi-2563	29	26	as	as	ADP
gi-2563	29	27	possible	possible	ADJ
gi-2563	29	28	key	key	ADJ
gi-2563	29	29	point	point	NOUN
gi-2563	29	30	.	.	PUNCT
gi-2563	30	1	once	once	ADV
gi-2563	30	2	the	the	DET
gi-2563	30	3	candidate	candidate	NOUN
gi-2563	30	4	for	for	ADP
gi-2563	30	5	the	the	DET
gi-2563	30	6	key	key	ADJ
gi-2563	30	7	point	point	NOUN
gi-2563	30	8	is	be	AUX
gi-2563	30	9	found	find	VERB
gi-2563	30	10	by	by	ADP
gi-2563	30	11	comparison	comparison	NOUN
gi-2563	30	12	with	with	ADP
gi-2563	30	13	its	its	PRON
gi-2563	30	14	neighbours	neighbour	NOUN
gi-2563	30	15	it	it	PRON
gi-2563	30	16	is	be	AUX
gi-2563	30	17	necessary	necessary	ADJ
gi-2563	30	18	to	to	PART
gi-2563	30	19	decide	decide	VERB
gi-2563	30	20	about	about	ADP
gi-2563	30	21	its	its	PRON
gi-2563	30	22	stability	stability	NOUN
gi-2563	30	23	and	and	CCONJ
gi-2563	30	24	therefore	therefore	ADV
gi-2563	30	25	about	about	ADP
gi-2563	30	26	possible	possible	ADJ
gi-2563	30	27	denial	denial	NOUN
gi-2563	30	28	on	on	ADP
gi-2563	30	29	the	the	DET
gi-2563	30	30	bases	basis	NOUN
gi-2563	30	31	of	of	ADP
gi-2563	30	32	information	information	NOUN
gi-2563	30	33	about	about	ADP
gi-2563	30	34	its	its	PRON
gi-2563	30	35	location	location	NOUN
gi-2563	30	36	,	,	PUNCT
gi-2563	30	37	scale	scale	NOUN
gi-2563	30	38	and	and	CCONJ
gi-2563	30	39	a	a	DET
gi-2563	30	40	rate	rate	NOUN
gi-2563	30	41	of	of	ADP
gi-2563	30	42	main	main	ADJ
gi-2563	30	43	curvatures	curvature	NOUN
gi-2563	30	44	.	.	PUNCT
gi-2563	31	1	this	this	DET
gi-2563	31	2	information	information	NOUN
gi-2563	31	3	enables	enable	VERB
gi-2563	31	4	effective	effective	ADJ
gi-2563	31	5	removal	removal	NOUN
gi-2563	31	6	of	of	ADP
gi-2563	31	7	nondesired	nondesire	VERB
gi-2563	31	8	points	point	NOUN
gi-2563	31	9	in	in	ADP
gi-2563	31	10	low	low	ADJ
gi-2563	31	11	contrast	contrast	NOUN
gi-2563	31	12	areas	area	NOUN
gi-2563	31	13	.	.	PUNCT
gi-2563	32	1	for	for	ADP
gi-2563	32	2	each	each	DET
gi-2563	32	3	point	point	NOUN
gi-2563	32	4	is	be	AUX
gi-2563	32	5	its	its	PRON
gi-2563	32	6	surrounding	surrounding	NOUN
gi-2563	32	7	in	in	ADP
gi-2563	32	8	the	the	DET
gi-2563	32	9	range	range	NOUN
gi-2563	32	10	of	of	ADP
gi-2563	32	11	3x3	3x3	NUM
gi-2563	32	12	pixels	pixel	NOUN
gi-2563	32	13	approximated	approximate	VERB
gi-2563	32	14	by	by	ADP
gi-2563	32	15	the	the	DET
gi-2563	32	16	three	three	NUM
gi-2563	32	17	dimensional	dimensional	ADJ
gi-2563	32	18	quadratic	quadratic	ADJ
gi-2563	32	19	function	function	NOUN
gi-2563	32	20	.	.	PUNCT
gi-2563	33	1	consequently	consequently	ADV
gi-2563	33	2	is	be	AUX
gi-2563	33	3	found	find	VERB
gi-2563	33	4	maximum	maximum	ADJ
gi-2563	33	5	or	or	CCONJ
gi-2563	33	6	eventually	eventually	ADV
gi-2563	33	7	minimum	minimum	NOUN
gi-2563	33	8	of	of	ADP
gi-2563	33	9	this	this	DET
gi-2563	33	10	function	function	NOUN
gi-2563	33	11	that	that	PRON
gi-2563	33	12	defines	define	VERB
gi-2563	33	13	the	the	DET
gi-2563	33	14	exact	exact	ADJ
gi-2563	33	15	location	location	NOUN
gi-2563	33	16	of	of	ADP
gi-2563	33	17	the	the	DET
gi-2563	33	18	key	key	ADJ
gi-2563	33	19	point	point	NOUN
gi-2563	33	20	with	with	ADP
gi-2563	33	21	subpixel	subpixel	ADJ
gi-2563	33	22	accuracy	accuracy	NOUN
gi-2563	33	23	.	.	PUNCT
gi-2563	34	1	the	the	DET
gi-2563	34	2	points	point	NOUN
gi-2563	34	3	along	along	ADP
gi-2563	34	4	the	the	DET
gi-2563	34	5	edges	edge	NOUN
gi-2563	34	6	are	be	AUX
gi-2563	34	7	according	accord	VERB
gi-2563	34	8	to	to	ADP
gi-2563	34	9	curvature	curvature	NOUN
gi-2563	34	10	diameters	diameter	NOUN
gi-2563	34	11	rate	rate	NOUN
gi-2563	34	12	in	in	ADP
gi-2563	34	13	two	two	NUM
gi-2563	34	14	perpendicular	perpendicular	ADJ
gi-2563	34	15	directions	direction	NOUN
gi-2563	34	16	removed	remove	VERB
gi-2563	34	17	as	as	ADV
gi-2563	34	18	well	well	ADV
gi-2563	34	19	.	.	PUNCT
gi-2563	35	1	geoinformatics	geoinformatic	NOUN
gi-2563	35	2	fce	fce	VERB
gi-2563	35	3	ctu	ctu	NOUN
gi-2563	35	4	9	9	NUM
gi-2563	35	5	,	,	PUNCT
gi-2563	35	6	2012	2012	NUM
gi-2563	35	7	28	28	NUM
gi-2563	35	8	káňa	káňa	PROPN
gi-2563	35	9	,	,	PUNCT
gi-2563	35	10	d.	d.	PROPN
gi-2563	35	11	,	,	PUNCT
gi-2563	35	12	hanzl	hanzl	PROPN
gi-2563	36	1	v.	v.	CCONJ
gi-2563	36	2	:	:	PUNCT
gi-2563	36	3	application	application	NOUN
gi-2563	36	4	of	of	ADP
gi-2563	36	5	computer	computer	NOUN
gi-2563	36	6	vision	vision	NOUN
gi-2563	36	7	methods	method	NOUN
gi-2563	36	8	.	.	PUNCT
gi-2563	36	9	.	.	PUNCT
gi-2563	36	10	.	.	PUNCT
gi-2563	37	1	2.3	2.3	NUM
gi-2563	37	2	.	.	PUNCT
gi-2563	38	1	orientation	orientation	NOUN
gi-2563	38	2	assignment	assignment	NOUN
gi-2563	38	3	a	a	DET
gi-2563	38	4	certain	certain	ADJ
gi-2563	38	5	orientation	orientation	NOUN
gi-2563	38	6	can	can	AUX
gi-2563	38	7	be	be	AUX
gi-2563	38	8	assigned	assign	VERB
gi-2563	38	9	to	to	ADP
gi-2563	38	10	each	each	DET
gi-2563	38	11	key	key	ADJ
gi-2563	38	12	point	point	NOUN
gi-2563	38	13	.	.	PUNCT
gi-2563	39	1	by	by	ADP
gi-2563	39	2	this	this	DET
gi-2563	39	3	step	step	NOUN
gi-2563	39	4	is	be	AUX
gi-2563	39	5	ensured	ensure	VERB
gi-2563	39	6	key	key	ADJ
gi-2563	39	7	point	point	NOUN
gi-2563	39	8	descriptor	descriptor	NOUN
gi-2563	39	9	invariance	invariance	NOUN
gi-2563	39	10	toward	toward	ADP
gi-2563	39	11	the	the	DET
gi-2563	39	12	image	image	NOUN
gi-2563	39	13	rotation	rotation	NOUN
gi-2563	39	14	.	.	PUNCT
gi-2563	40	1	descriptor	descriptor	NOUN
gi-2563	40	2	is	be	AUX
gi-2563	40	3	expressed	express	VERB
gi-2563	40	4	relatively	relatively	ADV
gi-2563	40	5	in	in	ADP
gi-2563	40	6	the	the	DET
gi-2563	40	7	view	view	NOUN
gi-2563	40	8	of	of	ADP
gi-2563	40	9	key	key	ADJ
gi-2563	40	10	point	point	NOUN
gi-2563	40	11	rotation	rotation	NOUN
gi-2563	40	12	.	.	PUNCT
gi-2563	41	1	orientation	orientation	NOUN
gi-2563	41	2	is	be	AUX
gi-2563	41	3	computed	compute	VERB
gi-2563	41	4	in	in	ADP
gi-2563	41	5	dependence	dependence	NOUN
gi-2563	41	6	of	of	ADP
gi-2563	41	7	smoothing	smooth	VERB
gi-2563	41	8	out	out	ADP
gi-2563	41	9	rate	rate	NOUN
gi-2563	41	10	for	for	ADP
gi-2563	41	11	given	give	VERB
gi-2563	41	12	key	key	ADJ
gi-2563	41	13	point	point	NOUN
gi-2563	41	14	and	and	CCONJ
gi-2563	41	15	does	do	AUX
gi-2563	41	16	not	not	PART
gi-2563	41	17	depend	depend	VERB
gi-2563	41	18	on	on	ADP
gi-2563	41	19	scale	scale	NOUN
gi-2563	41	20	.	.	PUNCT
gi-2563	42	1	in	in	ADP
gi-2563	42	2	blurred	blurred	ADJ
gi-2563	42	3	image	image	NOUN
gi-2563	42	4	size	size	NOUN
gi-2563	42	5	values	value	NOUN
gi-2563	42	6	m(x	m(x	PROPN
gi-2563	42	7	,	,	PUNCT
gi-2563	42	8	y	y	NOUN
gi-2563	42	9	)	)	PUNCT
gi-2563	42	10	and	and	CCONJ
gi-2563	42	11	orientation	orientation	NOUN
gi-2563	42	12	values	value	NOUN
gi-2563	42	13	θ(x	θ(x	PROPN
gi-2563	42	14	,	,	PUNCT
gi-2563	42	15	y	y	NOUN
gi-2563	42	16	)	)	PUNCT
gi-2563	42	17	of	of	ADP
gi-2563	42	18	the	the	DET
gi-2563	42	19	function	function	NOUN
gi-2563	42	20	gradient	gradient	NOUN
gi-2563	42	21	l(x	l(x	PROPN
gi-2563	42	22	,	,	PUNCT
gi-2563	42	23	y	y	PROPN
gi-2563	42	24	)	)	PUNCT
gi-2563	42	25	are	be	AUX
gi-2563	42	26	computed	compute	VERB
gi-2563	42	27	.	.	PUNCT
gi-2563	43	1	consequently	consequently	ADV
gi-2563	43	2	orientations	orientation	NOUN
gi-2563	43	3	in	in	ADP
gi-2563	43	4	the	the	DET
gi-2563	43	5	surrounding	surrounding	NOUN
gi-2563	43	6	of	of	ADP
gi-2563	43	7	the	the	DET
gi-2563	43	8	key	key	ADJ
gi-2563	43	9	point	point	NOUN
gi-2563	43	10	are	be	AUX
gi-2563	43	11	computed	compute	VERB
gi-2563	43	12	,	,	PUNCT
gi-2563	43	13	when	when	SCONJ
gi-2563	43	14	an	an	DET
gi-2563	43	15	orientation	orientation	NOUN
gi-2563	43	16	histogram	histogram	NOUN
gi-2563	43	17	of	of	ADP
gi-2563	43	18	neighbouring	neighbouring	NOUN
gi-2563	43	19	pixels	pixel	NOUN
gi-2563	43	20	that	that	PRON
gi-2563	43	21	contains	contain	VERB
gi-2563	43	22	36	36	NUM
gi-2563	43	23	items	item	NOUN
gi-2563	43	24	for	for	ADP
gi-2563	43	25	360	360	NUM
gi-2563	43	26	degrees	degree	NOUN
gi-2563	43	27	range	range	VERB
gi-2563	43	28	with	with	ADP
gi-2563	43	29	10	10	NUM
gi-2563	43	30	degrees	degree	NOUN
gi-2563	43	31	interval	interval	NOUN
gi-2563	43	32	is	be	AUX
gi-2563	43	33	put	put	VERB
gi-2563	43	34	together	together	ADV
gi-2563	43	35	.	.	PUNCT
gi-2563	44	1	in	in	ADP
gi-2563	44	2	this	this	DET
gi-2563	44	3	histogram	histogram	NOUN
gi-2563	44	4	a	a	DET
gi-2563	44	5	peak	peak	NOUN
gi-2563	44	6	is	be	AUX
gi-2563	44	7	found	find	VERB
gi-2563	44	8	(	(	PUNCT
gi-2563	44	9	an	an	DET
gi-2563	44	10	item	item	NOUN
gi-2563	44	11	with	with	ADP
gi-2563	44	12	biggest	big	ADJ
gi-2563	44	13	occurrence	occurrence	NOUN
gi-2563	44	14	)	)	PUNCT
gi-2563	44	15	and	and	CCONJ
gi-2563	44	16	this	this	DET
gi-2563	44	17	dominant	dominant	ADJ
gi-2563	44	18	rotation	rotation	NOUN
gi-2563	44	19	is	be	AUX
gi-2563	44	20	assigned	assign	VERB
gi-2563	44	21	to	to	ADP
gi-2563	44	22	the	the	DET
gi-2563	44	23	key	key	ADJ
gi-2563	44	24	point	point	NOUN
gi-2563	44	25	.	.	PUNCT
gi-2563	45	1	farther	far	ADV
gi-2563	45	2	it	it	PRON
gi-2563	45	3	is	be	AUX
gi-2563	45	4	tested	test	VERB
gi-2563	45	5	whether	whether	SCONJ
gi-2563	45	6	other	other	ADJ
gi-2563	45	7	occurrences	occurrence	NOUN
gi-2563	45	8	reaching	reach	VERB
gi-2563	45	9	80	80	NUM
gi-2563	45	10	percent	percent	NOUN
gi-2563	45	11	of	of	ADP
gi-2563	45	12	the	the	DET
gi-2563	45	13	biggest	big	ADJ
gi-2563	45	14	occurrence	occurrence	NOUN
gi-2563	45	15	are	be	AUX
gi-2563	45	16	present	present	ADJ
gi-2563	45	17	.	.	PUNCT
gi-2563	46	1	if	if	SCONJ
gi-2563	46	2	so	so	ADV
gi-2563	46	3	a	a	DET
gi-2563	46	4	new	new	ADJ
gi-2563	46	5	key	key	ADJ
gi-2563	46	6	point	point	NOUN
gi-2563	46	7	is	be	AUX
gi-2563	46	8	made	make	VERB
gi-2563	46	9	out	out	ADP
gi-2563	46	10	with	with	ADP
gi-2563	46	11	the	the	DET
gi-2563	46	12	same	same	ADJ
gi-2563	46	13	coordinate	coordinate	NOUN
gi-2563	46	14	but	but	CCONJ
gi-2563	46	15	with	with	ADP
gi-2563	46	16	a	a	DET
gi-2563	46	17	new	new	ADJ
gi-2563	46	18	orientation	orientation	NOUN
gi-2563	46	19	given	give	VERB
gi-2563	46	20	by	by	ADP
gi-2563	46	21	this	this	DET
gi-2563	46	22	direction	direction	NOUN
gi-2563	46	23	.	.	PUNCT
gi-2563	47	1	after	after	ADV
gi-2563	47	2	all	all	ADV
gi-2563	47	3	in	in	ADP
gi-2563	47	4	some	some	DET
gi-2563	47	5	places	place	NOUN
gi-2563	47	6	a	a	DET
gi-2563	47	7	rank	rank	NOUN
gi-2563	47	8	of	of	ADP
gi-2563	47	9	key	key	ADJ
gi-2563	47	10	points	point	NOUN
gi-2563	47	11	can	can	AUX
gi-2563	47	12	ensue	ensue	VERB
gi-2563	47	13	with	with	ADP
gi-2563	47	14	the	the	DET
gi-2563	47	15	same	same	ADJ
gi-2563	47	16	coordinate	coordinate	NOUN
gi-2563	47	17	but	but	CCONJ
gi-2563	47	18	with	with	ADP
gi-2563	47	19	various	various	ADJ
gi-2563	47	20	orientations	orientation	NOUN
gi-2563	47	21	.	.	PUNCT
gi-2563	48	1	2.4	2.4	NUM
gi-2563	48	2	.	.	PUNCT
gi-2563	48	3	key	key	ADJ
gi-2563	48	4	point	point	NOUN
gi-2563	48	5	descriptor	descriptor	NOUN
gi-2563	48	6	the	the	DET
gi-2563	48	7	parameters	parameter	NOUN
gi-2563	48	8	defining	define	VERB
gi-2563	48	9	the	the	DET
gi-2563	48	10	location	location	NOUN
gi-2563	48	11	,	,	PUNCT
gi-2563	48	12	scale	scale	NOUN
gi-2563	48	13	and	and	CCONJ
gi-2563	48	14	orientation	orientation	NOUN
gi-2563	48	15	of	of	ADP
gi-2563	48	16	the	the	DET
gi-2563	48	17	key	key	ADJ
gi-2563	48	18	points	point	NOUN
gi-2563	48	19	also	also	ADV
gi-2563	48	20	define	define	VERB
gi-2563	48	21	auxiliary	auxiliary	ADJ
gi-2563	48	22	coordinate	coordinate	NOUN
gi-2563	48	23	system	system	NOUN
gi-2563	48	24	,	,	PUNCT
gi-2563	48	25	to	to	PART
gi-2563	48	26	which	which	DET
gi-2563	48	27	descriptor	descriptor	NOUN
gi-2563	48	28	can	can	AUX
gi-2563	48	29	be	be	AUX
gi-2563	48	30	expressed	express	VERB
gi-2563	48	31	clearly	clearly	ADV
gi-2563	48	32	describing	describe	VERB
gi-2563	48	33	the	the	DET
gi-2563	48	34	area	area	NOUN
gi-2563	48	35	around	around	ADP
gi-2563	48	36	key	key	ADJ
gi-2563	48	37	point	point	NOUN
gi-2563	48	38	location	location	NOUN
gi-2563	48	39	.	.	PUNCT
gi-2563	49	1	descriptor	descriptor	NOUN
gi-2563	49	2	is	be	AUX
gi-2563	49	3	based	base	VERB
gi-2563	49	4	on	on	ADP
gi-2563	49	5	image	image	NOUN
gi-2563	49	6	gradients	gradient	NOUN
gi-2563	49	7	and	and	CCONJ
gi-2563	49	8	their	their	PRON
gi-2563	49	9	orientation	orientation	NOUN
gi-2563	49	10	in	in	ADP
gi-2563	49	11	a	a	DET
gi-2563	49	12	region	region	NOUN
gi-2563	49	13	surrounding	surround	VERB
gi-2563	49	14	key	key	ADJ
gi-2563	49	15	point	point	NOUN
gi-2563	49	16	,	,	PUNCT
gi-2563	49	17	where	where	SCONJ
gi-2563	49	18	area	area	NOUN
gi-2563	49	19	16	16	NUM
gi-2563	49	20	x	x	SYM
gi-2563	49	21	16	16	NUM
gi-2563	49	22	pixels	pixel	NOUN
gi-2563	49	23	is	be	AUX
gi-2563	49	24	divided	divide	VERB
gi-2563	49	25	into	into	ADP
gi-2563	49	26	16	16	NUM
gi-2563	49	27	blocks	block	NOUN
gi-2563	49	28	of	of	ADP
gi-2563	49	29	4	4	NUM
gi-2563	49	30	x	x	SYM
gi-2563	49	31	4	4	NUM
gi-2563	49	32	pixels	pixel	NOUN
gi-2563	49	33	.	.	PUNCT
gi-2563	50	1	for	for	ADP
gi-2563	50	2	every	every	DET
gi-2563	50	3	block	block	NOUN
gi-2563	50	4	is	be	AUX
gi-2563	50	5	created	create	VERB
gi-2563	50	6	histogram	histogram	NOUN
gi-2563	50	7	of	of	ADP
gi-2563	50	8	eight	eight	NUM
gi-2563	50	9	meaningful	meaningful	ADJ
gi-2563	50	10	orientations	orientation	NOUN
gi-2563	50	11	weighted	weight	VERB
gi-2563	50	12	by	by	ADP
gi-2563	50	13	gradient	gradient	ADJ
gi-2563	50	14	magnitude	magnitude	NOUN
gi-2563	50	15	using	use	VERB
gi-2563	50	16	gaussian	gaussian	ADJ
gi-2563	50	17	function	function	NOUN
gi-2563	50	18	.	.	PUNCT
gi-2563	51	1	subsequently	subsequently	ADV
gi-2563	51	2	by	by	ADP
gi-2563	51	3	ordering	order	VERB
gi-2563	51	4	and	and	CCONJ
gi-2563	51	5	normalizing	normalize	VERB
gi-2563	51	6	those	those	DET
gi-2563	51	7	16	16	NUM
gi-2563	51	8	partial	partial	ADJ
gi-2563	51	9	histograms	histogram	NOUN
gi-2563	51	10	containing	contain	VERB
gi-2563	51	11	8	8	NUM
gi-2563	51	12	intervals	interval	NOUN
gi-2563	51	13	descriptor	descriptor	NOUN
gi-2563	51	14	,	,	PUNCT
gi-2563	51	15	vector	vector	NOUN
gi-2563	51	16	of	of	ADP
gi-2563	51	17	dimension	dimension	NOUN
gi-2563	51	18	128	128	NUM
gi-2563	51	19	is	be	AUX
gi-2563	51	20	formed	form	VERB
gi-2563	51	21	.	.	PUNCT
gi-2563	52	1	for	for	ADP
gi-2563	52	2	key	key	ADJ
gi-2563	52	3	points	point	NOUN
gi-2563	52	4	detection	detection	NOUN
gi-2563	52	5	an	an	DET
gi-2563	52	6	implementation	implementation	NOUN
gi-2563	52	7	[	[	X
gi-2563	52	8	1	1	X
gi-2563	52	9	]	]	PUNCT
gi-2563	52	10	was	be	AUX
gi-2563	52	11	used	use	VERB
gi-2563	52	12	,	,	PUNCT
gi-2563	52	13	for	for	ADP
gi-2563	52	14	another	another	DET
gi-2563	52	15	acceleration	acceleration	NOUN
gi-2563	52	16	of	of	ADP
gi-2563	52	17	computing	compute	VERB
gi-2563	52	18	an	an	DET
gi-2563	52	19	implementation	implementation	NOUN
gi-2563	52	20	with	with	ADP
gi-2563	52	21	usage	usage	NOUN
gi-2563	52	22	of	of	ADP
gi-2563	52	23	hardware	hardware	NOUN
gi-2563	52	24	acceleration	acceleration	NOUN
gi-2563	52	25	on	on	ADP
gi-2563	52	26	cuda	cuda	NOUN
gi-2563	52	27	[	[	X
gi-2563	52	28	4	4	NUM
gi-2563	52	29	]	]	X
gi-2563	52	30	platform	platform	NOUN
gi-2563	52	31	would	would	AUX
gi-2563	52	32	be	be	AUX
gi-2563	52	33	tested	test	VERB
gi-2563	52	34	.	.	PUNCT
gi-2563	53	1	3	3	X
gi-2563	53	2	.	.	X
gi-2563	53	3	finding	find	VERB
gi-2563	53	4	correspondences	correspondence	NOUN
gi-2563	53	5	if	if	SCONJ
gi-2563	53	6	there	there	PRON
gi-2563	53	7	are	be	VERB
gi-2563	53	8	detected	detect	VERB
gi-2563	53	9	key	key	ADJ
gi-2563	53	10	points	point	NOUN
gi-2563	53	11	in	in	ADP
gi-2563	53	12	each	each	DET
gi-2563	53	13	image	image	NOUN
gi-2563	53	14	counting	counting	NOUN
gi-2563	53	15	descriptors	descriptor	NOUN
gi-2563	53	16	,	,	PUNCT
gi-2563	53	17	we	we	PRON
gi-2563	53	18	can	can	AUX
gi-2563	53	19	approach	approach	VERB
gi-2563	53	20	to	to	ADP
gi-2563	53	21	pairing	pair	VERB
gi-2563	53	22	and	and	CCONJ
gi-2563	53	23	finding	finding	NOUN
gi-2563	53	24	of	of	ADP
gi-2563	53	25	corresponding	corresponding	ADJ
gi-2563	53	26	point	point	NOUN
gi-2563	53	27	couples	couple	NOUN
gi-2563	53	28	correspondences	correspondence	NOUN
gi-2563	53	29	,	,	PUNCT
gi-2563	53	30	which	which	PRON
gi-2563	53	31	came	come	VERB
gi-2563	53	32	into	into	ADP
gi-2563	53	33	being	being	NOUN
gi-2563	53	34	by	by	ADP
gi-2563	53	35	projection	projection	NOUN
gi-2563	53	36	of	of	ADP
gi-2563	53	37	point	point	NOUN
gi-2563	53	38	in	in	ADP
gi-2563	53	39	three	three	NUM
gi-2563	53	40	dimensional	dimensional	ADJ
gi-2563	53	41	space	space	NOUN
gi-2563	53	42	to	to	ADP
gi-2563	53	43	both	both	DET
gi-2563	53	44	images	image	NOUN
gi-2563	53	45	.	.	PUNCT
gi-2563	54	1	the	the	DET
gi-2563	54	2	rate	rate	NOUN
gi-2563	54	3	of	of	ADP
gi-2563	54	4	agreement	agreement	NOUN
gi-2563	54	5	of	of	ADP
gi-2563	54	6	the	the	DET
gi-2563	54	7	two	two	NUM
gi-2563	54	8	key	key	ADJ
gi-2563	54	9	points	point	NOUN
gi-2563	54	10	is	be	AUX
gi-2563	54	11	determined	determine	VERB
gi-2563	54	12	on	on	ADP
gi-2563	54	13	the	the	DET
gi-2563	54	14	basis	basis	NOUN
gi-2563	54	15	of	of	ADP
gi-2563	54	16	their	their	PRON
gi-2563	54	17	sift	sift	ADJ
gi-2563	54	18	descriptor	descriptor	NOUN
gi-2563	54	19	vector	vector	NOUN
gi-2563	54	20	’s	’s	PART
gi-2563	54	21	euclidean	euclidean	ADJ
gi-2563	54	22	distance	distance	NOUN
gi-2563	54	23	in	in	ADP
gi-2563	54	24	two	two	NUM
gi-2563	54	25	ways	way	NOUN
gi-2563	54	26	.	.	PUNCT
gi-2563	55	1	because	because	SCONJ
gi-2563	55	2	we	we	PRON
gi-2563	55	3	do	do	AUX
gi-2563	55	4	not	not	PART
gi-2563	55	5	have	have	VERB
gi-2563	55	6	any	any	DET
gi-2563	55	7	information	information	NOUN
gi-2563	55	8	about	about	ADP
gi-2563	55	9	image	image	NOUN
gi-2563	55	10	sequence	sequence	NOUN
gi-2563	55	11	it	it	PRON
gi-2563	55	12	is	be	AUX
gi-2563	55	13	necessary	necessary	ADJ
gi-2563	55	14	to	to	PART
gi-2563	55	15	compare	compare	VERB
gi-2563	55	16	them	they	PRON
gi-2563	55	17	by	by	ADP
gi-2563	55	18	each	each	PRON
gi-2563	55	19	to	to	ADP
gi-2563	55	20	each	each	DET
gi-2563	55	21	method	method	NOUN
gi-2563	55	22	.	.	PUNCT
gi-2563	56	1	3.1	3.1	NUM
gi-2563	56	2	.	.	PUNCT
gi-2563	57	1	symmetric	symmetric	PROPN
gi-2563	57	2	pairing	pairing	NOUN
gi-2563	57	3	to	to	ADP
gi-2563	57	4	every	every	DET
gi-2563	57	5	key	key	ADJ
gi-2563	57	6	point	point	NOUN
gi-2563	57	7	in	in	ADP
gi-2563	57	8	the	the	DET
gi-2563	57	9	first	first	ADJ
gi-2563	57	10	image	image	NOUN
gi-2563	57	11	we	we	PRON
gi-2563	57	12	can	can	AUX
gi-2563	57	13	find	find	VERB
gi-2563	57	14	a	a	DET
gi-2563	57	15	point	point	NOUN
gi-2563	57	16	with	with	ADP
gi-2563	57	17	the	the	DET
gi-2563	57	18	nearest	near	ADJ
gi-2563	57	19	descriptor	descriptor	NOUN
gi-2563	57	20	distance	distance	NOUN
gi-2563	57	21	in	in	ADP
gi-2563	57	22	the	the	DET
gi-2563	57	23	second	second	ADJ
gi-2563	57	24	image	image	NOUN
gi-2563	57	25	.	.	PUNCT
gi-2563	58	1	in	in	ADP
gi-2563	58	2	the	the	DET
gi-2563	58	3	second	second	ADJ
gi-2563	58	4	image	image	NOUN
gi-2563	58	5	is	be	AUX
gi-2563	58	6	to	to	ADP
gi-2563	58	7	each	each	DET
gi-2563	58	8	key	key	ADJ
gi-2563	58	9	point	point	NOUN
gi-2563	58	10	found	find	VERB
gi-2563	58	11	the	the	DET
gi-2563	58	12	nearest	near	ADJ
gi-2563	58	13	key	key	ADJ
gi-2563	58	14	point	point	NOUN
gi-2563	58	15	in	in	ADP
gi-2563	58	16	the	the	DET
gi-2563	58	17	first	first	ADJ
gi-2563	58	18	image	image	NOUN
gi-2563	58	19	as	as	ADV
gi-2563	58	20	well	well	ADV
gi-2563	58	21	.	.	PUNCT
gi-2563	59	1	as	as	SCONJ
gi-2563	59	2	potential	potential	ADJ
gi-2563	59	3	pair	pair	NOUN
gi-2563	59	4	of	of	ADP
gi-2563	59	5	corresponding	corresponding	ADJ
gi-2563	59	6	points	point	NOUN
gi-2563	59	7	is	be	AUX
gi-2563	59	8	labeled	label	VERB
gi-2563	59	9	the	the	DET
gi-2563	59	10	one	one	NOUN
gi-2563	59	11	where	where	SCONJ
gi-2563	59	12	mutual	mutual	ADJ
gi-2563	59	13	agreement	agreement	NOUN
gi-2563	59	14	is	be	AUX
gi-2563	59	15	in	in	ADP
gi-2563	59	16	both	both	DET
gi-2563	59	17	comparisons	comparison	NOUN
gi-2563	59	18	.	.	PUNCT
gi-2563	60	1	geoinformatics	geoinformatic	NOUN
gi-2563	60	2	fce	fce	VERB
gi-2563	60	3	ctu	ctu	NOUN
gi-2563	60	4	9	9	NUM
gi-2563	60	5	,	,	PUNCT
gi-2563	60	6	2012	2012	NUM
gi-2563	60	7	29	29	NUM
gi-2563	60	8	káňa	káňa	PROPN
gi-2563	60	9	,	,	PUNCT
gi-2563	60	10	d.	d.	PROPN
gi-2563	60	11	,	,	PUNCT
gi-2563	60	12	hanzl	hanzl	PROPN
gi-2563	61	1	v.	v.	CCONJ
gi-2563	61	2	:	:	PUNCT
gi-2563	61	3	application	application	NOUN
gi-2563	61	4	of	of	ADP
gi-2563	61	5	computer	computer	NOUN
gi-2563	61	6	vision	vision	NOUN
gi-2563	61	7	methods	method	NOUN
gi-2563	61	8	.	.	PUNCT
gi-2563	61	9	.	.	PUNCT
gi-2563	61	10	.	.	PUNCT
gi-2563	62	1	figure	figure	VERB
gi-2563	62	2	2	2	NUM
gi-2563	62	3	:	:	PUNCT
gi-2563	62	4	key	key	ADJ
gi-2563	62	5	points	point	NOUN
gi-2563	62	6	and	and	CCONJ
gi-2563	62	7	their	their	PRON
gi-2563	62	8	orientations	orientation	NOUN
gi-2563	62	9	3.2	3.2	NUM
gi-2563	62	10	.	.	PUNCT
gi-2563	63	1	distance	distance	NOUN
gi-2563	63	2	ratio	ratio	NOUN
gi-2563	63	3	test	test	NOUN
gi-2563	63	4	lowe	lowe	NOUN
gi-2563	63	5	[	[	X
gi-2563	63	6	2	2	NUM
gi-2563	63	7	]	]	PUNCT
gi-2563	63	8	recommends	recommend	VERB
gi-2563	63	9	testifying	testify	VERB
gi-2563	63	10	the	the	DET
gi-2563	63	11	agreement	agreement	NOUN
gi-2563	63	12	of	of	ADP
gi-2563	63	13	the	the	DET
gi-2563	63	14	key	key	ADJ
gi-2563	63	15	points	point	NOUN
gi-2563	63	16	by	by	ADP
gi-2563	63	17	rate	rate	NOUN
gi-2563	63	18	of	of	ADP
gi-2563	63	19	descriptor	descriptor	NOUN
gi-2563	63	20	euclidean	euclidean	ADJ
gi-2563	63	21	distance	distance	NOUN
gi-2563	63	22	to	to	ADP
gi-2563	63	23	the	the	DET
gi-2563	63	24	first	first	ADJ
gi-2563	63	25	and	and	CCONJ
gi-2563	63	26	second	second	ADJ
gi-2563	63	27	nearest	near	ADJ
gi-2563	63	28	point	point	NOUN
gi-2563	63	29	.	.	PUNCT
gi-2563	64	1	as	as	ADP
gi-2563	64	2	limiting	limit	VERB
gi-2563	64	3	he	he	PRON
gi-2563	64	4	offers	offer	VERB
gi-2563	64	5	distance	distance	NOUN
gi-2563	64	6	ratio	ratio	NOUN
gi-2563	64	7	of	of	ADP
gi-2563	64	8	0.6	0.6	NUM
gi-2563	64	9	.	.	PUNCT
gi-2563	65	1	it	it	PRON
gi-2563	65	2	is	be	AUX
gi-2563	65	3	obvious	obvious	ADJ
gi-2563	65	4	that	that	SCONJ
gi-2563	65	5	this	this	DET
gi-2563	65	6	criterion	criterion	NOUN
gi-2563	65	7	can	can	AUX
gi-2563	65	8	fulfill	fulfill	VERB
gi-2563	65	9	more	more	ADJ
gi-2563	65	10	key	key	ADJ
gi-2563	65	11	points	point	NOUN
gi-2563	65	12	.	.	PUNCT
gi-2563	66	1	for	for	ADP
gi-2563	66	2	correspondence	correspondence	NOUN
gi-2563	66	3	’s	’s	PART
gi-2563	66	4	stability	stability	NOUN
gi-2563	66	5	and	and	CCONJ
gi-2563	66	6	reliability	reliability	NOUN
gi-2563	66	7	reasons	reason	NOUN
gi-2563	66	8	it	it	PRON
gi-2563	66	9	is	be	AUX
gi-2563	66	10	convenient	convenient	ADJ
gi-2563	66	11	not	not	PART
gi-2563	66	12	to	to	PART
gi-2563	66	13	count	count	VERB
gi-2563	66	14	on	on	ADP
gi-2563	66	15	these	these	DET
gi-2563	66	16	multiple	multiple	ADJ
gi-2563	66	17	correspondences	correspondence	NOUN
gi-2563	66	18	in	in	ADP
gi-2563	66	19	farther	farth	ADJ
gi-2563	66	20	calculations	calculation	NOUN
gi-2563	66	21	.	.	PUNCT
gi-2563	67	1	this	this	DET
gi-2563	67	2	test	test	NOUN
gi-2563	67	3	proofed	proof	VERB
gi-2563	67	4	as	as	ADP
gi-2563	67	5	not	not	PART
gi-2563	67	6	much	much	ADV
gi-2563	67	7	convenient	convenient	ADJ
gi-2563	67	8	with	with	ADP
gi-2563	67	9	markedly	markedly	ADV
gi-2563	67	10	repeating	repeat	VERB
gi-2563	67	11	texture	texture	NOUN
gi-2563	67	12	(	(	PUNCT
gi-2563	67	13	for	for	ADP
gi-2563	67	14	example	example	NOUN
gi-2563	67	15	the	the	DET
gi-2563	67	16	facade	facade	NOUN
gi-2563	67	17	of	of	ADP
gi-2563	67	18	panel	panel	NOUN
gi-2563	67	19	house	house	NOUN
gi-2563	67	20	images	image	NOUN
gi-2563	67	21	)	)	PUNCT
gi-2563	67	22	.	.	PUNCT
gi-2563	68	1	4	4	X
gi-2563	68	2	.	.	NOUN
gi-2563	68	3	fundamental	fundamental	ADJ
gi-2563	68	4	and	and	CCONJ
gi-2563	68	5	essential	essential	ADJ
gi-2563	68	6	matrix	matrix	NOUN
gi-2563	68	7	the	the	DET
gi-2563	68	8	correspondences	correspondence	NOUN
gi-2563	68	9	set	set	VERB
gi-2563	68	10	obtained	obtain	VERB
gi-2563	68	11	by	by	ADP
gi-2563	68	12	above	above	ADP
gi-2563	68	13	mentioned	mention	VERB
gi-2563	68	14	procedures	procedure	NOUN
gi-2563	68	15	is	be	AUX
gi-2563	68	16	however	however	ADV
gi-2563	68	17	loaded	load	VERB
gi-2563	68	18	with	with	ADP
gi-2563	68	19	errors	error	NOUN
gi-2563	68	20	and	and	CCONJ
gi-2563	68	21	false	false	ADJ
gi-2563	68	22	correspondences	correspondence	NOUN
gi-2563	68	23	,	,	PUNCT
gi-2563	68	24	which	which	PRON
gi-2563	68	25	arouse	arouse	VERB
gi-2563	68	26	from	from	ADP
gi-2563	68	27	a	a	DET
gi-2563	68	28	change	change	NOUN
gi-2563	68	29	of	of	ADP
gi-2563	68	30	camera	camera	NOUN
gi-2563	68	31	location	location	NOUN
gi-2563	68	32	,	,	PUNCT
gi-2563	68	33	change	change	NOUN
gi-2563	68	34	of	of	ADP
gi-2563	68	35	lighting	lighting	NOUN
gi-2563	68	36	,	,	PUNCT
gi-2563	68	37	digital	digital	ADJ
gi-2563	68	38	image	image	NOUN
gi-2563	68	39	noise	noise	NOUN
gi-2563	68	40	and	and	CCONJ
gi-2563	68	41	so	so	ADV
gi-2563	68	42	on	on	ADV
gi-2563	68	43	.	.	PUNCT
gi-2563	69	1	these	these	DET
gi-2563	69	2	false	false	ADJ
gi-2563	69	3	correspondences	correspondence	NOUN
gi-2563	69	4	could	could	AUX
gi-2563	69	5	be	be	AUX
gi-2563	69	6	eliminated	eliminate	VERB
gi-2563	69	7	by	by	ADP
gi-2563	69	8	usage	usage	NOUN
gi-2563	69	9	of	of	ADP
gi-2563	69	10	geometric	geometric	ADJ
gi-2563	69	11	criterion	criterion	NOUN
gi-2563	69	12	–	–	PUNCT
gi-2563	69	13	epipolar	epipolar	ADJ
gi-2563	69	14	condition	condition	NOUN
gi-2563	69	15	.	.	PUNCT
gi-2563	70	1	the	the	DET
gi-2563	70	2	x	x	NOUN
gi-2563	70	3	point	point	NOUN
gi-2563	70	4	together	together	ADV
gi-2563	70	5	with	with	ADP
gi-2563	70	6	projection	projection	NOUN
gi-2563	70	7	centers	center	NOUN
gi-2563	70	8	c	c	PROPN
gi-2563	70	9	and	and	CCONJ
gi-2563	70	10	c	c	X
gi-2563	70	11	’	'	PUNCT
gi-2563	70	12	forms	form	NOUN
gi-2563	70	13	epipolar	epipolar	ADJ
gi-2563	70	14	plane	plane	NOUN
gi-2563	70	15	in	in	ADP
gi-2563	70	16	3d	3d	PROPN
gi-2563	70	17	space	space	NOUN
gi-2563	70	18	.	.	PUNCT
gi-2563	71	1	by	by	ADP
gi-2563	71	2	epipolar	epipolar	ADJ
gi-2563	71	3	plane	plane	NOUN
gi-2563	71	4	intesection	intesection	NOUN
gi-2563	71	5	with	with	ADP
gi-2563	71	6	projection	projection	NOUN
gi-2563	71	7	planes	plane	NOUN
gi-2563	71	8	are	be	AUX
gi-2563	71	9	formed	form	VERB
gi-2563	71	10	epipolar	epipolar	ADJ
gi-2563	71	11	lines	line	NOUN
gi-2563	71	12	–	–	PUNCT
gi-2563	71	13	epipolars	epipolar	NOUN
gi-2563	71	14	.	.	PUNCT
gi-2563	72	1	and	and	CCONJ
gi-2563	72	2	points	point	VERB
gi-2563	72	3	x	x	PUNCT
gi-2563	72	4	and	and	CCONJ
gi-2563	72	5	x	x	SYM
gi-2563	72	6	’	'	PUNCT
gi-2563	72	7	,	,	PUNCT
gi-2563	72	8	which	which	PRON
gi-2563	72	9	are	be	AUX
gi-2563	72	10	projections	projection	NOUN
gi-2563	72	11	of	of	ADP
gi-2563	72	12	x	x	PUNCT
gi-2563	72	13	point	point	NOUN
gi-2563	72	14	into	into	ADP
gi-2563	72	15	projection	projection	NOUN
gi-2563	72	16	plane	plane	NOUN
gi-2563	72	17	,	,	PUNCT
gi-2563	72	18	lies	lie	VERB
gi-2563	72	19	on	on	ADP
gi-2563	72	20	this	this	DET
gi-2563	72	21	epipolar	epipolar	ADJ
gi-2563	72	22	lines	line	NOUN
gi-2563	72	23	.	.	PUNCT
gi-2563	73	1	this	this	DET
gi-2563	73	2	lines	line	NOUN
gi-2563	73	3	also	also	ADV
gi-2563	73	4	pass	pass	VERB
gi-2563	73	5	thru	thru	ADP
gi-2563	73	6	epipoles	epipole	NOUN
gi-2563	73	7	e	e	NOUN
gi-2563	73	8	and	and	CCONJ
gi-2563	73	9	e	e	NOUN
gi-2563	73	10	’	'	PUNCT
gi-2563	73	11	where	where	SCONJ
gi-2563	73	12	epipole	epipole	NOUN
gi-2563	73	13	is	be	AUX
gi-2563	73	14	projection	projection	NOUN
gi-2563	73	15	of	of	ADP
gi-2563	73	16	first	first	ADJ
gi-2563	73	17	camera	camera	NOUN
gi-2563	73	18	projection	projection	NOUN
gi-2563	73	19	center	center	NOUN
gi-2563	73	20	to	to	ADP
gi-2563	73	21	the	the	DET
gi-2563	73	22	projection	projection	NOUN
gi-2563	73	23	plane	plane	NOUN
gi-2563	73	24	of	of	ADP
gi-2563	73	25	the	the	DET
gi-2563	73	26	second	second	ADJ
gi-2563	73	27	camera	camera	NOUN
gi-2563	73	28	.	.	PUNCT
gi-2563	74	1	algebraic	algebraic	ADJ
gi-2563	74	2	formulation	formulation	NOUN
gi-2563	74	3	of	of	ADP
gi-2563	74	4	the	the	DET
gi-2563	74	5	epipolar	epipolar	ADJ
gi-2563	74	6	condition	condition	NOUN
gi-2563	74	7	is	be	AUX
gi-2563	74	8	equation	equation	NOUN
gi-2563	74	9	(	(	PUNCT
gi-2563	74	10	2	2	NUM
gi-2563	74	11	):	):	PUNCT
gi-2563	74	12	geoinformatics	geoinformatic	NOUN
gi-2563	74	13	fce	fce	VERB
gi-2563	74	14	ctu	ctu	NOUN
gi-2563	74	15	9	9	NUM
gi-2563	74	16	,	,	PUNCT
gi-2563	74	17	2012	2012	NUM
gi-2563	74	18	30	30	NUM
gi-2563	74	19	káňa	káňa	PROPN
gi-2563	74	20	,	,	PUNCT
gi-2563	74	21	d.	d.	PROPN
gi-2563	74	22	,	,	PUNCT
gi-2563	74	23	hanzl	hanzl	PROPN
gi-2563	75	1	v.	v.	CCONJ
gi-2563	75	2	:	:	PUNCT
gi-2563	75	3	application	application	NOUN
gi-2563	75	4	of	of	ADP
gi-2563	75	5	computer	computer	NOUN
gi-2563	75	6	vision	vision	NOUN
gi-2563	75	7	methods	method	NOUN
gi-2563	75	8	.	.	PUNCT
gi-2563	75	9	.	.	PUNCT
gi-2563	75	10	.	.	PUNCT
gi-2563	76	1	x	x	PUNCT
gi-2563	76	2	c	c	X
gi-2563	76	3	c'e	c'e	PROPN
gi-2563	76	4	e	e	NOUN
gi-2563	76	5	'	'	NOUN
gi-2563	76	6	x	x	SYM
gi-2563	76	7	x	x	X
gi-2563	76	8	'	'	PART
gi-2563	76	9	�	�	NOUN
gi-2563	76	10	figure	figure	NOUN
gi-2563	76	11	3	3	NUM
gi-2563	76	12	:	:	PUNCT
gi-2563	76	13	illustration	illustration	NOUN
gi-2563	76	14	of	of	ADP
gi-2563	76	15	epipolar	epipolar	ADJ
gi-2563	76	16	geometry	geometry	NOUN
gi-2563	76	17	[	[	PUNCT
gi-2563	76	18	x′	x′	NUM
gi-2563	76	19	y′	y′	NOUN
gi-2563	76	20	1	1	NUM
gi-2563	76	21	]	]	PUNCT
gi-2563	76	22	f	f	PROPN
gi-2563	77	1	xy	xy	NUM
gi-2563	77	2	1	1	NUM
gi-2563	77	3			NUM
gi-2563	77	4	=	=	SYM
gi-2563	77	5	0	0	PUNCT
gi-2563	77	6	(	(	PUNCT
gi-2563	77	7	2	2	NUM
gi-2563	77	8	)	)	PUNCT
gi-2563	77	9	where	where	SCONJ
gi-2563	77	10	f	f	PROPN
gi-2563	77	11	is	be	AUX
gi-2563	77	12	fundamental	fundamental	ADJ
gi-2563	77	13	matrix	matrix	NOUN
gi-2563	77	14	size	size	NOUN
gi-2563	77	15	is	be	AUX
gi-2563	77	16	3	3	NUM
gi-2563	77	17	x	x	SYM
gi-2563	77	18	3	3	NUM
gi-2563	77	19	and	and	CCONJ
gi-2563	77	20	rank	rank	NOUN
gi-2563	77	21	of	of	ADP
gi-2563	77	22	this	this	DET
gi-2563	77	23	matrix	matrix	NOUN
gi-2563	77	24	is	be	AUX
gi-2563	77	25	2	2	NUM
gi-2563	77	26	.	.	PUNCT
gi-2563	78	1	this	this	DET
gi-2563	78	2	fundamental	fundamental	ADJ
gi-2563	78	3	matrix	matrix	NOUN
gi-2563	78	4	defines	define	NOUN
gi-2563	78	5	relation	relation	NOUN
gi-2563	78	6	between	between	ADP
gi-2563	78	7	two	two	NUM
gi-2563	78	8	cameras	camera	NOUN
gi-2563	78	9	without	without	ADP
gi-2563	78	10	dependency	dependency	NOUN
gi-2563	78	11	on	on	ADP
gi-2563	78	12	scene	scene	NOUN
gi-2563	78	13	structure	structure	NOUN
gi-2563	78	14	.	.	PUNCT
gi-2563	79	1	for	for	ADP
gi-2563	79	2	calculation	calculation	NOUN
gi-2563	79	3	it	it	PRON
gi-2563	79	4	is	be	AUX
gi-2563	79	5	not	not	PART
gi-2563	79	6	necessary	necessary	ADJ
gi-2563	79	7	to	to	PART
gi-2563	79	8	know	know	VERB
gi-2563	79	9	cameras	cameras	ADJ
gi-2563	79	10	interior	interior	ADJ
gi-2563	79	11	orientation	orientation	NOUN
gi-2563	79	12	parameters	parameter	NOUN
gi-2563	79	13	.	.	PUNCT
gi-2563	80	1	4.1	4.1	NUM
gi-2563	80	2	.	.	PUNCT
gi-2563	80	3	fundamental	fundamental	ADJ
gi-2563	80	4	matrix	matrix	NOUN
gi-2563	80	5	computation	computation	NOUN
gi-2563	80	6	using	use	VERB
gi-2563	80	7	correspondences	correspondence	NOUN
gi-2563	80	8	matrix	matrix	NOUN
gi-2563	80	9	f	f	NOUN
gi-2563	80	10	has	have	VERB
gi-2563	80	11	seven	seven	NUM
gi-2563	80	12	degrees	degree	NOUN
gi-2563	80	13	of	of	ADP
gi-2563	80	14	freedom	freedom	NOUN
gi-2563	80	15	so	so	ADV
gi-2563	80	16	minimal	minimal	ADJ
gi-2563	80	17	number	number	NOUN
gi-2563	80	18	of	of	ADP
gi-2563	80	19	correspondences	correspondence	NOUN
gi-2563	80	20	is	be	AUX
gi-2563	80	21	seven	seven	NUM
gi-2563	80	22	.	.	PUNCT
gi-2563	80	23	number	number	NOUN
gi-2563	80	24	of	of	ADP
gi-2563	80	25	solutions	solution	NOUN
gi-2563	80	26	can	can	AUX
gi-2563	80	27	vary	vary	VERB
gi-2563	80	28	from	from	ADP
gi-2563	80	29	one	one	NUM
gi-2563	80	30	to	to	ADP
gi-2563	80	31	three	three	NUM
gi-2563	80	32	.	.	PUNCT
gi-2563	81	1	due	due	ADP
gi-2563	81	2	to	to	ADP
gi-2563	81	3	the	the	DET
gi-2563	81	4	numeric	numeric	ADJ
gi-2563	81	5	stability	stability	NOUN
gi-2563	81	6	is	be	AUX
gi-2563	81	7	more	more	ADV
gi-2563	81	8	optimal	optimal	ADJ
gi-2563	81	9	to	to	PART
gi-2563	81	10	use	use	VERB
gi-2563	81	11	eight	eight	NUM
gi-2563	81	12	-	-	PUNCT
gi-2563	81	13	point	point	NOUN
gi-2563	81	14	algorithm	algorithm	NOUN
gi-2563	81	15	and	and	CCONJ
gi-2563	81	16	find	find	VERB
gi-2563	81	17	the	the	DET
gi-2563	81	18	best	good	ADJ
gi-2563	81	19	solution	solution	NOUN
gi-2563	81	20	using	use	VERB
gi-2563	81	21	svd	svd	PROPN
gi-2563	81	22	decomposition	decomposition	NOUN
gi-2563	81	23	.	.	PUNCT
gi-2563	82	1	formula	formula	NOUN
gi-2563	82	2	(	(	PUNCT
gi-2563	82	3	2	2	NUM
gi-2563	82	4	)	)	PUNCT
gi-2563	82	5	defines	define	VERB
gi-2563	82	6	relation	relation	NOUN
gi-2563	82	7	between	between	ADP
gi-2563	82	8	two	two	NUM
gi-2563	82	9	corresponding	corresponding	ADJ
gi-2563	82	10	points	point	NOUN
gi-2563	82	11	.	.	PUNCT
gi-2563	83	1	providing	provide	VERB
gi-2563	83	2	f	f	X
gi-2563	83	3	:	:	PUNCT
gi-2563	83	4	f	f	X
gi-2563	83	5	=	=	SYM
gi-2563	83	6	f11	f11	PROPN
gi-2563	83	7	f12	f12	NOUN
gi-2563	83	8	f13	f13	PROPN
gi-2563	83	9	f21	f21	PROPN
gi-2563	83	10	f22	f22	NOUN
gi-2563	83	11	f23	f23	PROPN
gi-2563	83	12	f31	f31	PROPN
gi-2563	83	13	f32	f32	NOUN
gi-2563	83	14	f33	f33	NOUN
gi-2563	83	15			NUM
gi-2563	83	16	(	(	PUNCT
gi-2563	83	17	3	3	X
gi-2563	83	18	)	)	PUNCT
gi-2563	83	19	we	we	PRON
gi-2563	83	20	can	can	AUX
gi-2563	83	21	obtain	obtain	VERB
gi-2563	83	22	one	one	NUM
gi-2563	83	23	linear	linear	ADJ
gi-2563	83	24	equation	equation	NOUN
gi-2563	83	25	for	for	ADP
gi-2563	83	26	each	each	DET
gi-2563	83	27	correspondence	correspondence	NOUN
gi-2563	83	28	:	:	PUNCT
gi-2563	83	29	x′x	x′x	PROPN
gi-2563	83	30	f11	f11	PROPN
gi-2563	83	31	+	+	CCONJ
gi-2563	83	32	x′y	x′y	PROPN
gi-2563	83	33	f12	f12	NOUN
gi-2563	83	34	+	+	CCONJ
gi-2563	84	1	x′	x′	PROPN
gi-2563	84	2	f13	f13	X
gi-2563	84	3	+	+	PROPN
gi-2563	84	4	y′x	y′x	NOUN
gi-2563	84	5	f21	f21	NOUN
gi-2563	84	6	+	+	CCONJ
gi-2563	84	7	y′y	y′y	NOUN
gi-2563	84	8	f22	f22	NOUN
gi-2563	84	9	+	+	CCONJ
gi-2563	84	10	y′	y′	NOUN
gi-2563	84	11	f23	f23	NOUN
gi-2563	85	1	+	+	CCONJ
gi-2563	85	2	x	x	SYM
gi-2563	85	3	f31	f31	PROPN
gi-2563	85	4	+	+	CCONJ
gi-2563	85	5	y	y	PROPN
gi-2563	85	6	f32	f32	NOUN
gi-2563	85	7	+	+	X
gi-2563	85	8	f33	f33	ADJ
gi-2563	85	9	=	=	SYM
gi-2563	85	10	0	0	NUM
gi-2563	85	11	(	(	PUNCT
gi-2563	85	12	4	4	NUM
gi-2563	85	13	)	)	PUNCT
gi-2563	85	14	for	for	ADP
gi-2563	85	15	n	n	NOUN
gi-2563	85	16	correspondences	correspondence	NOUN
gi-2563	85	17	we	we	PRON
gi-2563	85	18	obtain	obtain	VERB
gi-2563	85	19	homogeneous	homogeneous	ADJ
gi-2563	85	20	system	system	NOUN
gi-2563	85	21	of	of	ADP
gi-2563	85	22	linear	linear	ADJ
gi-2563	85	23	equations	equation	NOUN
gi-2563	85	24	in	in	ADP
gi-2563	85	25	following	follow	VERB
gi-2563	85	26	form	form	NOUN
gi-2563	85	27	:	:	PUNCT
gi-2563	85	28	af	af	PROPN
gi-2563	85	29	=	=	PUNCT
gi-2563	85	30	x	x	NOUN
gi-2563	85	31	′	′	NOUN
gi-2563	85	32	1x1	1x1	NUM
gi-2563	85	33	x′1y1	x′1y1	PROPN
gi-2563	85	34	x′1	x′1	PROPN
gi-2563	86	1	y′1x1	y′1x1	PROPN
gi-2563	86	2	y′1y1	y′1y1	PROPN
gi-2563	86	3	y′1	y′1	X
gi-2563	87	1	x1	x1	PROPN
gi-2563	87	2	y1	y1	NOUN
gi-2563	87	3	1	1	NUM
gi-2563	87	4	...	...	PUNCT
gi-2563	87	5	...	...	PUNCT
gi-2563	87	6	...	...	PUNCT
gi-2563	87	7	...	...	PUNCT
gi-2563	87	8	...	...	PUNCT
gi-2563	87	9	...	...	PUNCT
gi-2563	87	10	...	...	PUNCT
gi-2563	87	11	...	...	PUNCT
gi-2563	87	12	...	...	PUNCT
gi-2563	88	1	x′nxn	x′nxn	NUM
gi-2563	88	2	x′nyn	x′nyn	NUM
gi-2563	88	3	x′n	x′n	PROPN
gi-2563	89	1	y′nxn	y′nxn	PROPN
gi-2563	89	2	y′nyn	y′nyn	PROPN
gi-2563	90	1	y′n	y′n	NOUN
gi-2563	90	2	xn	xn	PROPN
gi-2563	91	1	yn	yn	PROPN
gi-2563	91	2	1	1	NUM
gi-2563	91	3			NUM
gi-2563	91	4	f	f	NOUN
gi-2563	91	5	=	=	SYM
gi-2563	91	6	0	0	NUM
gi-2563	92	1	(	(	PUNCT
gi-2563	92	2	5	5	NUM
gi-2563	92	3	)	)	PUNCT
gi-2563	92	4	solution	solution	NOUN
gi-2563	92	5	which	which	PRON
gi-2563	92	6	minimizes	minimize	VERB
gi-2563	92	7	distances	distance	NOUN
gi-2563	92	8	of	of	ADP
gi-2563	92	9	projected	project	VERB
gi-2563	92	10	points	point	NOUN
gi-2563	92	11	to	to	ADP
gi-2563	92	12	epipolar	epipolar	ADJ
gi-2563	92	13	lines	line	NOUN
gi-2563	92	14	is	be	AUX
gi-2563	92	15	such	such	DET
gi-2563	92	16	a	a	DET
gi-2563	92	17	vector	vector	NOUN
gi-2563	92	18	f	f	X
gi-2563	92	19	where	where	SCONJ
gi-2563	92	20	‖ax‖	‖ax‖	PROPN
gi-2563	92	21	is	be	AUX
gi-2563	92	22	minimal	minimal	ADJ
gi-2563	92	23	and	and	CCONJ
gi-2563	92	24	‖f‖	‖f‖	PROPN
gi-2563	92	25	=	=	SYM
gi-2563	92	26	1	1	X
gi-2563	92	27	.	.	PUNCT
gi-2563	92	28	geoinformatics	geoinformatic	NOUN
gi-2563	92	29	fce	fce	VERB
gi-2563	92	30	ctu	ctu	NOUN
gi-2563	92	31	9	9	NUM
gi-2563	92	32	,	,	PUNCT
gi-2563	92	33	2012	2012	NUM
gi-2563	92	34	31	31	NUM
gi-2563	92	35	káňa	káňa	PROPN
gi-2563	92	36	,	,	PUNCT
gi-2563	92	37	d.	d.	PROPN
gi-2563	92	38	,	,	PUNCT
gi-2563	92	39	hanzl	hanzl	PROPN
gi-2563	93	1	v.	v.	CCONJ
gi-2563	93	2	:	:	PUNCT
gi-2563	93	3	application	application	NOUN
gi-2563	93	4	of	of	ADP
gi-2563	93	5	computer	computer	NOUN
gi-2563	93	6	vision	vision	NOUN
gi-2563	93	7	methods	method	NOUN
gi-2563	93	8	.	.	PUNCT
gi-2563	93	9	.	.	PUNCT
gi-2563	93	10	.	.	PUNCT
gi-2563	94	1	if	if	SCONJ
gi-2563	94	2	udvt	udvt	PROPN
gi-2563	94	3	is	be	AUX
gi-2563	94	4	svd	svd	PROPN
gi-2563	94	5	decomposition	decomposition	NOUN
gi-2563	94	6	of	of	ADP
gi-2563	94	7	matrix	matrix	NOUN
gi-2563	94	8	a	a	PRON
gi-2563	94	9	,	,	PUNCT
gi-2563	94	10	the	the	DET
gi-2563	94	11	solution	solution	NOUN
gi-2563	94	12	is	be	AUX
gi-2563	94	13	vector	vector	NOUN
gi-2563	94	14	corresponding	correspond	VERB
gi-2563	94	15	to	to	ADP
gi-2563	94	16	the	the	DET
gi-2563	94	17	smallest	small	ADJ
gi-2563	94	18	a	a	DET
gi-2563	94	19	matrix	matrix	NOUN
gi-2563	94	20	singular	singular	NOUN
gi-2563	94	21	value	value	NOUN
gi-2563	94	22	which	which	PRON
gi-2563	94	23	is	be	AUX
gi-2563	94	24	the	the	DET
gi-2563	94	25	last	last	ADJ
gi-2563	94	26	column	column	NOUN
gi-2563	94	27	of	of	ADP
gi-2563	94	28	v	v	NUM
gi-2563	94	29	matrix	matrix	NOUN
gi-2563	94	30	.	.	PUNCT
gi-2563	95	1	to	to	PART
gi-2563	95	2	meet	meet	VERB
gi-2563	95	3	real	real	ADJ
gi-2563	95	4	fundamentality	fundamentality	NOUN
gi-2563	95	5	,	,	PUNCT
gi-2563	95	6	the	the	DET
gi-2563	95	7	f	f	PROPN
gi-2563	95	8	matrix	matrix	NOUN
gi-2563	95	9	should	should	AUX
gi-2563	95	10	have	have	VERB
gi-2563	95	11	rank	rank	NOUN
gi-2563	95	12	of	of	ADP
gi-2563	95	13	2	2	NUM
gi-2563	95	14	.	.	PUNCT
gi-2563	95	15	due	due	ADP
gi-2563	95	16	to	to	ADP
gi-2563	95	17	noise	noise	NOUN
gi-2563	95	18	and	and	CCONJ
gi-2563	95	19	small	small	ADJ
gi-2563	95	20	inaccuracies	inaccuracy	NOUN
gi-2563	95	21	,	,	PUNCT
gi-2563	95	22	computed	compute	VERB
gi-2563	95	23	matrix	matrix	NOUN
gi-2563	95	24	has	have	AUX
gi-2563	95	25	usually	usually	ADV
gi-2563	95	26	rank	rank	ADJ
gi-2563	95	27	of	of	ADP
gi-2563	95	28	3	3	NUM
gi-2563	95	29	.	.	PUNCT
gi-2563	96	1	for	for	SCONJ
gi-2563	96	2	conversion	conversion	NOUN
gi-2563	96	3	to	to	PART
gi-2563	96	4	rank	rank	VERB
gi-2563	96	5	of	of	ADP
gi-2563	96	6	2	2	NUM
gi-2563	96	7	svd	svd	PROPN
gi-2563	96	8	decomposition	decomposition	NOUN
gi-2563	96	9	is	be	AUX
gi-2563	96	10	used	use	VERB
gi-2563	96	11	again	again	ADV
gi-2563	96	12	,	,	PUNCT
gi-2563	96	13	where	where	SCONJ
gi-2563	96	14	last	last	ADJ
gi-2563	96	15	eigenvalue	eigenvalue	NOUN
gi-2563	96	16	is	be	AUX
gi-2563	96	17	set	set	VERB
gi-2563	96	18	to	to	ADP
gi-2563	96	19	zero	zero	NUM
gi-2563	96	20	and	and	CCONJ
gi-2563	96	21	matrixes	matrix	NOUN
gi-2563	96	22	formed	form	VERB
gi-2563	96	23	by	by	ADP
gi-2563	96	24	decomposition	decomposition	NOUN
gi-2563	96	25	are	be	AUX
gi-2563	96	26	multiplied	multiply	VERB
gi-2563	96	27	.	.	PUNCT
gi-2563	97	1	f	f	PROPN
gi-2563	97	2	=	=	SYM
gi-2563	97	3	udvt	udvt	PROPN
gi-2563	97	4	d	d	NOUN
gi-2563	97	5	=	=	SYM
gi-2563	97	6	d11	d11	NOUN
gi-2563	97	7	0	0	NUM
gi-2563	97	8	0	0	SYM
gi-2563	97	9	0	0	NUM
gi-2563	97	10	d22	d22	NOUN
gi-2563	97	11	0	0	NUM
gi-2563	97	12	0	0	SYM
gi-2563	97	13	0	0	NUM
gi-2563	97	14	d33	d33	NOUN
gi-2563	97	15			NUM
gi-2563	97	16	d̄	d̄	NOUN
gi-2563	97	17	=	=	SYM
gi-2563	97	18	d11	d11	NOUN
gi-2563	97	19	0	0	NUM
gi-2563	97	20	0	0	SYM
gi-2563	97	21	0	0	NUM
gi-2563	97	22	d22	d22	NOUN
gi-2563	97	23	0	0	NUM
gi-2563	97	24	0	0	NUM
gi-2563	97	25	0	0	NUM
gi-2563	97	26	0	0	NUM
gi-2563	98	1			NUM
gi-2563	98	2	f̄	f̄	NOUN
gi-2563	98	3	=	=	SYM
gi-2563	98	4	ud̄v	ud̄v	PROPN
gi-2563	98	5	t	t	PROPN
gi-2563	98	6	(	(	PUNCT
gi-2563	98	7	6	6	NUM
gi-2563	98	8	)	)	PUNCT
gi-2563	98	9	out	out	ADP
gi-2563	98	10	of	of	ADP
gi-2563	98	11	numeric	numeric	ADJ
gi-2563	98	12	stability	stability	NOUN
gi-2563	98	13	reason	reason	NOUN
gi-2563	98	14	it	it	PRON
gi-2563	98	15	is	be	AUX
gi-2563	98	16	good	good	ADJ
gi-2563	98	17	to	to	PART
gi-2563	98	18	reduce	reduce	VERB
gi-2563	98	19	input	input	NOUN
gi-2563	98	20	pixel	pixel	PROPN
gi-2563	98	21	coordinates	coordinate	NOUN
gi-2563	98	22	towards	towards	ADP
gi-2563	98	23	the	the	DET
gi-2563	98	24	center	center	NOUN
gi-2563	98	25	of	of	ADP
gi-2563	98	26	gravity	gravity	NOUN
gi-2563	98	27	and	and	CCONJ
gi-2563	98	28	normalize	normalize	VERB
gi-2563	98	29	.	.	PUNCT
gi-2563	99	1	for	for	ADP
gi-2563	99	2	successful	successful	ADJ
gi-2563	99	3	result	result	NOUN
gi-2563	99	4	it	it	PRON
gi-2563	99	5	is	be	AUX
gi-2563	99	6	necessary	necessary	ADJ
gi-2563	99	7	that	that	SCONJ
gi-2563	99	8	3d	3d	NUM
gi-2563	99	9	points	point	NOUN
gi-2563	99	10	which	which	DET
gi-2563	99	11	projections	projection	NOUN
gi-2563	99	12	are	be	AUX
gi-2563	99	13	used	use	VERB
gi-2563	99	14	for	for	ADP
gi-2563	99	15	computation	computation	NOUN
gi-2563	99	16	of	of	ADP
gi-2563	99	17	the	the	DET
gi-2563	99	18	fundamental	fundamental	ADJ
gi-2563	99	19	matrix	matrix	NOUN
gi-2563	99	20	must	must	AUX
gi-2563	99	21	not	not	PART
gi-2563	99	22	lie	lie	VERB
gi-2563	99	23	in	in	ADP
gi-2563	99	24	one	one	NUM
gi-2563	99	25	plane	plane	NOUN
gi-2563	99	26	.	.	PUNCT
gi-2563	100	1	described	describe	VERB
gi-2563	100	2	eight	eight	NUM
gi-2563	100	3	point	point	NOUN
gi-2563	100	4	algorithm	algorithm	NOUN
gi-2563	100	5	is	be	AUX
gi-2563	100	6	linear	linear	ADJ
gi-2563	100	7	,	,	PUNCT
gi-2563	100	8	nonlinear	nonlinear	ADJ
gi-2563	100	9	solution	solution	NOUN
gi-2563	100	10	can	can	AUX
gi-2563	100	11	be	be	AUX
gi-2563	100	12	found	find	VERB
gi-2563	100	13	for	for	ADP
gi-2563	100	14	example	example	NOUN
gi-2563	100	15	in	in	ADP
gi-2563	100	16	[	[	X
gi-2563	100	17	5	5	NUM
gi-2563	100	18	]	]	PUNCT
gi-2563	100	19	.	.	PUNCT
gi-2563	101	1	4.2	4.2	NUM
gi-2563	101	2	.	.	X
gi-2563	101	3	ransac	ransac	NOUN
gi-2563	101	4	–	–	PUNCT
gi-2563	101	5	random	random	ADJ
gi-2563	101	6	saample	saample	ADJ
gi-2563	101	7	consensus	consensus	NOUN
gi-2563	101	8	for	for	ADP
gi-2563	101	9	key	key	ADJ
gi-2563	101	10	points	point	NOUN
gi-2563	101	11	selection	selection	NOUN
gi-2563	101	12	meeting	meet	VERB
gi-2563	101	13	epipolar	epipolar	ADJ
gi-2563	101	14	condition	condition	NOUN
gi-2563	101	15	the	the	DET
gi-2563	101	16	ransac	ransac	NOUN
gi-2563	101	17	algorithm	algorithm	NOUN
gi-2563	101	18	was	be	AUX
gi-2563	101	19	used	use	VERB
gi-2563	101	20	.	.	PUNCT
gi-2563	102	1	this	this	DET
gi-2563	102	2	algorithm	algorithm	NOUN
gi-2563	102	3	enables	enable	VERB
gi-2563	102	4	to	to	PART
gi-2563	102	5	find	find	VERB
gi-2563	102	6	the	the	DET
gi-2563	102	7	best	good	ADJ
gi-2563	102	8	solution	solution	NOUN
gi-2563	102	9	suiting	suit	VERB
gi-2563	102	10	given	give	VERB
gi-2563	102	11	model	model	NOUN
gi-2563	102	12	iteratively	iteratively	ADV
gi-2563	102	13	.	.	PUNCT
gi-2563	103	1	in	in	ADP
gi-2563	103	2	our	our	PRON
gi-2563	103	3	case	case	NOUN
gi-2563	103	4	x	x	NOUN
gi-2563	103	5	’	'	PUNCT
gi-2563	103	6	f	f	X
gi-2563	103	7	x	x	SYM
gi-2563	103	8	=	=	NOUN
gi-2563	103	9	0	0	X
gi-2563	103	10	.	.	PUNCT
gi-2563	103	11	comparing	compare	VERB
gi-2563	103	12	to	to	ADP
gi-2563	103	13	results	result	NOUN
gi-2563	103	14	obtained	obtain	VERB
gi-2563	103	15	by	by	ADP
gi-2563	103	16	using	use	VERB
gi-2563	103	17	least	least	ADV
gi-2563	103	18	mean	mean	ADJ
gi-2563	103	19	squares	square	NOUN
gi-2563	103	20	(	(	PUNCT
gi-2563	103	21	lms	lm	NOUN
gi-2563	103	22	)	)	PUNCT
gi-2563	103	23	method	method	NOUN
gi-2563	103	24	which	which	PRON
gi-2563	103	25	does	do	AUX
gi-2563	103	26	n’t	not	PART
gi-2563	103	27	take	take	VERB
gi-2563	103	28	into	into	ADP
gi-2563	103	29	account	account	NOUN
gi-2563	103	30	blunders	blunder	NOUN
gi-2563	103	31	and	and	CCONJ
gi-2563	103	32	mistakes	mistake	NOUN
gi-2563	103	33	,	,	PUNCT
gi-2563	103	34	results	result	NOUN
gi-2563	103	35	obtained	obtain	VERB
gi-2563	103	36	using	use	VERB
gi-2563	103	37	ransac	ransac	NOUN
gi-2563	103	38	are	be	AUX
gi-2563	103	39	more	more	ADV
gi-2563	103	40	consistent	consistent	ADJ
gi-2563	103	41	.	.	PUNCT
gi-2563	104	1	model	model	NOUN
gi-2563	104	2	(	(	PUNCT
gi-2563	104	3	fundamental	fundamental	ADJ
gi-2563	104	4	matrix	matrix	NOUN
gi-2563	104	5	)	)	PUNCT
gi-2563	104	6	is	be	AUX
gi-2563	104	7	computed	compute	VERB
gi-2563	104	8	in	in	ADP
gi-2563	104	9	every	every	DET
gi-2563	104	10	iteration	iteration	NOUN
gi-2563	104	11	from	from	ADP
gi-2563	104	12	randomly	randomly	ADV
gi-2563	104	13	selected	select	VERB
gi-2563	104	14	sample	sample	NOUN
gi-2563	104	15	formed	form	VERB
gi-2563	104	16	by	by	ADP
gi-2563	104	17	8	8	NUM
gi-2563	104	18	pairs	pair	NOUN
gi-2563	104	19	of	of	ADP
gi-2563	104	20	corresponding	correspond	VERB
gi-2563	104	21	key	key	ADJ
gi-2563	104	22	points	point	NOUN
gi-2563	104	23	.	.	PUNCT
gi-2563	105	1	consequently	consequently	ADV
gi-2563	105	2	the	the	DET
gi-2563	105	3	rest	rest	NOUN
gi-2563	105	4	of	of	ADP
gi-2563	105	5	this	this	DET
gi-2563	105	6	points	point	NOUN
gi-2563	105	7	not	not	PART
gi-2563	105	8	contained	contain	VERB
gi-2563	105	9	in	in	ADP
gi-2563	105	10	selected	select	VERB
gi-2563	105	11	sample	sample	NOUN
gi-2563	105	12	is	be	AUX
gi-2563	105	13	tested	test	VERB
gi-2563	105	14	against	against	ADP
gi-2563	105	15	computed	computed	ADJ
gi-2563	105	16	model	model	NOUN
gi-2563	105	17	.	.	PUNCT
gi-2563	106	1	if	if	SCONJ
gi-2563	106	2	pre	pre	VERB
gi-2563	106	3	-	-	ADJ
gi-2563	106	4	specified	specified	ADJ
gi-2563	106	5	percentage	percentage	NOUN
gi-2563	106	6	of	of	ADP
gi-2563	106	7	key	key	ADJ
gi-2563	106	8	points	point	NOUN
gi-2563	106	9	meets	meet	VERB
gi-2563	106	10	the	the	DET
gi-2563	106	11	model	model	NOUN
gi-2563	106	12	parameters	parameter	NOUN
gi-2563	106	13	and	and	CCONJ
gi-2563	106	14	total	total	ADJ
gi-2563	106	15	model	model	NOUN
gi-2563	106	16	error	error	NOUN
gi-2563	106	17	is	be	AUX
gi-2563	106	18	at	at	ADP
gi-2563	106	19	the	the	DET
gi-2563	106	20	same	same	ADJ
gi-2563	106	21	time	time	NOUN
gi-2563	106	22	smaller	small	ADJ
gi-2563	106	23	than	than	ADP
gi-2563	106	24	error	error	NOUN
gi-2563	106	25	obtained	obtain	VERB
gi-2563	106	26	in	in	ADP
gi-2563	106	27	previous	previous	ADJ
gi-2563	106	28	iteration	iteration	NOUN
gi-2563	106	29	,	,	PUNCT
gi-2563	106	30	given	give	VERB
gi-2563	106	31	selection	selection	NOUN
gi-2563	106	32	is	be	AUX
gi-2563	106	33	marked	mark	VERB
gi-2563	106	34	as	as	ADP
gi-2563	106	35	the	the	DET
gi-2563	106	36	best	good	ADJ
gi-2563	106	37	obtained	obtain	VERB
gi-2563	106	38	selection	selection	NOUN
gi-2563	106	39	.	.	PUNCT
gi-2563	107	1	in	in	ADP
gi-2563	107	2	other	other	ADJ
gi-2563	107	3	case	case	NOUN
gi-2563	107	4	is	be	AUX
gi-2563	107	5	computed	compute	VERB
gi-2563	107	6	model	model	NOUN
gi-2563	107	7	rejected	reject	VERB
gi-2563	107	8	.	.	PUNCT
gi-2563	108	1	the	the	DET
gi-2563	108	2	computation	computation	NOUN
gi-2563	108	3	can	can	AUX
gi-2563	108	4	be	be	AUX
gi-2563	108	5	terminated	terminate	VERB
gi-2563	108	6	after	after	ADP
gi-2563	108	7	a	a	DET
gi-2563	108	8	specified	specified	ADJ
gi-2563	108	9	number	number	NOUN
gi-2563	108	10	of	of	ADP
gi-2563	108	11	iterations	iteration	NOUN
gi-2563	108	12	or	or	CCONJ
gi-2563	108	13	after	after	ADP
gi-2563	108	14	reaching	reach	VERB
gi-2563	108	15	the	the	DET
gi-2563	108	16	minimal	minimal	ADJ
gi-2563	108	17	threshold	threshold	NOUN
gi-2563	108	18	value	value	NOUN
gi-2563	108	19	of	of	ADP
gi-2563	108	20	error	error	NOUN
gi-2563	108	21	from	from	ADP
gi-2563	108	22	the	the	DET
gi-2563	108	23	statistically	statistically	ADV
gi-2563	108	24	significant	significant	ADJ
gi-2563	108	25	part	part	NOUN
gi-2563	108	26	of	of	ADP
gi-2563	108	27	the	the	DET
gi-2563	108	28	correspondences	correspondence	NOUN
gi-2563	108	29	.	.	PUNCT
gi-2563	109	1	the	the	DET
gi-2563	109	2	last	last	ADJ
gi-2563	109	3	step	step	NOUN
gi-2563	109	4	is	be	AUX
gi-2563	109	5	to	to	PART
gi-2563	109	6	determine	determine	VERB
gi-2563	109	7	the	the	DET
gi-2563	109	8	fundamental	fundamental	ADJ
gi-2563	109	9	matrix	matrix	NOUN
gi-2563	109	10	using	use	VERB
gi-2563	109	11	the	the	DET
gi-2563	109	12	svd	svd	PROPN
gi-2563	109	13	method	method	NOUN
gi-2563	109	14	from	from	ADP
gi-2563	109	15	the	the	DET
gi-2563	109	16	best	good	ADJ
gi-2563	109	17	selection	selection	NOUN
gi-2563	109	18	(	(	PUNCT
gi-2563	109	19	5	5	NUM
gi-2563	109	20	,	,	PUNCT
gi-2563	109	21	6	6	NUM
gi-2563	109	22	)	)	PUNCT
gi-2563	109	23	.	.	PUNCT
gi-2563	110	1	5	5	X
gi-2563	110	2	.	.	X
gi-2563	110	3	essential	essential	ADJ
gi-2563	110	4	matrix	matrix	NOUN
gi-2563	110	5	and	and	CCONJ
gi-2563	110	6	relative	relative	ADJ
gi-2563	110	7	orientation	orientation	NOUN
gi-2563	110	8	provided	provide	VERB
gi-2563	110	9	the	the	DET
gi-2563	110	10	fundamental	fundamental	ADJ
gi-2563	110	11	matrix	matrix	NOUN
gi-2563	110	12	f	f	X
gi-2563	110	13	is	be	AUX
gi-2563	110	14	computed	compute	VERB
gi-2563	110	15	and	and	CCONJ
gi-2563	110	16	calibration	calibration	NOUN
gi-2563	110	17	matrixes	matrix	NOUN
gi-2563	110	18	of	of	ADP
gi-2563	110	19	both	both	DET
gi-2563	110	20	cameras	camera	NOUN
gi-2563	110	21	are	be	AUX
gi-2563	110	22	known	know	VERB
gi-2563	110	23	it	it	PRON
gi-2563	110	24	is	be	AUX
gi-2563	110	25	possible	possible	ADJ
gi-2563	110	26	to	to	PART
gi-2563	110	27	formulate	formulate	VERB
gi-2563	110	28	equation	equation	NOUN
gi-2563	110	29	for	for	ADP
gi-2563	110	30	essential	essential	ADJ
gi-2563	110	31	matrix	matrix	NOUN
gi-2563	110	32	computation	computation	NOUN
gi-2563	110	33	which	which	PRON
gi-2563	110	34	defines	define	VERB
gi-2563	110	35	relative	relative	ADJ
gi-2563	110	36	position	position	NOUN
gi-2563	110	37	of	of	ADP
gi-2563	110	38	cameras	camera	NOUN
gi-2563	110	39	regardless	regardless	ADV
gi-2563	110	40	of	of	ADP
gi-2563	110	41	scale	scale	NOUN
gi-2563	110	42	.	.	PUNCT
gi-2563	111	1	e	e	X
gi-2563	112	1	=	=	PUNCT
gi-2563	112	2	k	k	PROPN
gi-2563	113	1	′t	′t	PROPN
gi-2563	113	2	f	f	PROPN
gi-2563	113	3	k	k	PROPN
gi-2563	113	4	k	k	PROPN
gi-2563	113	5	=	=	PUNCT
gi-2563	113	6	f	f	ADJ
gi-2563	113	7	0	0	NUM
gi-2563	114	1	px	px	NOUN
gi-2563	114	2	0	0	NUM
gi-2563	115	1	f	f	PROPN
gi-2563	116	1	py	py	INTJ
gi-2563	116	2	0	0	NUM
gi-2563	116	3	0	0	NUM
gi-2563	116	4	1	1	NUM
gi-2563	116	5			NUM
gi-2563	116	6	(	(	PUNCT
gi-2563	116	7	7	7	NUM
gi-2563	116	8	)	)	PUNCT
gi-2563	116	9	if	if	SCONJ
gi-2563	116	10	only	only	ADJ
gi-2563	116	11	relative	relative	ADJ
gi-2563	116	12	orientation	orientation	NOUN
gi-2563	116	13	is	be	AUX
gi-2563	116	14	solved	solve	VERB
gi-2563	116	15	it	it	PRON
gi-2563	116	16	is	be	AUX
gi-2563	116	17	possible	possible	ADJ
gi-2563	116	18	to	to	PART
gi-2563	116	19	set	set	VERB
gi-2563	116	20	up	up	ADP
gi-2563	116	21	first	first	ADJ
gi-2563	116	22	camera	camera	NOUN
gi-2563	116	23	projection	projection	NOUN
gi-2563	116	24	center	center	NOUN
gi-2563	116	25	into	into	ADP
gi-2563	116	26	coordinate	coordinate	NOUN
gi-2563	116	27	system	system	NOUN
gi-2563	116	28	origin	origin	NOUN
gi-2563	116	29	and	and	CCONJ
gi-2563	116	30	its	its	PRON
gi-2563	116	31	rotation	rotation	NOUN
gi-2563	116	32	matrix	matrix	NOUN
gi-2563	116	33	as	as	ADP
gi-2563	116	34	identity	identity	NOUN
gi-2563	116	35	matrix	matrix	NOUN
gi-2563	116	36	.	.	PUNCT
gi-2563	117	1	projection	projection	NOUN
gi-2563	117	2	matrix	matrix	NOUN
gi-2563	117	3	of	of	ADP
gi-2563	117	4	the	the	DET
gi-2563	117	5	first	first	ADJ
gi-2563	117	6	camera	camera	NOUN
gi-2563	117	7	can	can	AUX
gi-2563	117	8	be	be	AUX
gi-2563	117	9	formulated	formulate	VERB
gi-2563	117	10	:	:	PUNCT
gi-2563	117	11	p	p	X
gi-2563	118	1	=	=	PUNCT
gi-2563	119	1	[	[	X
gi-2563	119	2	i	i	PRON
gi-2563	119	3	|	|	ADV
gi-2563	119	4	0	0	NUM
gi-2563	119	5	]	]	PUNCT
gi-2563	119	6	and	and	CCONJ
gi-2563	119	7	for	for	ADP
gi-2563	119	8	the	the	DET
gi-2563	119	9	second	second	ADJ
gi-2563	119	10	camera	camera	NOUN
gi-2563	119	11	:	:	PUNCT
gi-2563	119	12	p	p	NOUN
gi-2563	119	13	′	′	NOUN
gi-2563	120	1	=	=	PUNCT
gi-2563	121	1	[	[	X
gi-2563	121	2	r	r	X
gi-2563	121	3	|	|	NOUN
gi-2563	121	4	t	t	X
gi-2563	121	5	]	]	PUNCT
gi-2563	121	6	where	where	SCONJ
gi-2563	121	7	r	r	NOUN
gi-2563	121	8	is	be	AUX
gi-2563	121	9	rotation	rotation	NOUN
gi-2563	121	10	matrix	matrix	NOUN
gi-2563	121	11	and	and	CCONJ
gi-2563	121	12	t	t	PROPN
gi-2563	121	13	is	be	AUX
gi-2563	121	14	translation	translation	NOUN
gi-2563	121	15	vector	vector	NOUN
gi-2563	121	16	regardless	regardless	ADV
gi-2563	121	17	the	the	DET
gi-2563	121	18	scale	scale	NOUN
gi-2563	121	19	.	.	PUNCT
gi-2563	122	1	geoinformatics	geoinformatic	NOUN
gi-2563	122	2	fce	fce	VERB
gi-2563	122	3	ctu	ctu	NOUN
gi-2563	122	4	9	9	NUM
gi-2563	122	5	,	,	PUNCT
gi-2563	122	6	2012	2012	NUM
gi-2563	122	7	32	32	NUM
gi-2563	122	8	káňa	káňa	PROPN
gi-2563	122	9	,	,	PUNCT
gi-2563	122	10	d.	d.	PROPN
gi-2563	122	11	,	,	PUNCT
gi-2563	122	12	hanzl	hanzl	PROPN
gi-2563	123	1	v.	v.	CCONJ
gi-2563	123	2	:	:	PUNCT
gi-2563	123	3	application	application	NOUN
gi-2563	123	4	of	of	ADP
gi-2563	123	5	computer	computer	NOUN
gi-2563	123	6	vision	vision	NOUN
gi-2563	123	7	methods	method	NOUN
gi-2563	123	8	.	.	PUNCT
gi-2563	123	9	.	.	PUNCT
gi-2563	123	10	.	.	PUNCT
gi-2563	124	1	e	e	X
gi-2563	125	1	=	=	PUNCT
gi-2563	126	1	[	[	X
gi-2563	126	2	t]×r	t]×r	NUM
gi-2563	126	3	rotation	rotation	NOUN
gi-2563	126	4	and	and	CCONJ
gi-2563	126	5	translation	translation	NOUN
gi-2563	126	6	we	we	PRON
gi-2563	126	7	can	can	AUX
gi-2563	126	8	determine	determine	VERB
gi-2563	126	9	by	by	ADP
gi-2563	126	10	svd	svd	PROPN
gi-2563	126	11	decomposition	decomposition	NOUN
gi-2563	126	12	of	of	ADP
gi-2563	126	13	the	the	DET
gi-2563	126	14	essential	essential	ADJ
gi-2563	126	15	matrix	matrix	NOUN
gi-2563	126	16	e	e	NOUN
gi-2563	126	17	in	in	ADP
gi-2563	126	18	following	follow	VERB
gi-2563	126	19	way	way	NOUN
gi-2563	126	20	:	:	PUNCT
gi-2563	126	21	w	w	NOUN
gi-2563	126	22	=	=	VERB
gi-2563	126	23			NOUN
gi-2563	126	24	0	0	NUM
gi-2563	126	25	−1	−1	NOUN
gi-2563	126	26	0	0	NUM
gi-2563	126	27	1	1	NUM
gi-2563	126	28	0	0	NUM
gi-2563	126	29	0	0	NUM
gi-2563	126	30	0	0	NUM
gi-2563	126	31	0	0	NUM
gi-2563	126	32	1	1	NUM
gi-2563	126	33			NUM
gi-2563	126	34	z	z	NOUN
gi-2563	126	35	=	=	PUNCT
gi-2563	126	36			NOUN
gi-2563	126	37	0	0	NUM
gi-2563	127	1	1	1	NUM
gi-2563	127	2	0	0	NUM
gi-2563	127	3	−1	−1	NOUN
gi-2563	127	4	0	0	NUM
gi-2563	127	5	0	0	NUM
gi-2563	127	6	0	0	NUM
gi-2563	127	7	0	0	NUM
gi-2563	127	8	0	0	NUM
gi-2563	127	9			NUM
gi-2563	127	10	(	(	PUNCT
gi-2563	127	11	8)	8)	NUM
gi-2563	127	12	u	u	NOUN
gi-2563	127	13	=	=	PROPN
gi-2563	127	14	sr	sr	PROPN
gi-2563	127	15	=	=	SYM
gi-2563	127	16	u	u	PROPN
gi-2563	127	17	diag(1	diag(1	NOUN
gi-2563	127	18	,	,	PUNCT
gi-2563	127	19	1	1	NUM
gi-2563	127	20	,	,	PUNCT
gi-2563	127	21	0	0	NUM
gi-2563	127	22	)	)	PUNCT
gi-2563	127	23	v	v	ADP
gi-2563	127	24	t	t	NOUN
gi-2563	127	25	where	where	SCONJ
gi-2563	127	26	s	s	VERB
gi-2563	127	27	=	=	X
gi-2563	127	28	uzut	uzut	NOUN
gi-2563	127	29	r	r	NOUN
gi-2563	127	30	=	=	SYM
gi-2563	127	31	uwvt	uwvt	ADJ
gi-2563	127	32	or	or	CCONJ
gi-2563	127	33	r	r	NOUN
gi-2563	127	34	=	=	NOUN
gi-2563	127	35	uwtv	uwtv	NOUN
gi-2563	127	36	t	t	NOUN
gi-2563	127	37	.	.	PUNCT
gi-2563	128	1	mentioned	mention	VERB
gi-2563	128	2	decomposition	decomposition	NOUN
gi-2563	128	3	has	have	VERB
gi-2563	128	4	four	four	NUM
gi-2563	128	5	possible	possible	ADJ
gi-2563	128	6	solutions	solution	NOUN
gi-2563	128	7	.	.	PUNCT
gi-2563	129	1	valid	valid	ADJ
gi-2563	129	2	solution	solution	NOUN
gi-2563	129	3	is	be	AUX
gi-2563	129	4	selected	select	VERB
gi-2563	129	5	by	by	ADP
gi-2563	129	6	projection	projection	NOUN
gi-2563	129	7	depth	depth	NOUN
gi-2563	129	8	testing	testing	NOUN
gi-2563	129	9	,	,	PUNCT
gi-2563	129	10	where	where	SCONJ
gi-2563	129	11	projection	projection	NOUN
gi-2563	129	12	depth	depth	NOUN
gi-2563	129	13	is	be	AUX
gi-2563	129	14	computed	compute	VERB
gi-2563	129	15	for	for	ADP
gi-2563	129	16	any	any	DET
gi-2563	129	17	point	point	NOUN
gi-2563	129	18	and	and	CCONJ
gi-2563	129	19	checked	check	VERB
gi-2563	129	20	whether	whether	SCONJ
gi-2563	129	21	it	it	PRON
gi-2563	129	22	is	be	AUX
gi-2563	129	23	positive	positive	ADJ
gi-2563	129	24	for	for	ADP
gi-2563	129	25	both	both	DET
gi-2563	129	26	cameras	camera	NOUN
gi-2563	129	27	.	.	PUNCT
gi-2563	130	1	relative	relative	ADJ
gi-2563	130	2	orientation	orientation	NOUN
gi-2563	130	3	is	be	AUX
gi-2563	130	4	computed	compute	VERB
gi-2563	130	5	for	for	ADP
gi-2563	130	6	any	any	DET
gi-2563	130	7	image	image	NOUN
gi-2563	130	8	pair	pair	NOUN
gi-2563	130	9	combination	combination	NOUN
gi-2563	130	10	containing	contain	VERB
gi-2563	130	11	specified	specify	VERB
gi-2563	130	12	minimal	minimal	ADJ
gi-2563	130	13	number	number	NOUN
gi-2563	130	14	of	of	ADP
gi-2563	130	15	correspondences	correspondence	NOUN
gi-2563	130	16	.	.	PUNCT
gi-2563	131	1	as	as	SCONJ
gi-2563	131	2	sufficient	sufficient	ADJ
gi-2563	131	3	number	number	NOUN
gi-2563	131	4	regarding	regard	VERB
gi-2563	131	5	noise	noise	NOUN
gi-2563	131	6	appears	appear	VERB
gi-2563	131	7	to	to	PART
gi-2563	131	8	be	be	AUX
gi-2563	131	9	16	16	NUM
gi-2563	131	10	correspondences	correspondence	NOUN
gi-2563	131	11	.	.	PUNCT
gi-2563	132	1	in	in	ADP
gi-2563	132	2	the	the	DET
gi-2563	132	3	case	case	NOUN
gi-2563	132	4	of	of	ADP
gi-2563	132	5	unordered	unordered	ADJ
gi-2563	132	6	collection	collection	NOUN
gi-2563	132	7	of	of	ADP
gi-2563	132	8	images	image	NOUN
gi-2563	132	9	where	where	SCONJ
gi-2563	132	10	no	no	DET
gi-2563	132	11	prior	prior	ADJ
gi-2563	132	12	parameters	parameter	NOUN
gi-2563	132	13	are	be	AUX
gi-2563	132	14	known	know	VERB
gi-2563	132	15	,	,	PUNCT
gi-2563	132	16	the	the	DET
gi-2563	132	17	images	image	NOUN
gi-2563	132	18	are	be	AUX
gi-2563	132	19	compared	compare	VERB
gi-2563	132	20	each	each	PRON
gi-2563	132	21	to	to	ADP
gi-2563	132	22	each	each	PRON
gi-2563	132	23	and	and	CCONJ
gi-2563	132	24	the	the	DET
gi-2563	132	25	total	total	ADJ
gi-2563	132	26	number	number	NOUN
gi-2563	132	27	of	of	ADP
gi-2563	132	28	comparisons	comparison	NOUN
gi-2563	132	29	is	be	AUX
gi-2563	132	30	o(n2	o(n2	ADJ
gi-2563	132	31	)	)	PUNCT
gi-2563	132	32	,	,	PUNCT
gi-2563	132	33	where	where	SCONJ
gi-2563	132	34	n	n	PRON
gi-2563	132	35	means	mean	VERB
gi-2563	132	36	number	number	NOUN
gi-2563	132	37	of	of	ADP
gi-2563	132	38	images	image	NOUN
gi-2563	132	39	.	.	PUNCT
gi-2563	133	1	in	in	ADP
gi-2563	133	2	our	our	PRON
gi-2563	133	3	practical	practical	ADJ
gi-2563	133	4	experiment	experiment	NOUN
gi-2563	133	5	we	we	PRON
gi-2563	133	6	selected	select	VERB
gi-2563	133	7	25	25	NUM
gi-2563	133	8	images	image	NOUN
gi-2563	133	9	and	and	CCONJ
gi-2563	133	10	300	300	NUM
gi-2563	133	11	possible	possible	ADJ
gi-2563	133	12	combinations	combination	NOUN
gi-2563	133	13	were	be	AUX
gi-2563	133	14	tested	test	VERB
gi-2563	133	15	.	.	PUNCT
gi-2563	134	1	for	for	ADP
gi-2563	134	2	larger	large	ADJ
gi-2563	134	3	images	image	NOUN
gi-2563	134	4	sets	set	NOUN
gi-2563	134	5	is	be	AUX
gi-2563	134	6	convenient	convenient	ADJ
gi-2563	134	7	to	to	PART
gi-2563	134	8	use	use	VERB
gi-2563	134	9	parallel	parallel	ADJ
gi-2563	134	10	computations	computation	NOUN
gi-2563	134	11	.	.	PUNCT
gi-2563	135	1	in	in	ADP
gi-2563	135	2	case	case	NOUN
gi-2563	135	3	of	of	ADP
gi-2563	135	4	image	image	NOUN
gi-2563	135	5	sequence	sequence	NOUN
gi-2563	135	6	is	be	AUX
gi-2563	135	7	suitable	suitable	ADJ
gi-2563	135	8	due	due	ADP
gi-2563	135	9	to	to	ADP
gi-2563	135	10	computation	computation	NOUN
gi-2563	135	11	complexity	complexity	NOUN
gi-2563	135	12	limit	limit	VERB
gi-2563	135	13	the	the	DET
gi-2563	135	14	number	number	NOUN
gi-2563	135	15	of	of	ADP
gi-2563	135	16	compared	compare	VERB
gi-2563	135	17	images	image	NOUN
gi-2563	135	18	to	to	ADP
gi-2563	135	19	3	3	NUM
gi-2563	135	20	–	–	SYM
gi-2563	135	21	5	5	NUM
gi-2563	135	22	.	.	NOUN
gi-2563	135	23	6	6	NUM
gi-2563	135	24	.	.	X
gi-2563	135	25	sparse	sparse	ADJ
gi-2563	135	26	bundle	bundle	NOUN
gi-2563	135	27	adjustment	adjustment	NOUN
gi-2563	135	28	based	base	VERB
gi-2563	135	29	on	on	ADP
gi-2563	135	30	the	the	DET
gi-2563	135	31	computed	computed	ADJ
gi-2563	135	32	relative	relative	ADJ
gi-2563	135	33	orientations	orientation	NOUN
gi-2563	135	34	between	between	ADP
gi-2563	135	35	single	single	ADJ
gi-2563	135	36	images	image	NOUN
gi-2563	135	37	we	we	PRON
gi-2563	135	38	can	can	AUX
gi-2563	135	39	build	build	VERB
gi-2563	135	40	an	an	DET
gi-2563	135	41	approximate	approximate	ADJ
gi-2563	135	42	scene	scene	NOUN
gi-2563	135	43	model	model	NOUN
gi-2563	135	44	in	in	ADP
gi-2563	135	45	relative	relative	ADJ
gi-2563	135	46	coordinates	coordinate	NOUN
gi-2563	135	47	that	that	PRON
gi-2563	135	48	serve	serve	VERB
gi-2563	135	49	as	as	ADP
gi-2563	135	50	an	an	DET
gi-2563	135	51	estimate	estimate	NOUN
gi-2563	135	52	of	of	ADP
gi-2563	135	53	input	input	NOUN
gi-2563	135	54	parameters	parameter	NOUN
gi-2563	135	55	entering	enter	VERB
gi-2563	135	56	into	into	ADP
gi-2563	135	57	complex	complex	ADJ
gi-2563	135	58	bundle	bundle	NOUN
gi-2563	135	59	adjustment	adjustment	NOUN
gi-2563	135	60	.	.	PUNCT
gi-2563	136	1	as	as	SCONJ
gi-2563	136	2	initializing	initialize	VERB
gi-2563	136	3	pair	pair	NOUN
gi-2563	136	4	is	be	AUX
gi-2563	136	5	selected	select	VERB
gi-2563	136	6	a	a	DET
gi-2563	136	7	pair	pair	NOUN
gi-2563	136	8	of	of	ADP
gi-2563	136	9	images	image	NOUN
gi-2563	136	10	with	with	ADP
gi-2563	136	11	the	the	DET
gi-2563	136	12	largest	large	ADJ
gi-2563	136	13	number	number	NOUN
gi-2563	136	14	of	of	ADP
gi-2563	136	15	correspondences	correspondence	NOUN
gi-2563	136	16	(	(	PUNCT
gi-2563	136	17	inliers	inlier	NOUN
gi-2563	136	18	)	)	PUNCT
gi-2563	136	19	.	.	PUNCT
gi-2563	137	1	the	the	DET
gi-2563	137	2	objective	objective	NOUN
gi-2563	137	3	of	of	ADP
gi-2563	137	4	the	the	DET
gi-2563	137	5	bundle	bundle	NOUN
gi-2563	137	6	adjustment	adjustment	NOUN
gi-2563	137	7	is	be	AUX
gi-2563	137	8	the	the	DET
gi-2563	137	9	reprojection	reprojection	NOUN
gi-2563	137	10	error	error	NOUN
gi-2563	137	11	minimalization	minimalization	NOUN
gi-2563	137	12	,	,	PUNCT
gi-2563	137	13	when	when	SCONJ
gi-2563	137	14	the	the	DET
gi-2563	137	15	corrections	correction	NOUN
gi-2563	137	16	are	be	AUX
gi-2563	137	17	assigned	assign	VERB
gi-2563	137	18	both	both	CCONJ
gi-2563	137	19	to	to	ADP
gi-2563	137	20	three	three	NUM
gi-2563	137	21	dimensional	dimensional	ADJ
gi-2563	137	22	points	point	NOUN
gi-2563	137	23	and	and	CCONJ
gi-2563	137	24	parameters	parameter	NOUN
gi-2563	137	25	of	of	ADP
gi-2563	137	26	outer	outer	ADJ
gi-2563	137	27	or	or	CCONJ
gi-2563	137	28	possibly	possibly	ADV
gi-2563	137	29	inner	inner	ADJ
gi-2563	137	30	orientation	orientation	NOUN
gi-2563	137	31	of	of	ADP
gi-2563	137	32	single	single	ADJ
gi-2563	137	33	cameras	camera	NOUN
gi-2563	137	34	.	.	PUNCT
gi-2563	138	1	min	min	PROPN
gi-2563	138	2	n∑	n∑	PROPN
gi-2563	138	3	i=1	i=1	PROPN
gi-2563	139	1	m∑	m∑	ADV
gi-2563	139	2	j=1	j=1	ADJ
gi-2563	139	3	d(pj(xi	d(pj(xi	NOUN
gi-2563	139	4	)	)	PUNCT
gi-2563	139	5	,	,	PUNCT
gi-2563	140	1	xij)2	xij)2	PROPN
gi-2563	140	2	(	(	PUNCT
gi-2563	140	3	9	9	NUM
gi-2563	140	4	)	)	PUNCT
gi-2563	140	5	where	where	SCONJ
gi-2563	140	6	d(pj(xi	d(pj(xi	ADJ
gi-2563	140	7	)	)	PUNCT
gi-2563	140	8	,	,	PUNCT
gi-2563	140	9	xij)2	xij)2	PROPN
gi-2563	140	10	marks	mark	VERB
gi-2563	140	11	the	the	DET
gi-2563	140	12	square	square	NOUN
gi-2563	140	13	of	of	ADP
gi-2563	140	14	euclidean	euclidean	ADJ
gi-2563	140	15	distance	distance	NOUN
gi-2563	140	16	between	between	ADP
gi-2563	140	17	the	the	DET
gi-2563	140	18	predicted	predict	VERB
gi-2563	140	19	projection	projection	NOUN
gi-2563	140	20	pj	pj	PROPN
gi-2563	140	21	of	of	ADP
gi-2563	140	22	the	the	DET
gi-2563	140	23	point	point	NOUN
gi-2563	140	24	xi	xi	INTJ
gi-2563	140	25	in	in	ADP
gi-2563	140	26	three	three	NUM
gi-2563	140	27	dimensional	dimensional	ADJ
gi-2563	140	28	global	global	ADJ
gi-2563	140	29	coordinate	coordinate	NOUN
gi-2563	140	30	system	system	NOUN
gi-2563	140	31	and	and	CCONJ
gi-2563	140	32	real	real	ADJ
gi-2563	140	33	projection	projection	NOUN
gi-2563	140	34	xij	xij	PROPN
gi-2563	140	35	to	to	PART
gi-2563	140	36	image	image	VERB
gi-2563	140	37	j.	j.	PROPN
gi-2563	140	38	the	the	DET
gi-2563	140	39	base	base	NOUN
gi-2563	140	40	of	of	ADP
gi-2563	140	41	sba	sba	PROPN
gi-2563	140	42	algorithm	algorithm	PROPN
gi-2563	140	43	(	(	PUNCT
gi-2563	140	44	sparse	sparse	ADJ
gi-2563	140	45	bundle	bundle	NOUN
gi-2563	140	46	adjustment	adjustment	NOUN
gi-2563	140	47	)	)	PUNCT
gi-2563	140	48	is	be	AUX
gi-2563	140	49	implementation	implementation	NOUN
gi-2563	140	50	of	of	ADP
gi-2563	140	51	nonlinear	nonlinear	ADJ
gi-2563	140	52	levenberg	levenberg	PROPN
gi-2563	140	53	-	-	PUNCT
gi-2563	140	54	marquart	marquart	NOUN
gi-2563	140	55	algorithm	algorithm	NOUN
gi-2563	140	56	where	where	SCONJ
gi-2563	140	57	local	local	ADJ
gi-2563	140	58	function	function	NOUN
gi-2563	140	59	minimum	minimum	NOUN
gi-2563	140	60	is	be	AUX
gi-2563	140	61	sought	seek	VERB
gi-2563	140	62	for	for	ADP
gi-2563	140	63	point	point	NOUN
gi-2563	140	64	x	x	SYM
gi-2563	140	65	projection	projection	NOUN
gi-2563	140	66	in	in	ADP
gi-2563	140	67	global	global	ADJ
gi-2563	140	68	coordinates	coordinate	NOUN
gi-2563	140	69	into	into	ADP
gi-2563	140	70	the	the	DET
gi-2563	140	71	image	image	NOUN
gi-2563	140	72	coordinates	coordinate	NOUN
gi-2563	140	73	using	use	VERB
gi-2563	140	74	a	a	DET
gi-2563	140	75	combination	combination	NOUN
gi-2563	140	76	of	of	ADP
gi-2563	140	77	gauss	gauss	PROPN
gi-2563	140	78	-	-	PUNCT
gi-2563	140	79	newton	newton	PROPN
gi-2563	140	80	method	method	NOUN
gi-2563	140	81	and	and	CCONJ
gi-2563	140	82	the	the	DET
gi-2563	140	83	method	method	NOUN
gi-2563	140	84	of	of	ADP
gi-2563	140	85	the	the	DET
gi-2563	140	86	steepest	steep	ADJ
gi-2563	140	87	descent	descent	NOUN
gi-2563	140	88	.	.	PUNCT
gi-2563	141	1	if	if	SCONJ
gi-2563	141	2	the	the	DET
gi-2563	141	3	input	input	NOUN
gi-2563	141	4	estimate	estimate	NOUN
gi-2563	141	5	of	of	ADP
gi-2563	141	6	parameters	parameter	NOUN
gi-2563	141	7	is	be	AUX
gi-2563	141	8	too	too	ADV
gi-2563	141	9	far	far	ADV
gi-2563	141	10	from	from	ADP
gi-2563	141	11	the	the	DET
gi-2563	141	12	f	f	PROPN
gi-2563	141	13	function	function	NOUN
gi-2563	141	14	local	local	ADJ
gi-2563	141	15	minimum	minimum	NOUN
gi-2563	141	16	,	,	PUNCT
gi-2563	141	17	the	the	DET
gi-2563	141	18	algorithm	algorithm	NOUN
gi-2563	141	19	behavior	behavior	NOUN
gi-2563	141	20	is	be	AUX
gi-2563	141	21	similar	similar	ADJ
gi-2563	141	22	to	to	ADP
gi-2563	141	23	the	the	DET
gi-2563	141	24	steepest	steep	ADJ
gi-2563	141	25	descent	descent	NOUN
gi-2563	141	26	method	method	NOUN
gi-2563	141	27	which	which	PRON
gi-2563	141	28	guarantees	guarantee	VERB
gi-2563	141	29	at	at	ADP
gi-2563	141	30	least	least	ADJ
gi-2563	141	31	slow	slow	ADJ
gi-2563	141	32	convergence	convergence	NOUN
gi-2563	141	33	.	.	PUNCT
gi-2563	142	1	in	in	ADP
gi-2563	142	2	the	the	DET
gi-2563	142	3	case	case	NOUN
gi-2563	142	4	of	of	ADP
gi-2563	142	5	moving	move	VERB
gi-2563	142	6	towards	towards	ADP
gi-2563	142	7	local	local	ADJ
gi-2563	142	8	minimum	minimum	ADJ
gi-2563	142	9	gauss	gauss	PROPN
gi-2563	142	10	-	-	PUNCT
gi-2563	142	11	newton	newton	PROPN
gi-2563	142	12	method	method	NOUN
gi-2563	142	13	is	be	AUX
gi-2563	142	14	used	use	VERB
gi-2563	142	15	to	to	PART
gi-2563	142	16	guarantee	guarantee	VERB
gi-2563	142	17	fast	fast	ADJ
gi-2563	142	18	convergence	convergence	NOUN
gi-2563	142	19	.	.	PUNCT
gi-2563	143	1	geoinformatics	geoinformatic	NOUN
gi-2563	143	2	fce	fce	VERB
gi-2563	143	3	ctu	ctu	NOUN
gi-2563	143	4	9	9	NUM
gi-2563	143	5	,	,	PUNCT
gi-2563	143	6	2012	2012	NUM
gi-2563	143	7	33	33	NUM
gi-2563	143	8	káňa	káňa	PROPN
gi-2563	143	9	,	,	PUNCT
gi-2563	143	10	d.	d.	PROPN
gi-2563	143	11	,	,	PUNCT
gi-2563	143	12	hanzl	hanzl	PROPN
gi-2563	144	1	v.	v.	CCONJ
gi-2563	144	2	:	:	PUNCT
gi-2563	144	3	application	application	NOUN
gi-2563	144	4	of	of	ADP
gi-2563	144	5	computer	computer	NOUN
gi-2563	144	6	vision	vision	NOUN
gi-2563	144	7	methods	method	NOUN
gi-2563	144	8	.	.	PUNCT
gi-2563	144	9	.	.	PUNCT
gi-2563	144	10	.	.	PUNCT
gi-2563	145	1	the	the	DET
gi-2563	145	2	main	main	ADJ
gi-2563	145	3	advantage	advantage	NOUN
gi-2563	145	4	of	of	ADP
gi-2563	145	5	the	the	DET
gi-2563	145	6	sba	sba	PROPN
gi-2563	145	7	software	software	NOUN
gi-2563	145	8	package	package	NOUN
gi-2563	145	9	[	[	X
gi-2563	145	10	7	7	X
gi-2563	145	11	]	]	PUNCT
gi-2563	145	12	is	be	AUX
gi-2563	145	13	the	the	DET
gi-2563	145	14	usage	usage	NOUN
gi-2563	145	15	of	of	ADP
gi-2563	145	16	optimized	optimize	VERB
gi-2563	145	17	memory	memory	NOUN
gi-2563	145	18	structures	structure	NOUN
gi-2563	145	19	for	for	ADP
gi-2563	145	20	sparse	sparse	ADJ
gi-2563	145	21	matrices	matrix	NOUN
gi-2563	145	22	storing	store	VERB
gi-2563	145	23	arising	arise	VERB
gi-2563	145	24	from	from	ADP
gi-2563	145	25	the	the	DET
gi-2563	145	26	normal	normal	ADJ
gi-2563	145	27	form	form	NOUN
gi-2563	145	28	equations	equation	NOUN
gi-2563	145	29	.	.	PUNCT
gi-2563	146	1	without	without	ADP
gi-2563	146	2	the	the	DET
gi-2563	146	3	use	use	NOUN
gi-2563	146	4	of	of	ADP
gi-2563	146	5	sparse	sparse	ADJ
gi-2563	146	6	matrices	matrix	NOUN
gi-2563	146	7	the	the	DET
gi-2563	146	8	solution	solution	NOUN
gi-2563	146	9	would	would	AUX
gi-2563	146	10	be	be	AUX
gi-2563	146	11	(	(	PUNCT
gi-2563	146	12	when	when	SCONJ
gi-2563	146	13	having	have	VERB
gi-2563	146	14	hundreds	hundred	NOUN
gi-2563	146	15	of	of	ADP
gi-2563	146	16	thousands	thousand	NOUN
gi-2563	146	17	unknown	unknown	ADJ
gi-2563	146	18	images	image	NOUN
gi-2563	146	19	)	)	PUNCT
gi-2563	146	20	out	out	ADP
gi-2563	146	21	of	of	ADP
gi-2563	146	22	extreme	extreme	ADJ
gi-2563	146	23	memory	memory	NOUN
gi-2563	146	24	and	and	CCONJ
gi-2563	146	25	computation	computation	NOUN
gi-2563	146	26	cost	cost	NOUN
gi-2563	146	27	almost	almost	ADV
gi-2563	146	28	impossible	impossible	ADJ
gi-2563	146	29	.	.	PUNCT
gi-2563	147	1	7	7	X
gi-2563	147	2	.	.	X
gi-2563	147	3	experimental	experimental	ADJ
gi-2563	147	4	results	result	VERB
gi-2563	147	5	the	the	DET
gi-2563	147	6	input	input	NOUN
gi-2563	147	7	selection	selection	NOUN
gi-2563	147	8	contained	contain	VERB
gi-2563	147	9	25	25	NUM
gi-2563	147	10	images	image	NOUN
gi-2563	147	11	of	of	ADP
gi-2563	147	12	žinkovy	žinkovy	NOUN
gi-2563	147	13	castle	castle	NOUN
gi-2563	147	14	facade	facade	NOUN
gi-2563	147	15	(	(	PUNCT
gi-2563	147	16	fig	fig	NOUN
gi-2563	147	17	.	.	NOUN
gi-2563	147	18	5	5	X
gi-2563	147	19	)	)	PUNCT
gi-2563	147	20	shot	shoot	VERB
gi-2563	147	21	by	by	ADP
gi-2563	147	22	digital	digital	ADJ
gi-2563	147	23	camera	camera	NOUN
gi-2563	147	24	olympus	olympus	PROPN
gi-2563	147	25	,	,	PUNCT
gi-2563	147	26	the	the	DET
gi-2563	147	27	computations	computation	NOUN
gi-2563	147	28	were	be	AUX
gi-2563	147	29	performed	perform	VERB
gi-2563	147	30	on	on	ADP
gi-2563	147	31	a	a	DET
gi-2563	147	32	standard	standard	ADJ
gi-2563	147	33	pc	pc	NOUN
gi-2563	147	34	with	with	ADP
gi-2563	147	35	intel	intel	PROPN
gi-2563	147	36	core	core	NOUN
gi-2563	147	37	2	2	NUM
gi-2563	147	38	duo	duo	NOUN
gi-2563	147	39	processor	processor	NOUN
gi-2563	147	40	.	.	PUNCT
gi-2563	148	1	algorithms	algorithm	NOUN
gi-2563	148	2	were	be	AUX
gi-2563	148	3	implemented	implement	VERB
gi-2563	148	4	in	in	ADP
gi-2563	148	5	c	c	NOUN
gi-2563	148	6	/	/	SYM
gi-2563	148	7	c++	c++	NOUN
gi-2563	148	8	language	language	NOUN
gi-2563	148	9	.	.	PUNCT
gi-2563	149	1	based	base	VERB
gi-2563	149	2	on	on	ADP
gi-2563	149	3	the	the	DET
gi-2563	149	4	results	result	NOUN
gi-2563	149	5	of	of	ADP
gi-2563	149	6	the	the	DET
gi-2563	149	7	lens	lens	NOUN
gi-2563	149	8	calibration	calibration	NOUN
gi-2563	149	9	the	the	DET
gi-2563	149	10	distorsions	distorsion	NOUN
gi-2563	149	11	were	be	AUX
gi-2563	149	12	neglected	neglect	VERB
gi-2563	149	13	.	.	PUNCT
gi-2563	150	1	the	the	DET
gi-2563	150	2	original	original	ADJ
gi-2563	150	3	images	image	NOUN
gi-2563	150	4	of	of	ADP
gi-2563	150	5	size	size	NOUN
gi-2563	150	6	3648	3648	NUM
gi-2563	150	7	x	x	SYM
gi-2563	150	8	2736	2736	NUM
gi-2563	150	9	pixels	pixel	NOUN
gi-2563	150	10	were	be	AUX
gi-2563	150	11	modified	modify	VERB
gi-2563	150	12	due	due	ADJ
gi-2563	150	13	memory	memory	NOUN
gi-2563	150	14	cost	cost	NOUN
gi-2563	150	15	of	of	ADP
gi-2563	150	16	key	key	ADJ
gi-2563	150	17	points	point	NOUN
gi-2563	150	18	computation	computation	NOUN
gi-2563	150	19	to	to	ADP
gi-2563	150	20	1204	1204	NUM
gi-2563	150	21	x	x	SYM
gi-2563	150	22	903	903	NUM
gi-2563	150	23	size	size	NOUN
gi-2563	150	24	.	.	PUNCT
gi-2563	151	1	figure	figure	VERB
gi-2563	151	2	4	4	NUM
gi-2563	151	3	:	:	PUNCT
gi-2563	151	4	input	input	NOUN
gi-2563	151	5	dataset	dataset	NOUN
gi-2563	151	6	:	:	PUNCT
gi-2563	151	7	25images	25image	NOUN
gi-2563	151	8	,	,	PUNCT
gi-2563	151	9	size	size	NOUN
gi-2563	151	10	1204x903	1204x903	NUM
gi-2563	151	11	pixels	pixel	NOUN
gi-2563	151	12	computation	computation	NOUN
gi-2563	151	13	sift	sift	NOUN
gi-2563	151	14	descriptors	descriptor	NOUN
gi-2563	151	15	took	take	VERB
gi-2563	151	16	424	424	NUM
gi-2563	151	17	seconds	second	NOUN
gi-2563	151	18	,	,	PUNCT
gi-2563	151	19	average	average	ADJ
gi-2563	151	20	17	17	NUM
gi-2563	151	21	seconds	second	NOUN
gi-2563	151	22	per	per	ADP
gi-2563	151	23	image	image	NOUN
gi-2563	151	24	and	and	CCONJ
gi-2563	151	25	485536	485536	NUM
gi-2563	151	26	were	be	AUX
gi-2563	151	27	detected	detect	VERB
gi-2563	151	28	.	.	PUNCT
gi-2563	152	1	key	key	ADJ
gi-2563	152	2	points	point	NOUN
gi-2563	152	3	pairing	pair	VERB
gi-2563	152	4	for	for	ADP
gi-2563	152	5	300	300	NUM
gi-2563	152	6	image	image	NOUN
gi-2563	152	7	combinations	combination	NOUN
gi-2563	152	8	took	take	VERB
gi-2563	152	9	900	900	NUM
gi-2563	152	10	seconds	second	NOUN
gi-2563	152	11	.	.	PUNCT
gi-2563	153	1	finally	finally	ADV
gi-2563	153	2	43052	43052	NUM
gi-2563	153	3	three	three	NUM
gi-2563	153	4	-	-	PUNCT
gi-2563	153	5	dimensional	dimensional	ADJ
gi-2563	153	6	points	point	NOUN
gi-2563	153	7	entered	enter	VERB
gi-2563	153	8	bundle	bundle	NOUN
gi-2563	153	9	adjustment	adjustment	NOUN
gi-2563	153	10	.	.	PUNCT
gi-2563	154	1	the	the	DET
gi-2563	154	2	results	result	NOUN
gi-2563	154	3	of	of	ADP
gi-2563	154	4	the	the	DET
gi-2563	154	5	bundle	bundle	NOUN
gi-2563	154	6	adjustment	adjustment	NOUN
gi-2563	154	7	were	be	AUX
gi-2563	154	8	the	the	DET
gi-2563	154	9	absolute	absolute	ADJ
gi-2563	154	10	orientations	orientation	NOUN
gi-2563	154	11	of	of	ADP
gi-2563	154	12	images	image	NOUN
gi-2563	154	13	in	in	ADP
gi-2563	154	14	a	a	DET
gi-2563	154	15	relative	relative	ADJ
gi-2563	154	16	coordinate	coordinate	NOUN
gi-2563	154	17	system	system	NOUN
gi-2563	154	18	,	,	PUNCT
gi-2563	154	19	which	which	PRON
gi-2563	154	20	was	be	AUX
gi-2563	154	21	defined	define	VERB
gi-2563	154	22	by	by	ADP
gi-2563	154	23	the	the	DET
gi-2563	154	24	first	first	ADJ
gi-2563	154	25	pair	pair	NOUN
gi-2563	154	26	of	of	ADP
gi-2563	154	27	images	image	NOUN
gi-2563	154	28	.	.	PUNCT
gi-2563	155	1	the	the	DET
gi-2563	155	2	coordinates	coordinate	NOUN
gi-2563	155	3	of	of	ADP
gi-2563	155	4	projection	projection	NOUN
gi-2563	155	5	centers	center	NOUN
gi-2563	155	6	were	be	AUX
gi-2563	155	7	also	also	ADV
gi-2563	155	8	independently	independently	ADV
gi-2563	155	9	determined	determine	VERB
gi-2563	155	10	in	in	ADP
gi-2563	155	11	intergraph	intergraph	PROPN
gi-2563	155	12	isat	isat	PROPN
gi-2563	155	13	software	software	NOUN
gi-2563	155	14	using	use	VERB
gi-2563	155	15	ground	ground	NOUN
gi-2563	155	16	control	control	NOUN
gi-2563	155	17	points	point	NOUN
gi-2563	155	18	in	in	ADP
gi-2563	155	19	geodetic	geodetic	ADJ
gi-2563	155	20	system	system	NOUN
gi-2563	155	21	.	.	PUNCT
gi-2563	156	1	to	to	PART
gi-2563	156	2	compare	compare	VERB
gi-2563	156	3	the	the	DET
gi-2563	156	4	accuracy	accuracy	NOUN
gi-2563	156	5	of	of	ADP
gi-2563	156	6	automatic	automatic	ADJ
gi-2563	156	7	orientation	orientation	NOUN
gi-2563	156	8	,	,	PUNCT
gi-2563	156	9	transformation	transformation	NOUN
gi-2563	156	10	geoinformatics	geoinformatic	NOUN
gi-2563	156	11	fce	fce	VERB
gi-2563	156	12	ctu	ctu	NOUN
gi-2563	156	13	9	9	NUM
gi-2563	156	14	,	,	PUNCT
gi-2563	156	15	2012	2012	NUM
gi-2563	156	16	34	34	NUM
gi-2563	156	17	káňa	káňa	PROPN
gi-2563	156	18	,	,	PUNCT
gi-2563	156	19	d.	d.	PROPN
gi-2563	156	20	,	,	PUNCT
gi-2563	156	21	hanzl	hanzl	PROPN
gi-2563	157	1	v.	v.	CCONJ
gi-2563	157	2	:	:	PUNCT
gi-2563	157	3	application	application	NOUN
gi-2563	157	4	of	of	ADP
gi-2563	157	5	computer	computer	NOUN
gi-2563	157	6	vision	vision	NOUN
gi-2563	157	7	methods	method	NOUN
gi-2563	157	8	.	.	PUNCT
gi-2563	157	9	.	.	PUNCT
gi-2563	157	10	.	.	PUNCT
gi-2563	158	1	figure	figure	VERB
gi-2563	158	2	5	5	NUM
gi-2563	158	3	:	:	PUNCT
gi-2563	158	4	reconstructed	reconstructed	ADJ
gi-2563	158	5	projection	projection	NOUN
gi-2563	158	6	centers	center	NOUN
gi-2563	158	7	key	key	ADJ
gi-2563	158	8	and	and	CCONJ
gi-2563	158	9	coordinate	coordinate	VERB
gi-2563	158	10	differences	difference	NOUN
gi-2563	158	11	between	between	ADP
gi-2563	158	12	projection	projection	NOUN
gi-2563	158	13	centers	center	NOUN
gi-2563	158	14	in	in	ADP
gi-2563	158	15	both	both	DET
gi-2563	158	16	systems	system	NOUN
gi-2563	158	17	were	be	AUX
gi-2563	158	18	also	also	ADV
gi-2563	158	19	computed	compute	VERB
gi-2563	158	20	.	.	PUNCT
gi-2563	159	1	image	image	NOUN
gi-2563	159	2	dx	dx	PROPN
gi-2563	159	3	dy	dy	X
gi-2563	159	4	dz	dz	PROPN
gi-2563	159	5	p6027864	p6027864	PROPN
gi-2563	159	6	0.28	0.28	NUM
gi-2563	159	7	0.13	0.13	NUM
gi-2563	159	8	-0.09	-0.09	NUM
gi-2563	159	9	p6027865	p6027865	NUM
gi-2563	159	10	0.19	0.19	NUM
gi-2563	159	11	-0.01	-0.01	NUM
gi-2563	159	12	0.03	0.03	NUM
gi-2563	159	13	p6027866	p6027866	PROPN
gi-2563	159	14	0.17	0.17	NUM
gi-2563	159	15	-0.01	-0.01	NUM
gi-2563	159	16	0.08	0.08	NUM
gi-2563	159	17	p6027867	p6027867	NOUN
gi-2563	159	18	-0.24	-0.24	NOUN
gi-2563	159	19	-0.05	-0.05	NUM
gi-2563	159	20	0.09	0.09	NUM
gi-2563	159	21	p6027869	p6027869	PROPN
gi-2563	159	22	0.59	0.59	NUM
gi-2563	159	23	0.09	0.09	NUM
gi-2563	159	24	-0.09	-0.09	NUM
gi-2563	159	25	p6027870	p6027870	NOUN
gi-2563	159	26	0.56	0.56	NUM
gi-2563	159	27	-0.07	-0.07	NUM
gi-2563	159	28	0.02	0.02	NUM
gi-2563	159	29	p6027871	p6027871	NOUN
gi-2563	159	30	1.23	1.23	NUM
gi-2563	159	31	0.00	0.00	NUM
gi-2563	159	32	0.44	0.44	NUM
gi-2563	159	33	p6027872	p6027872	NOUN
gi-2563	159	34	0.92	0.92	NUM
gi-2563	159	35	0.03	0.03	NUM
gi-2563	159	36	-0.01	-0.01	NUM
gi-2563	159	37	p6027873	p6027873	PROPN
gi-2563	159	38	-0.62	-0.62	NUM
gi-2563	159	39	-0.09	-0.09	NUM
gi-2563	159	40	-0.26	-0.26	PROPN
gi-2563	160	1	p6027874	p6027874	PROPN
gi-2563	160	2	-0.57	-0.57	NUM
gi-2563	160	3	-0.25	-0.25	NUM
gi-2563	160	4	0.01	0.01	NUM
gi-2563	160	5	p6027875	p6027875	PROPN
gi-2563	160	6	-0.55	-0.55	NUM
gi-2563	160	7	0.08	0.08	NUM
gi-2563	160	8	0.14	0.14	NUM
gi-2563	160	9	p6027876	p6027876	VERB
gi-2563	160	10	-0.95	-0.95	NUM
gi-2563	160	11	0.01	0.01	NUM
gi-2563	160	12	-0.15	-0.15	NUM
gi-2563	160	13	p6027877	p6027877	PROPN
gi-2563	160	14	-0.41	-0.41	CCONJ
gi-2563	160	15	0.02	0.02	NUM
gi-2563	160	16	-0.15	-0.15	NUM
gi-2563	160	17	p6027878	p6027878	ADJ
gi-2563	160	18	-0.49	-0.49	NOUN
gi-2563	160	19	0.25	0.25	NUM
gi-2563	160	20	0.22	0.22	NUM
gi-2563	160	21	p6027879	p6027879	NOUN
gi-2563	160	22	-0.36	-0.36	NUM
gi-2563	160	23	0.18	0.18	NUM
gi-2563	160	24	0.48	0.48	NUM
gi-2563	160	25	continued	continue	VERB
gi-2563	160	26	on	on	ADP
gi-2563	160	27	next	next	ADJ
gi-2563	160	28	page	page	NOUN
gi-2563	160	29	geoinformatics	geoinformatic	NOUN
gi-2563	160	30	fce	fce	VERB
gi-2563	160	31	ctu	ctu	NOUN
gi-2563	160	32	9	9	NUM
gi-2563	160	33	,	,	PUNCT
gi-2563	160	34	2012	2012	NUM
gi-2563	160	35	35	35	NUM
gi-2563	160	36	káňa	káňa	PROPN
gi-2563	160	37	,	,	PUNCT
gi-2563	160	38	d.	d.	PROPN
gi-2563	160	39	,	,	PUNCT
gi-2563	160	40	hanzl	hanzl	PROPN
gi-2563	161	1	v.	v.	CCONJ
gi-2563	161	2	:	:	PUNCT
gi-2563	161	3	application	application	NOUN
gi-2563	161	4	of	of	ADP
gi-2563	161	5	computer	computer	NOUN
gi-2563	161	6	vision	vision	NOUN
gi-2563	161	7	methods	method	NOUN
gi-2563	161	8	.	.	PUNCT
gi-2563	161	9	.	.	PUNCT
gi-2563	161	10	.	.	PUNCT
gi-2563	162	1	continued	continue	VERB
gi-2563	162	2	from	from	ADP
gi-2563	162	3	previous	previous	ADJ
gi-2563	162	4	page	page	NOUN
gi-2563	162	5	image	image	NOUN
gi-2563	162	6	dx	dx	PROPN
gi-2563	162	7	dy	dy	NOUN
gi-2563	162	8	dz	dz	PROPN
gi-2563	162	9	p6027880	p6027880	PROPN
gi-2563	162	10	-0.35	-0.35	NOUN
gi-2563	162	11	-0.30	-0.30	NOUN
gi-2563	162	12	-1.02	-1.02	NOUN
gi-2563	163	1	p6027881	p6027881	NOUN
gi-2563	163	2	-0.14	-0.14	NOUN
gi-2563	163	3	-0.03	-0.03	NUM
gi-2563	163	4	-0.03	-0.03	NUM
gi-2563	163	5	p6027882	p6027882	NOUN
gi-2563	163	6	-0.25	-0.25	NUM
gi-2563	163	7	-0.08	-0.08	NUM
gi-2563	163	8	0.17	0.17	NUM
gi-2563	163	9	p6027883	p6027883	NOUN
gi-2563	163	10	-0.41	-0.41	NUM
gi-2563	163	11	0.04	0.04	NUM
gi-2563	163	12	0.30	0.30	NUM
gi-2563	163	13	p6027884	p6027884	PROPN
gi-2563	163	14	-0.45	-0.45	NUM
gi-2563	163	15	-0.02	-0.02	NUM
gi-2563	163	16	-0.53	-0.53	NOUN
gi-2563	163	17	p6027885	p6027885	NOUN
gi-2563	163	18	0.19	0.19	NUM
gi-2563	163	19	0.05	0.05	NUM
gi-2563	163	20	0.04	0.04	NUM
gi-2563	163	21	p6027886	p6027886	NOUN
gi-2563	163	22	0.24	0.24	NUM
gi-2563	163	23	0.05	0.05	NUM
gi-2563	163	24	0.30	0.30	NUM
gi-2563	163	25	p6027887	p6027887	PROPN
gi-2563	163	26	0.42	0.42	NUM
gi-2563	163	27	0.11	0.11	NUM
gi-2563	163	28	0.55	0.55	NUM
gi-2563	163	29	p6027888	p6027888	ADJ
gi-2563	163	30	0.41	0.41	NUM
gi-2563	163	31	0.01	0.01	NUM
gi-2563	163	32	-0.51	-0.51	NOUN
gi-2563	163	33	p6027889	p6027889	PROPN
gi-2563	163	34	0.57	0.57	NUM
gi-2563	163	35	-0.12	-0.12	NUM
gi-2563	163	36	-0.04	-0.04	NUM
gi-2563	163	37	table	table	NOUN
gi-2563	163	38	1	1	NUM
gi-2563	163	39	:	:	PUNCT
gi-2563	163	40	differences	difference	NOUN
gi-2563	163	41	between	between	ADP
gi-2563	163	42	coordinates	coordinate	NOUN
gi-2563	163	43	of	of	ADP
gi-2563	163	44	projection	projection	NOUN
gi-2563	163	45	centers	center	NOUN
gi-2563	163	46	computed	compute	VERB
gi-2563	163	47	in	in	ADP
gi-2563	163	48	intergraph	intergraph	NOUN
gi-2563	163	49	isat	isat	PROPN
gi-2563	163	50	and	and	CCONJ
gi-2563	163	51	coordinates	coordinate	NOUN
gi-2563	163	52	obtained	obtain	VERB
gi-2563	163	53	by	by	ADP
gi-2563	163	54	automatic	automatic	ADJ
gi-2563	163	55	process	process	NOUN
gi-2563	163	56	8	8	NUM
gi-2563	163	57	.	.	PUNCT
gi-2563	164	1	summary	summary	NOUN
gi-2563	164	2	by	by	ADP
gi-2563	164	3	above	above	ADP
gi-2563	164	4	mentioned	mention	VERB
gi-2563	164	5	methods	method	NOUN
gi-2563	164	6	the	the	DET
gi-2563	164	7	absolute	absolute	ADJ
gi-2563	164	8	orientations	orientation	NOUN
gi-2563	164	9	of	of	ADP
gi-2563	164	10	projection	projection	NOUN
gi-2563	164	11	centers	center	NOUN
gi-2563	164	12	in	in	ADP
gi-2563	164	13	a	a	DET
gi-2563	164	14	relative	relative	ADJ
gi-2563	164	15	coordinate	coordinate	NOUN
gi-2563	164	16	system	system	NOUN
gi-2563	164	17	using	use	VERB
gi-2563	164	18	image	image	NOUN
gi-2563	164	19	descriptors	descriptor	NOUN
gi-2563	164	20	were	be	AUX
gi-2563	164	21	fully	fully	ADV
gi-2563	164	22	automatically	automatically	ADV
gi-2563	164	23	determined	determine	VERB
gi-2563	164	24	.	.	PUNCT
gi-2563	165	1	parameters	parameter	NOUN
gi-2563	165	2	obtained	obtain	VERB
gi-2563	165	3	in	in	ADP
gi-2563	165	4	this	this	DET
gi-2563	165	5	way	way	NOUN
gi-2563	165	6	can	can	AUX
gi-2563	165	7	be	be	AUX
gi-2563	165	8	easily	easily	ADV
gi-2563	165	9	transformed	transform	VERB
gi-2563	165	10	into	into	ADP
gi-2563	165	11	geodetic	geodetic	ADJ
gi-2563	165	12	system	system	NOUN
gi-2563	165	13	using	use	VERB
gi-2563	165	14	ground	ground	NOUN
gi-2563	165	15	control	control	NOUN
gi-2563	165	16	points	point	NOUN
gi-2563	165	17	and	and	CCONJ
gi-2563	165	18	ideally	ideally	ADV
gi-2563	165	19	these	these	DET
gi-2563	165	20	parameters	parameter	NOUN
gi-2563	165	21	can	can	AUX
gi-2563	165	22	directly	directly	ADV
gi-2563	165	23	serve	serve	VERB
gi-2563	165	24	as	as	ADP
gi-2563	165	25	input	input	NOUN
gi-2563	165	26	to	to	ADP
gi-2563	165	27	other	other	ADJ
gi-2563	165	28	tasks	task	NOUN
gi-2563	165	29	such	such	ADJ
gi-2563	165	30	as	as	ADP
gi-2563	165	31	generating	generate	VERB
gi-2563	165	32	of	of	ADP
gi-2563	165	33	orthogonalized	orthogonalized	ADJ
gi-2563	165	34	mosaic	mosaic	NOUN
gi-2563	165	35	of	of	ADP
gi-2563	165	36	facade	facade	NOUN
gi-2563	165	37	images	image	NOUN
gi-2563	165	38	.	.	PUNCT
gi-2563	166	1	in	in	ADP
gi-2563	166	2	less	less	ADV
gi-2563	166	3	ideal	ideal	ADJ
gi-2563	166	4	case	case	NOUN
gi-2563	166	5	we	we	PRON
gi-2563	166	6	can	can	AUX
gi-2563	166	7	obtain	obtain	VERB
gi-2563	166	8	the	the	DET
gi-2563	166	9	input	input	NOUN
gi-2563	166	10	estimates	estimate	NOUN
gi-2563	166	11	of	of	ADP
gi-2563	166	12	parameters	parameter	NOUN
gi-2563	166	13	for	for	ADP
gi-2563	166	14	another	another	DET
gi-2563	166	15	advanced	advanced	ADJ
gi-2563	166	16	calculations	calculation	NOUN
gi-2563	166	17	and	and	CCONJ
gi-2563	166	18	decrease	decrease	VERB
gi-2563	166	19	time	time	NOUN
gi-2563	166	20	and	and	CCONJ
gi-2563	166	21	work	work	NOUN
gi-2563	166	22	difficulty	difficulty	NOUN
gi-2563	166	23	of	of	ADP
gi-2563	166	24	the	the	DET
gi-2563	166	25	absolute	absolute	ADJ
gi-2563	166	26	orientation	orientation	NOUN
gi-2563	166	27	procedure	procedure	NOUN
gi-2563	166	28	.	.	PUNCT
gi-2563	167	1	inaccuracies	inaccuracy	NOUN
gi-2563	167	2	can	can	AUX
gi-2563	167	3	be	be	AUX
gi-2563	167	4	attributed	attribute	VERB
gi-2563	167	5	to	to	ADP
gi-2563	167	6	both	both	DET
gi-2563	167	7	numerical	numerical	ADJ
gi-2563	167	8	instability	instability	NOUN
gi-2563	167	9	of	of	ADP
gi-2563	167	10	algorithms	algorithm	NOUN
gi-2563	167	11	and	and	CCONJ
gi-2563	167	12	the	the	DET
gi-2563	167	13	insufficient	insufficient	ADJ
gi-2563	167	14	calibration	calibration	NOUN
gi-2563	167	15	of	of	ADP
gi-2563	167	16	the	the	DET
gi-2563	167	17	lens	len	NOUN
gi-2563	167	18	.	.	PUNCT
gi-2563	168	1	other	other	ADJ
gi-2563	168	2	options	option	NOUN
gi-2563	168	3	for	for	ADP
gi-2563	168	4	achieving	achieve	VERB
gi-2563	168	5	better	well	ADJ
gi-2563	168	6	results	result	NOUN
gi-2563	168	7	:	:	PUNCT
gi-2563	168	8	1	1	X
gi-2563	168	9	.	.	X
gi-2563	168	10	using	use	VERB
gi-2563	168	11	of	of	ADP
gi-2563	168	12	gpu	gpu	NOUN
gi-2563	168	13	for	for	ADP
gi-2563	168	14	reducing	reduce	VERB
gi-2563	168	15	time	time	NOUN
gi-2563	168	16	complexity	complexity	NOUN
gi-2563	168	17	2	2	NUM
gi-2563	168	18	.	.	PUNCT
gi-2563	168	19	selection	selection	NOUN
gi-2563	168	20	of	of	ADP
gi-2563	168	21	key	key	ADJ
gi-2563	168	22	points	point	NOUN
gi-2563	168	23	only	only	ADV
gi-2563	168	24	in	in	ADP
gi-2563	168	25	a	a	DET
gi-2563	168	26	particular	particular	ADJ
gi-2563	168	27	part	part	NOUN
gi-2563	168	28	of	of	ADP
gi-2563	168	29	images	image	NOUN
gi-2563	168	30	(	(	PUNCT
gi-2563	168	31	gruber	gruber	NOUN
gi-2563	168	32	areas	area	NOUN
gi-2563	168	33	)	)	PUNCT
gi-2563	168	34	.	.	PUNCT
gi-2563	169	1	references	reference	NOUN
gi-2563	169	2	[	[	X
gi-2563	169	3	1	1	NUM
gi-2563	169	4	]	]	X
gi-2563	169	5	lowe	lowe	PROPN
gi-2563	169	6	,	,	PUNCT
gi-2563	169	7	d.	d.	PROPN
gi-2563	169	8	:	:	PUNCT
gi-2563	169	9	sift	sift	VERB
gi-2563	169	10	demo	demo	NOUN
gi-2563	169	11	implementation	implementation	NOUN
gi-2563	169	12	.	.	PUNCT
gi-2563	170	1	http://www.cs.ubc.ca/~lowe/keypoints/	http://www.cs.ubc.ca/~lowe/keypoints/	NOUN
gi-2563	170	2	[	[	X
gi-2563	170	3	2	2	NUM
gi-2563	170	4	]	]	X
gi-2563	170	5	lowe	lowe	PROPN
gi-2563	170	6	,	,	PUNCT
gi-2563	170	7	d.	d.	PROPN
gi-2563	170	8	:	:	PUNCT
gi-2563	170	9	distinctive	distinctive	ADJ
gi-2563	170	10	image	image	NOUN
gi-2563	170	11	features	feature	NOUN
gi-2563	170	12	from	from	ADP
gi-2563	170	13	scale	scale	NOUN
gi-2563	170	14	-	-	PUNCT
gi-2563	170	15	invariant	invariant	ADJ
gi-2563	170	16	keypoints	keypoint	NOUN
gi-2563	170	17	.	.	PUNCT
gi-2563	171	1	international	international	ADJ
gi-2563	171	2	journal	journal	NOUN
gi-2563	171	3	of	of	ADP
gi-2563	171	4	computer	computer	NOUN
gi-2563	171	5	vision	vision	NOUN
gi-2563	171	6	,	,	PUNCT
gi-2563	171	7	60	60	NUM
gi-2563	171	8	,	,	PUNCT
gi-2563	171	9	2	2	NUM
gi-2563	171	10	(	(	PUNCT
gi-2563	171	11	2004	2004	NUM
gi-2563	171	12	)	)	PUNCT
gi-2563	171	13	,	,	PUNCT
gi-2563	172	1	p.	p.	NOUN
gi-2563	172	2	91	91	NUM
gi-2563	172	3	-	-	SYM
gi-2563	172	4	110	110	NUM
gi-2563	172	5	.	.	PUNCT
gi-2563	173	1	[	[	X
gi-2563	173	2	3	3	NUM
gi-2563	173	3	]	]	X
gi-2563	173	4	harris	harris	PROPN
gi-2563	173	5	,	,	PUNCT
gi-2563	173	6	c.	c.	PROPN
gi-2563	173	7	g.	g.	PROPN
gi-2563	173	8	;	;	PUNCT
gi-2563	173	9	stephens	stephen	NOUN
gi-2563	173	10	,	,	PUNCT
gi-2563	173	11	m.	m.	NOUN
gi-2563	173	12	j.	j.	PROPN
gi-2563	173	13	:	:	PUNCT
gi-2563	173	14	a	a	DET
gi-2563	173	15	combined	combined	ADJ
gi-2563	173	16	corner	corner	NOUN
gi-2563	173	17	and	and	CCONJ
gi-2563	173	18	edge	edge	NOUN
gi-2563	173	19	detector	detector	NOUN
gi-2563	173	20	.	.	PUNCT
gi-2563	174	1	proceeding	proceed	VERB
gi-2563	174	2	fourth	fourth	ADJ
gi-2563	174	3	alvey	alvey	PROPN
gi-2563	174	4	vision	vision	NOUN
gi-2563	174	5	conference	conference	NOUN
gi-2563	174	6	,	,	PUNCT
gi-2563	174	7	1988	1988	NUM
gi-2563	174	8	,	,	PUNCT
gi-2563	174	9	p.	p.	NOUN
gi-2563	174	10	147	147	NUM
gi-2563	175	1	151	151	NUM
gi-2563	175	2	.	.	PUNCT
gi-2563	176	1	[	[	X
gi-2563	176	2	4	4	X
gi-2563	176	3	]	]	PUNCT
gi-2563	176	4	changchang	changchang	X
gi-2563	176	5	wu	wu	PROPN
gi-2563	176	6	;	;	PUNCT
gi-2563	176	7	sift	sift	VERB
gi-2563	176	8	on	on	ADP
gi-2563	176	9	gpu	gpu	PROPN
gi-2563	176	10	.	.	PROPN
gi-2563	176	11	university	university	PROPN
gi-2563	176	12	of	of	ADP
gi-2563	176	13	north	north	PROPN
gi-2563	176	14	carolina	carolina	PROPN
gi-2563	176	15	at	at	ADP
gi-2563	176	16	chapel	chapel	PROPN
gi-2563	176	17	hill	hill	PROPN
gi-2563	176	18	,	,	PUNCT
gi-2563	176	19	http	http	X
gi-2563	176	20	:	:	PUNCT
gi-2563	176	21	//www.cs.unc.edu/~ccwu	//www.cs.unc.edu/~ccwu	X
gi-2563	176	22	/	/	SYM
gi-2563	176	23	siftgpu/	siftgpu/	NUM
gi-2563	177	1	[	[	X
gi-2563	177	2	5	5	NUM
gi-2563	177	3	]	]	PUNCT
gi-2563	177	4	hartley	hartley	PROPN
gi-2563	177	5	,	,	PUNCT
gi-2563	177	6	r.i	r.i	PROPN
gi-2563	177	7	.	.	PROPN
gi-2563	177	8	;	;	PUNCT
gi-2563	177	9	zisserman	zisserman	NOUN
gi-2563	177	10	,	,	PUNCT
gi-2563	177	11	a.	a.	NOUN
gi-2563	177	12	:	:	PUNCT
gi-2563	177	13	multiple	multiple	ADJ
gi-2563	177	14	view	view	NOUN
gi-2563	177	15	geometry	geometry	NOUN
gi-2563	177	16	in	in	ADP
gi-2563	177	17	computer	computer	NOUN
gi-2563	177	18	vision	vision	NOUN
gi-2563	177	19	.	.	PUNCT
gi-2563	178	1	cambridge	cambridge	PROPN
gi-2563	178	2	university	university	PROPN
gi-2563	178	3	press	press	NOUN
gi-2563	178	4	,	,	PUNCT
gi-2563	178	5	june	june	PROPN
gi-2563	178	6	2000	2000	NUM
gi-2563	178	7	.	.	PUNCT
gi-2563	179	1	geoinformatics	geoinformatic	NOUN
gi-2563	179	2	fce	fce	VERB
gi-2563	179	3	ctu	ctu	NOUN
gi-2563	179	4	9	9	NUM
gi-2563	179	5	,	,	PUNCT
gi-2563	179	6	2012	2012	NUM
gi-2563	179	7	36	36	NUM
gi-2563	179	8	http://www.cs.ubc.ca/~lowe/keypoints/	http://www.cs.ubc.ca/~lowe/keypoints/	NOUN
gi-2563	179	9	http://www.cs.unc.edu/~ccwu/siftgpu/	http://www.cs.unc.edu/~ccwu/siftgpu/	X
gi-2563	179	10	http://www.cs.unc.edu/~ccwu/siftgpu/	http://www.cs.unc.edu/~ccwu/siftgpu/	X
gi-2563	179	11	káňa	káňa	PROPN
gi-2563	179	12	,	,	PUNCT
gi-2563	179	13	d.	d.	PROPN
gi-2563	179	14	,	,	PUNCT
gi-2563	179	15	hanzl	hanzl	PROPN
gi-2563	180	1	v.	v.	CCONJ
gi-2563	180	2	:	:	PUNCT
gi-2563	180	3	application	application	NOUN
gi-2563	180	4	of	of	ADP
gi-2563	180	5	computer	computer	NOUN
gi-2563	180	6	vision	vision	NOUN
gi-2563	180	7	methods	method	NOUN
gi-2563	180	8	.	.	PUNCT
gi-2563	180	9	.	.	PUNCT
gi-2563	180	10	.	.	PUNCT
gi-2563	181	1	[	[	X
gi-2563	181	2	6	6	NUM
gi-2563	181	3	]	]	X
gi-2563	181	4	hartley	hartley	PROPN
gi-2563	181	5	,	,	PUNCT
gi-2563	181	6	r.i	r.i	PROPN
gi-2563	181	7	.	.	PROPN
gi-2563	181	8	:	:	PUNCT
gi-2563	181	9	an	an	DET
gi-2563	181	10	investigation	investigation	NOUN
gi-2563	181	11	of	of	ADP
gi-2563	181	12	the	the	DET
gi-2563	181	13	essential	essential	ADJ
gi-2563	181	14	matrix	matrix	NOUN
gi-2563	181	15	.	.	PUNCT
gi-2563	182	1	1993	1993	NUM
gi-2563	182	2	.	.	PUNCT
gi-2563	183	1	http://users.rsise.anu	http://users.rsise.anu	PROPN
gi-2563	183	2	.	.	PUNCT
gi-2563	184	1	edu.au/~hartley/papers/q/q.pdf	edu.au/~hartley/papers/q/q.pdf	NOUN
gi-2563	185	1	[	[	X
gi-2563	185	2	7	7	X
gi-2563	185	3	]	]	PUNCT
gi-2563	185	4	manolis	manolis	PROPN
gi-2563	185	5	i.	i.	PROPN
gi-2563	185	6	a.	a.	PROPN
gi-2563	185	7	lourakis	lourakis	PROPN
gi-2563	185	8	;	;	PUNCT
gi-2563	185	9	antonis	antonis	PROPN
gi-2563	185	10	a.	a.	PROPN
gi-2563	185	11	argyros	argyros	PROPN
gi-2563	185	12	,	,	PUNCT
gi-2563	185	13	sba	sba	PROPN
gi-2563	185	14	:	:	PUNCT
gi-2563	185	15	a	a	DET
gi-2563	185	16	software	software	NOUN
gi-2563	185	17	package	package	NOUN
gi-2563	185	18	for	for	ADP
gi-2563	185	19	generic	generic	ADJ
gi-2563	185	20	sparse	sparse	ADJ
gi-2563	185	21	bundle	bundle	NOUN
gi-2563	185	22	adjustment	adjustment	NOUN
gi-2563	185	23	,	,	PUNCT
gi-2563	185	24	acm	acm	NOUN
gi-2563	185	25	transactions	transaction	NOUN
gi-2563	185	26	on	on	ADP
gi-2563	185	27	mathematical	mathematical	ADJ
gi-2563	185	28	software	software	NOUN
gi-2563	185	29	(	(	PUNCT
gi-2563	185	30	toms	tom	NOUN
gi-2563	185	31	)	)	PUNCT
gi-2563	185	32	,	,	PUNCT
gi-2563	185	33	v.36	v.36	X
gi-2563	185	34	n.1	n.1	NUM
gi-2563	185	35	,	,	PUNCT
gi-2563	185	36	march	march	PROPN
gi-2563	185	37	2009	2009	NUM
gi-2563	185	38	,	,	PUNCT
gi-2563	185	39	p.1	p.1	NOUN
gi-2563	185	40	-	-	SYM
gi-2563	185	41	30	30	NUM
gi-2563	185	42	,	,	PUNCT
gi-2563	185	43	[	[	X
gi-2563	185	44	8	8	NUM
gi-2563	185	45	]	]	X
gi-2563	185	46	brown	brown	ADJ
gi-2563	185	47	,	,	PUNCT
gi-2563	185	48	m.	m.	NOUN
gi-2563	185	49	;	;	PUNCT
gi-2563	185	50	szeliski	szeliski	PROPN
gi-2563	185	51	,	,	PUNCT
gi-2563	185	52	r.	r.	PROPN
gi-2563	185	53	;	;	PUNCT
gi-2563	185	54	winder	winder	NOUN
gi-2563	185	55	,	,	PUNCT
gi-2563	185	56	s.	s.	PROPN
gi-2563	185	57	:	:	PUNCT
gi-2563	185	58	multi	multi	ADJ
gi-2563	185	59	-	-	ADJ
gi-2563	185	60	image	image	ADJ
gi-2563	185	61	matching	matching	NOUN
gi-2563	185	62	using	use	VERB
gi-2563	185	63	multi	multi	ADJ
gi-2563	185	64	-	-	ADJ
gi-2563	185	65	scale	scale	ADJ
gi-2563	185	66	oriented	orient	VERB
gi-2563	185	67	patches	patch	NOUN
gi-2563	185	68	.	.	PUNCT
gi-2563	186	1	proc	proc	NOUN
gi-2563	186	2	.	.	PUNCT
gi-2563	187	1	int	int	NOUN
gi-2563	187	2	.	.	PUNCT
gi-2563	187	3	conf	conf	PROPN
gi-2563	187	4	.	.	PUNCT
gi-2563	188	1	on	on	ADP
gi-2563	188	2	computer	computer	NOUN
gi-2563	188	3	vision	vision	NOUN
gi-2563	188	4	and	and	CCONJ
gi-2563	188	5	pattern	pattern	NOUN
gi-2563	188	6	recognition	recognition	NOUN
gi-2563	188	7	,	,	PUNCT
gi-2563	188	8	san	san	PROPN
gi-2563	188	9	diego	diego	PROPN
gi-2563	188	10	,	,	PUNCT
gi-2563	188	11	2005	2005	NUM
gi-2563	188	12	,	,	PUNCT
gi-2563	188	13	p.510	p.510	NOUN
gi-2563	188	14	-	-	SYM
gi-2563	188	15	517	517	NUM
gi-2563	188	16	.	.	PUNCT
gi-2563	189	1	[	[	X
gi-2563	189	2	9	9	NUM
gi-2563	189	3	]	]	X
gi-2563	189	4	b.	b.	PROPN
gi-2563	189	5	triggs	triggs	PROPN
gi-2563	189	6	,	,	PUNCT
gi-2563	189	7	p.	p.	NOUN
gi-2563	189	8	mclauchlan	mclauchlan	NOUN
gi-2563	189	9	,	,	PUNCT
gi-2563	189	10	r.	r.	PROPN
gi-2563	189	11	hartley	hartley	PROPN
gi-2563	189	12	,	,	PUNCT
gi-2563	189	13	and	and	CCONJ
gi-2563	189	14	a.	a.	NOUN
gi-2563	189	15	fitzgibbon	fitzgibbon	NOUN
gi-2563	189	16	.	.	PUNCT
gi-2563	190	1	bundle	bundle	NOUN
gi-2563	190	2	adjustment	adjustment	NOUN
gi-2563	190	3	-a	-a	X
gi-2563	190	4	modern	modern	ADJ
gi-2563	190	5	synthesis	synthesis	NOUN
gi-2563	190	6	.	.	PUNCT
gi-2563	191	1	vision	vision	NOUN
gi-2563	191	2	algorithms	algorithms	PROPN
gi-2563	191	3	:	:	PUNCT
gi-2563	191	4	theory	theory	NOUN
gi-2563	191	5	and	and	CCONJ
gi-2563	191	6	practice	practice	NOUN
gi-2563	191	7	,	,	PUNCT
gi-2563	191	8	pages	page	NOUN
gi-2563	191	9	298–372	298–372	NUM
gi-2563	191	10	,	,	PUNCT
gi-2563	191	11	1999	1999	NUM
gi-2563	191	12	.	.	PUNCT
gi-2563	192	1	[	[	X
gi-2563	192	2	10	10	NUM
gi-2563	192	3	]	]	PUNCT
gi-2563	192	4	manolis	manolis	PROPN
gi-2563	192	5	i.	i.	PROPN
gi-2563	192	6	a.	a.	PROPN
gi-2563	192	7	lourakis	lourakis	PROPN
gi-2563	192	8	:	:	PUNCT
gi-2563	192	9	a	a	DET
gi-2563	192	10	brief	brief	ADJ
gi-2563	192	11	description	description	NOUN
gi-2563	192	12	of	of	ADP
gi-2563	192	13	the	the	DET
gi-2563	192	14	levenberg	levenberg	PROPN
gi-2563	192	15	-	-	PUNCT
gi-2563	192	16	marquardt	marquardt	PROPN
gi-2563	192	17	algorithm	algorithm	NOUN
gi-2563	192	18	by	by	ADP
gi-2563	192	19	levmar	levmar	PROPN
gi-2563	192	20	,	,	PUNCT
gi-2563	192	21	http://www.ics.forth.gr/lourakis/levmar/levmar.pdf	http://www.ics.forth.gr/lourakis/levmar/levmar.pdf	PROPN
gi-2563	192	22	,	,	PUNCT
gi-2563	192	23	july	july	PROPN
gi-2563	192	24	2004	2004	NUM
gi-2563	193	1	[	[	X
gi-2563	193	2	11	11	NUM
gi-2563	193	3	]	]	X
gi-2563	193	4	hartley	hartley	PROPN
gi-2563	193	5	r.i	r.i	PROPN
gi-2563	193	6	.	.	PROPN
gi-2563	193	7	:	:	PUNCT
gi-2563	193	8	in	in	ADP
gi-2563	193	9	defence	defence	NOUN
gi-2563	193	10	of	of	ADP
gi-2563	193	11	the	the	DET
gi-2563	193	12	8	8	NUM
gi-2563	193	13	-	-	PUNCT
gi-2563	193	14	point	point	NOUN
gi-2563	193	15	algorithm	algorithm	NOUN
gi-2563	193	16	,	,	PUNCT
gi-2563	193	17	iccv	iccv	PROPN
gi-2563	193	18	,	,	PUNCT
gi-2563	193	19	pp.1064	pp.1064	PROPN
gi-2563	193	20	,	,	PUNCT
gi-2563	193	21	fifth	fifth	ADJ
gi-2563	193	22	international	international	ADJ
gi-2563	193	23	conference	conference	NOUN
gi-2563	193	24	on	on	ADP
gi-2563	193	25	computer	computer	NOUN
gi-2563	193	26	vision	vision	NOUN
gi-2563	193	27	(	(	PUNCT
gi-2563	193	28	iccv'95	iccv'95	PROPN
gi-2563	193	29	)	)	PUNCT
gi-2563	193	30	,	,	PUNCT
gi-2563	193	31	1995	1995	NUM
gi-2563	193	32	geoinformatics	geoinformatic	NOUN
gi-2563	193	33	fce	fce	VERB
gi-2563	193	34	ctu	ctu	NOUN
gi-2563	193	35	9	9	NUM
gi-2563	193	36	,	,	PUNCT
gi-2563	193	37	2012	2012	NUM
gi-2563	193	38	37	37	NUM
gi-2563	193	39	http://users.rsise.anu.edu.au/~hartley/papers/q/q.pdf	http://users.rsise.anu.edu.au/~hartley/papers/q/q.pdf	PROPN
gi-2563	193	40	http://users.rsise.anu.edu.au/~hartley/papers/q/q.pdf	http://users.rsise.anu.edu.au/~hartley/papers/q/q.pdf	PROPN
gi-2563	193	41	http://www.ics.forth.gr/lourakis/levmar/levmar.pdf	http://www.ics.forth.gr/lourakis/levmar/levmar.pdf	PROPN
gi-2563	193	42	geoinformatics	geoinformatic	NOUN
gi-2563	193	43	fce	fce	VERB
gi-2563	193	44	ctu	ctu	NOUN
gi-2563	193	45	9	9	NUM
gi-2563	193	46	,	,	PUNCT
gi-2563	193	47	2012	2012	NUM
gi-2563	193	48	38	38	NUM