id	sid	tid	token	lemma	pos
hjic-299	1	1	microsoft	microsoft	PROPN
hjic-299	1	2	word	word	NOUN
hjic-299	1	3	b_26_r.doc	b_26_r.doc	PROPN
hjic-299	1	4	hungarian	hungarian	ADJ
hjic-299	1	5	journal	journal	NOUN
hjic-299	1	6	of	of	ADP
hjic-299	1	7	industrial	industrial	ADJ
hjic-299	1	8	chemistry	chemistry	NOUN
hjic-299	1	9	veszprém	veszprém	NOUN
hjic-299	1	10	vol	vol	NOUN
hjic-299	1	11	.	.	PUNCT
hjic-299	2	1	38(2	38(2	NUM
hjic-299	2	2	)	)	PUNCT
hjic-299	2	3	.	.	PUNCT
hjic-299	3	1	pp	pp	ADV
hjic-299	3	2	.	.	PUNCT
hjic-299	4	1	187	187	NUM
hjic-299	4	2	-	-	SYM
hjic-299	4	3	191	191	NUM
hjic-299	4	4	(	(	PUNCT
hjic-299	4	5	2010	2010	NUM
hjic-299	4	6	)	)	PUNCT
hjic-299	4	7	autonomous	autonomous	ADJ
hjic-299	4	8	mapping	mapping	NOUN
hjic-299	4	9	in	in	ADP
hjic-299	4	10	polluted	polluted	ADJ
hjic-299	4	11	environments	environment	NOUN
hjic-299	4	12	i.	i.	NOUN
hjic-299	4	13	szőke	szőke	PROPN
hjic-299	4	14	,	,	PUNCT
hjic-299	4	15	a.	a.	PROPN
hjic-299	4	16	majdik	majdik	PROPN
hjic-299	4	17	,	,	PUNCT
hjic-299	4	18	d.	d.	PROPN
hjic-299	4	19	lupea	lupea	PROPN
hjic-299	4	20	,	,	PUNCT
hjic-299	4	21	l.	l.	PROPN
hjic-299	4	22	tamás	tamás	PROPN
hjic-299	4	23	,	,	PUNCT
hjic-299	4	24	gh	gh	PROPN
hjic-299	4	25	.	.	PROPN
hjic-299	4	26	lazea	lazea	PROPN
hjic-299	4	27	department	department	PROPN
hjic-299	4	28	of	of	ADP
hjic-299	4	29	automation	automation	NOUN
hjic-299	4	30	,	,	PUNCT
hjic-299	4	31	technical	technical	ADJ
hjic-299	4	32	university	university	PROPN
hjic-299	4	33	of	of	ADP
hjic-299	4	34	cluj	cluj	PROPN
hjic-299	4	35	-	-	PUNCT
hjic-299	4	36	napoca	napoca	NOUN
hjic-299	4	37	,	,	PUNCT
hjic-299	4	38	c.	c.	PROPN
hjic-299	4	39	daicoviciu	daicoviciu	VERB
hjic-299	4	40	15	15	NUM
hjic-299	4	41	cluj	cluj	PROPN
hjic-299	4	42	-	-	PUNCT
hjic-299	4	43	napoca	napoca	NOUN
hjic-299	4	44	,	,	PUNCT
hjic-299	4	45	romania	romania	PROPN
hjic-299	4	46	e	e	PROPN
hjic-299	4	47	-	-	NOUN
hjic-299	4	48	mail	mail	NOUN
hjic-299	4	49	:	:	PUNCT
hjic-299	4	50	istvan.szoke@aut.utcluj.ro	istvan.szoke@aut.utcluj.ro	VERB
hjic-299	4	51	the	the	DET
hjic-299	4	52	need	need	NOUN
hjic-299	4	53	of	of	ADP
hjic-299	4	54	ecological	ecological	ADJ
hjic-299	4	55	robots	robot	NOUN
hjic-299	4	56	is	be	AUX
hjic-299	4	57	imposed	impose	VERB
hjic-299	4	58	by	by	ADP
hjic-299	4	59	the	the	DET
hjic-299	4	60	nowadays	nowadays	ADJ
hjic-299	4	61	trend	trend	NOUN
hjic-299	4	62	towards	towards	ADP
hjic-299	4	63	protecting	protect	VERB
hjic-299	4	64	the	the	DET
hjic-299	4	65	environment	environment	NOUN
hjic-299	4	66	and	and	CCONJ
hjic-299	4	67	the	the	DET
hjic-299	4	68	human	human	ADJ
hjic-299	4	69	factor	factor	NOUN
hjic-299	4	70	.	.	PUNCT
hjic-299	5	1	new	new	ADJ
hjic-299	5	2	researches	research	NOUN
hjic-299	5	3	in	in	ADP
hjic-299	5	4	this	this	DET
hjic-299	5	5	area	area	NOUN
hjic-299	5	6	have	have	AUX
hjic-299	5	7	arisen	arise	VERB
hjic-299	5	8	in	in	ADP
hjic-299	5	9	the	the	DET
hjic-299	5	10	past	past	ADJ
hjic-299	5	11	years	year	NOUN
hjic-299	5	12	.	.	PUNCT
hjic-299	6	1	in	in	ADP
hjic-299	6	2	the	the	DET
hjic-299	6	3	next	next	ADJ
hjic-299	6	4	few	few	ADJ
hjic-299	6	5	lines	line	NOUN
hjic-299	6	6	an	an	DET
hjic-299	6	7	overview	overview	NOUN
hjic-299	6	8	of	of	ADP
hjic-299	6	9	the	the	DET
hjic-299	6	10	state	state	NOUN
hjic-299	6	11	of	of	ADP
hjic-299	6	12	the	the	DET
hjic-299	6	13	art	art	NOUN
hjic-299	6	14	in	in	ADP
hjic-299	6	15	this	this	DET
hjic-299	6	16	domain	domain	NOUN
hjic-299	6	17	will	will	AUX
hjic-299	6	18	be	be	AUX
hjic-299	6	19	made	make	VERB
hjic-299	6	20	,	,	PUNCT
hjic-299	6	21	proposals	proposal	NOUN
hjic-299	6	22	go	go	VERB
hjic-299	6	23	from	from	ADP
hjic-299	6	24	robots	robot	NOUN
hjic-299	6	25	designed	design	VERB
hjic-299	6	26	to	to	PART
hjic-299	6	27	repair	repair	VERB
hjic-299	6	28	power	power	NOUN
hjic-299	6	29	line	line	NOUN
hjic-299	6	30	damage	damage	NOUN
hjic-299	6	31	to	to	ADP
hjic-299	6	32	robots	robot	NOUN
hjic-299	6	33	for	for	ADP
hjic-299	6	34	capturing	capture	VERB
hjic-299	6	35	photos	photo	NOUN
hjic-299	6	36	of	of	ADP
hjic-299	6	37	animals	animal	NOUN
hjic-299	6	38	in	in	ADP
hjic-299	6	39	the	the	DET
hjic-299	6	40	wild	wild	NOUN
hjic-299	6	41	without	without	ADP
hjic-299	6	42	human	human	ADJ
hjic-299	6	43	intervention	intervention	NOUN
hjic-299	6	44	.	.	PUNCT
hjic-299	7	1	the	the	DET
hjic-299	7	2	main	main	ADJ
hjic-299	7	3	objective	objective	NOUN
hjic-299	7	4	in	in	ADP
hjic-299	7	5	this	this	DET
hjic-299	7	6	paper	paper	NOUN
hjic-299	7	7	is	be	AUX
hjic-299	7	8	to	to	PART
hjic-299	7	9	demonstrate	demonstrate	VERB
hjic-299	7	10	the	the	DET
hjic-299	7	11	autonomous	autonomous	ADJ
hjic-299	7	12	navigation	navigation	NOUN
hjic-299	7	13	of	of	ADP
hjic-299	7	14	a	a	DET
hjic-299	7	15	mobile	mobile	ADJ
hjic-299	7	16	robot	robot	NOUN
hjic-299	7	17	in	in	ADP
hjic-299	7	18	a	a	DET
hjic-299	7	19	polluted	polluted	ADJ
hjic-299	7	20	environment	environment	NOUN
hjic-299	7	21	.	.	PUNCT
hjic-299	8	1	so	so	ADV
hjic-299	8	2	far	far	ADV
hjic-299	8	3	the	the	DET
hjic-299	8	4	research	research	NOUN
hjic-299	8	5	on	on	ADP
hjic-299	8	6	robots	robot	NOUN
hjic-299	8	7	used	use	VERB
hjic-299	8	8	for	for	ADP
hjic-299	8	9	detection	detection	NOUN
hjic-299	8	10	of	of	ADP
hjic-299	8	11	gas	gas	NOUN
hjic-299	8	12	sources	source	NOUN
hjic-299	8	13	was	be	AUX
hjic-299	8	14	focused	focus	VERB
hjic-299	8	15	mainly	mainly	ADV
hjic-299	8	16	on	on	ADP
hjic-299	8	17	indoor	indoor	ADJ
hjic-299	8	18	environments	environment	NOUN
hjic-299	8	19	,	,	PUNCT
hjic-299	8	20	but	but	CCONJ
hjic-299	8	21	,	,	PUNCT
hjic-299	8	22	in	in	ADP
hjic-299	8	23	the	the	DET
hjic-299	8	24	recent	recent	ADJ
hjic-299	8	25	years	year	NOUN
hjic-299	8	26	,	,	PUNCT
hjic-299	8	27	a	a	DET
hjic-299	8	28	constant	constant	ADJ
hjic-299	8	29	move	move	NOUN
hjic-299	8	30	towards	towards	ADP
hjic-299	8	31	the	the	DET
hjic-299	8	32	outdoor	outdoor	ADJ
hjic-299	8	33	environment	environment	NOUN
hjic-299	8	34	can	can	AUX
hjic-299	8	35	be	be	AUX
hjic-299	8	36	observed	observe	VERB
hjic-299	8	37	.	.	PUNCT
hjic-299	9	1	there	there	PRON
hjic-299	9	2	can	can	AUX
hjic-299	9	3	be	be	AUX
hjic-299	9	4	found	find	VERB
hjic-299	9	5	several	several	ADJ
hjic-299	9	6	researches	research	NOUN
hjic-299	9	7	with	with	ADP
hjic-299	9	8	different	different	ADJ
hjic-299	9	9	applications	application	NOUN
hjic-299	9	10	in	in	ADP
hjic-299	9	11	the	the	DET
hjic-299	9	12	area	area	NOUN
hjic-299	9	13	of	of	ADP
hjic-299	9	14	ecological	ecological	ADJ
hjic-299	9	15	robots	robot	NOUN
hjic-299	9	16	.	.	PUNCT
hjic-299	10	1	keywords	keyword	NOUN
hjic-299	10	2	:	:	PUNCT
hjic-299	10	3	autonomous	autonomous	ADJ
hjic-299	10	4	mobile	mobile	ADJ
hjic-299	10	5	robots	robot	NOUN
hjic-299	10	6	,	,	PUNCT
hjic-299	10	7	mapping	mapping	NOUN
hjic-299	10	8	,	,	PUNCT
hjic-299	10	9	navigation	navigation	NOUN
hjic-299	10	10	,	,	PUNCT
hjic-299	10	11	polluted	polluted	ADJ
hjic-299	10	12	enviromnets	enviromnet	NOUN
hjic-299	10	13	.	.	PUNCT
hjic-299	11	1	introduction	introduction	NOUN
hjic-299	11	2	there	there	PRON
hjic-299	11	3	are	be	VERB
hjic-299	11	4	many	many	ADJ
hjic-299	11	5	kinds	kind	NOUN
hjic-299	11	6	of	of	ADP
hjic-299	11	7	environmental	environmental	ADJ
hjic-299	11	8	robots	robot	NOUN
hjic-299	11	9	which	which	PRON
hjic-299	11	10	have	have	VERB
hjic-299	11	11	various	various	ADJ
hjic-299	11	12	usage	usage	NOUN
hjic-299	11	13	in	in	ADP
hjic-299	11	14	order	order	NOUN
hjic-299	11	15	to	to	PART
hjic-299	11	16	detect	detect	VERB
hjic-299	11	17	failures	failure	NOUN
hjic-299	11	18	in	in	ADP
hjic-299	11	19	proximity	proximity	NOUN
hjic-299	11	20	of	of	ADP
hjic-299	11	21	the	the	DET
hjic-299	11	22	robot	robot	NOUN
hjic-299	11	23	excluding	exclude	VERB
hjic-299	11	24	the	the	DET
hjic-299	11	25	human	human	NOUN
hjic-299	11	26	being	being	NOUN
hjic-299	11	27	from	from	ADP
hjic-299	11	28	a	a	DET
hjic-299	11	29	possible	possible	ADJ
hjic-299	11	30	dangerous	dangerous	ADJ
hjic-299	11	31	situation	situation	NOUN
hjic-299	11	32	.	.	PUNCT
hjic-299	12	1	describing	describe	VERB
hjic-299	12	2	a	a	DET
hjic-299	12	3	few	few	ADJ
hjic-299	12	4	prototype	prototype	NOUN
hjic-299	12	5	examples	example	NOUN
hjic-299	12	6	would	would	AUX
hjic-299	12	7	demonstrate	demonstrate	VERB
hjic-299	12	8	the	the	DET
hjic-299	12	9	utility	utility	NOUN
hjic-299	12	10	of	of	ADP
hjic-299	12	11	the	the	DET
hjic-299	12	12	research	research	NOUN
hjic-299	12	13	in	in	ADP
hjic-299	12	14	this	this	DET
hjic-299	12	15	field	field	NOUN
hjic-299	12	16	.	.	PUNCT
hjic-299	13	1	a	a	DET
hjic-299	13	2	first	first	ADJ
hjic-299	13	3	example	example	NOUN
hjic-299	13	4	would	would	AUX
hjic-299	13	5	be	be	AUX
hjic-299	13	6	a	a	DET
hjic-299	13	7	robot	robot	NOUN
hjic-299	13	8	that	that	PRON
hjic-299	13	9	is	be	AUX
hjic-299	13	10	able	able	ADJ
hjic-299	13	11	to	to	PART
hjic-299	13	12	detect	detect	VERB
hjic-299	13	13	defects	defect	NOUN
hjic-299	13	14	on	on	ADP
hjic-299	13	15	power	power	NOUN
hjic-299	13	16	lines	line	NOUN
hjic-299	13	17	.	.	PUNCT
hjic-299	14	1	the	the	DET
hjic-299	14	2	device	device	NOUN
hjic-299	14	3	uses	use	VERB
hjic-299	14	4	rollers	roller	NOUN
hjic-299	14	5	to	to	PART
hjic-299	14	6	clamp	clamp	VERB
hjic-299	14	7	onto	onto	ADP
hjic-299	14	8	and	and	CCONJ
hjic-299	14	9	move	move	VERB
hjic-299	14	10	along	along	ADP
hjic-299	14	11	a	a	DET
hjic-299	14	12	power	power	NOUN
hjic-299	14	13	line	line	NOUN
hjic-299	14	14	.	.	PUNCT
hjic-299	15	1	the	the	DET
hjic-299	15	2	robot	robot	NOUN
hjic-299	15	3	will	will	AUX
hjic-299	15	4	do	do	VERB
hjic-299	15	5	image	image	NOUN
hjic-299	15	6	analysis	analysis	NOUN
hjic-299	15	7	to	to	PART
hjic-299	15	8	see	see	VERB
hjic-299	15	9	if	if	SCONJ
hjic-299	15	10	there	there	PRON
hjic-299	15	11	is	be	VERB
hjic-299	15	12	something	something	PRON
hjic-299	15	13	different	different	ADJ
hjic-299	15	14	with	with	ADP
hjic-299	15	15	the	the	DET
hjic-299	15	16	structure	structure	NOUN
hjic-299	15	17	compared	compare	VERB
hjic-299	15	18	to	to	ADP
hjic-299	15	19	an	an	DET
hjic-299	15	20	earlier	early	ADJ
hjic-299	15	21	picture	picture	NOUN
hjic-299	15	22	taken	take	VERB
hjic-299	15	23	from	from	ADP
hjic-299	15	24	the	the	DET
hjic-299	15	25	exact	exact	ADJ
hjic-299	15	26	same	same	ADJ
hjic-299	15	27	spot	spot	NOUN
hjic-299	15	28	,	,	PUNCT
hjic-299	15	29	being	be	AUX
hjic-299	15	30	able	able	ADJ
hjic-299	15	31	to	to	PART
hjic-299	15	32	remotely	remotely	ADV
hjic-299	15	33	spot	spot	VERB
hjic-299	15	34	high	high	ADJ
hjic-299	15	35	-	-	PUNCT
hjic-299	15	36	risk	risk	NOUN
hjic-299	15	37	trees	tree	NOUN
hjic-299	15	38	,	,	PUNCT
hjic-299	15	39	which	which	PRON
hjic-299	15	40	are	be	AUX
hjic-299	15	41	the	the	DET
hjic-299	15	42	top	top	ADJ
hjic-299	15	43	cause	cause	NOUN
hjic-299	15	44	of	of	ADP
hjic-299	15	45	electrical	electrical	ADJ
hjic-299	15	46	outages	outage	NOUN
hjic-299	15	47	.	.	PUNCT
hjic-299	16	1	the	the	DET
hjic-299	16	2	prototype	prototype	NOUN
hjic-299	16	3	robot	robot	NOUN
hjic-299	16	4	will	will	AUX
hjic-299	16	5	also	also	ADV
hjic-299	16	6	make	make	VERB
hjic-299	16	7	sure	sure	ADJ
hjic-299	16	8	there	there	PRON
hjic-299	16	9	are	be	VERB
hjic-299	16	10	no	no	DET
hjic-299	16	11	faulty	faulty	ADJ
hjic-299	16	12	connections	connection	NOUN
hjic-299	16	13	that	that	PRON
hjic-299	16	14	can	can	AUX
hjic-299	16	15	cause	cause	VERB
hjic-299	16	16	overheating	overheating	ADJ
hjic-299	16	17	,	,	PUNCT
hjic-299	16	18	and	and	CCONJ
hjic-299	16	19	listen	listen	VERB
hjic-299	16	20	for	for	ADP
hjic-299	16	21	electromagnetic	electromagnetic	ADJ
hjic-299	16	22	"	"	PUNCT
hjic-299	16	23	noise	noise	NOUN
hjic-299	16	24	"	"	PUNCT
hjic-299	16	25	that	that	PRON
hjic-299	16	26	might	might	AUX
hjic-299	16	27	indicate	indicate	VERB
hjic-299	16	28	other	other	ADJ
hjic-299	16	29	problems	problem	NOUN
hjic-299	16	30	with	with	ADP
hjic-299	16	31	the	the	DET
hjic-299	16	32	equipment	equipment	NOUN
hjic-299	16	33	.	.	PUNCT
hjic-299	17	1	figure	figure	NOUN
hjic-299	17	2	1	1	NUM
hjic-299	17	3	:	:	PUNCT
hjic-299	17	4	electric	electric	ADJ
hjic-299	17	5	power	power	PROPN
hjic-299	17	6	research	research	PROPN
hjic-299	17	7	institute	institute	PROPN
hjic-299	17	8	prototype	prototype	NOUN
hjic-299	17	9	another	another	DET
hjic-299	17	10	proposal	proposal	NOUN
hjic-299	17	11	is	be	AUX
hjic-299	17	12	the	the	DET
hjic-299	17	13	traffic	traffic	NOUN
hjic-299	17	14	regulating	regulate	VERB
hjic-299	17	15	robots	robot	NOUN
hjic-299	17	16	powered	power	VERB
hjic-299	17	17	by	by	ADP
hjic-299	17	18	solar	solar	ADJ
hjic-299	17	19	energy	energy	NOUN
hjic-299	17	20	.	.	PUNCT
hjic-299	18	1	qatar	qatar	PROPN
hjic-299	18	2	’s	’s	PART
hjic-299	18	3	public	public	ADJ
hjic-299	18	4	works	work	NOUN
hjic-299	18	5	authority	authority	NOUN
hjic-299	18	6	with	with	ADP
hjic-299	18	7	support	support	NOUN
hjic-299	18	8	from	from	ADP
hjic-299	18	9	the	the	DET
hjic-299	18	10	qatar	qatar	PROPN
hjic-299	18	11	science	science	NOUN
hjic-299	18	12	club	club	NOUN
hjic-299	18	13	will	will	AUX
hjic-299	18	14	soon	soon	ADV
hjic-299	18	15	be	be	AUX
hjic-299	18	16	developing	develop	VERB
hjic-299	18	17	new	new	ADJ
hjic-299	18	18	robots	robot	NOUN
hjic-299	18	19	that	that	PRON
hjic-299	18	20	will	will	AUX
hjic-299	18	21	replace	replace	VERB
hjic-299	18	22	the	the	DET
hjic-299	18	23	manual	manual	ADJ
hjic-299	18	24	methods	method	NOUN
hjic-299	18	25	used	use	VERB
hjic-299	18	26	in	in	ADP
hjic-299	18	27	guiding	guide	VERB
hjic-299	18	28	traffic	traffic	NOUN
hjic-299	18	29	at	at	ADP
hjic-299	18	30	varies	varie	NOUN
hjic-299	18	31	road	road	NOUN
hjic-299	18	32	project	project	NOUN
hjic-299	18	33	sites	site	NOUN
hjic-299	18	34	.	.	PUNCT
hjic-299	19	1	the	the	DET
hjic-299	19	2	green	green	ADJ
hjic-299	19	3	robots	robot	NOUN
hjic-299	19	4	will	will	AUX
hjic-299	19	5	be	be	AUX
hjic-299	19	6	powered	power	VERB
hjic-299	19	7	by	by	ADP
hjic-299	19	8	solar	solar	ADJ
hjic-299	19	9	energy	energy	NOUN
hjic-299	19	10	harvested	harvest	VERB
hjic-299	19	11	by	by	ADP
hjic-299	19	12	onboard	onboard	ADJ
hjic-299	19	13	solar	solar	ADJ
hjic-299	19	14	panels	panel	NOUN
hjic-299	19	15	.	.	PUNCT
hjic-299	20	1	the	the	DET
hjic-299	20	2	robots	robot	NOUN
hjic-299	20	3	will	will	AUX
hjic-299	20	4	control	control	VERB
hjic-299	20	5	traffic	traffic	NOUN
hjic-299	20	6	at	at	ADP
hjic-299	20	7	major	major	ADJ
hjic-299	20	8	ongoing	ongoing	ADJ
hjic-299	20	9	road	road	NOUN
hjic-299	20	10	projects	project	NOUN
hjic-299	20	11	in	in	ADP
hjic-299	20	12	the	the	DET
hjic-299	20	13	main	main	ADJ
hjic-299	20	14	cities	city	NOUN
hjic-299	20	15	.	.	PUNCT
hjic-299	21	1	the	the	DET
hjic-299	21	2	us	us	PROPN
hjic-299	21	3	scientists	scientist	NOUN
hjic-299	21	4	developed	develop	VERB
hjic-299	21	5	a	a	DET
hjic-299	21	6	solar	solar	ADJ
hjic-299	21	7	-	-	PUNCT
hjic-299	21	8	powered	power	VERB
hjic-299	21	9	prototype	prototype	NOUN
hjic-299	21	10	and	and	CCONJ
hjic-299	21	11	tested	test	VERB
hjic-299	21	12	it	it	PRON
hjic-299	21	13	in	in	ADP
hjic-299	21	14	greenland	greenland	PROPN
hjic-299	21	15	.	.	PUNCT
hjic-299	22	1	these	these	PRON
hjic-299	22	2	are	be	AUX
hjic-299	22	3	the	the	DET
hjic-299	22	4	next	next	ADJ
hjic-299	22	5	generation	generation	NOUN
hjic-299	22	6	of	of	ADP
hjic-299	22	7	antarctic	antarctic	ADJ
hjic-299	22	8	explorer	explorer	NOUN
hjic-299	22	9	robots	robot	NOUN
hjic-299	22	10	capable	capable	ADJ
hjic-299	22	11	of	of	ADP
hjic-299	22	12	driving	drive	VERB
hjic-299	22	13	hundreds	hundred	NOUN
hjic-299	22	14	of	of	ADP
hjic-299	22	15	kilometers	kilometer	NOUN
hjic-299	22	16	and	and	CCONJ
hjic-299	22	17	doing	do	VERB
hjic-299	22	18	scientific	scientific	ADJ
hjic-299	22	19	experiments	experiment	NOUN
hjic-299	22	20	alone	alone	ADV
hjic-299	22	21	.	.	PUNCT
hjic-299	23	1	these	these	PRON
hjic-299	23	2	could	could	AUX
hjic-299	23	3	perform	perform	VERB
hjic-299	23	4	scientific	scientific	ADJ
hjic-299	23	5	experiments	experiment	NOUN
hjic-299	23	6	where	where	SCONJ
hjic-299	23	7	access	access	NOUN
hjic-299	23	8	is	be	AUX
hjic-299	23	9	currently	currently	ADV
hjic-299	23	10	difficult	difficult	ADJ
hjic-299	23	11	or	or	CCONJ
hjic-299	23	12	expensive	expensive	ADJ
hjic-299	23	13	.	.	PUNCT
hjic-299	24	1	there	there	PRON
hjic-299	24	2	are	be	VERB
hjic-299	24	3	two	two	NUM
hjic-299	24	4	basic	basic	ADJ
hjic-299	24	5	types	type	NOUN
hjic-299	24	6	of	of	ADP
hjic-299	24	7	mission	mission	NOUN
hjic-299	24	8	scenario	scenario	PROPN
hjic-299	24	9	one	one	PRON
hjic-299	24	10	would	would	AUX
hjic-299	24	11	be	be	AUX
hjic-299	24	12	to	to	PART
hjic-299	24	13	stop	stop	VERB
hjic-299	24	14	the	the	DET
hjic-299	24	15	robot	robot	NOUN
hjic-299	24	16	on	on	ADP
hjic-299	24	17	the	the	DET
hjic-299	24	18	driving	driving	NOUN
hjic-299	24	19	trajectory	trajectory	NOUN
hjic-299	24	20	and	and	CCONJ
hjic-299	24	21	take	take	VERB
hjic-299	24	22	the	the	DET
hjic-299	24	23	data	datum	NOUN
hjic-299	24	24	you	you	PRON
hjic-299	24	25	need	need	VERB
hjic-299	24	26	things	thing	NOUN
hjic-299	24	27	like	like	ADP
hjic-299	24	28	sampling	sample	VERB
hjic-299	24	29	for	for	ADP
hjic-299	24	30	bacteria	bacteria	NOUN
hjic-299	24	31	in	in	ADP
hjic-299	24	32	the	the	DET
hjic-299	24	33	snow	snow	NOUN
hjic-299	24	34	,	,	PUNCT
hjic-299	24	35	measuring	measure	VERB
hjic-299	24	36	the	the	DET
hjic-299	24	37	atmosphere	atmosphere	NOUN
hjic-299	24	38	,	,	PUNCT
hjic-299	24	39	or	or	CCONJ
hjic-299	24	40	doing	do	VERB
hjic-299	24	41	a	a	DET
hjic-299	24	42	glaciological	glaciological	ADJ
hjic-299	24	43	survey	survey	NOUN
hjic-299	24	44	with	with	ADP
hjic-299	24	45	ground	ground	NOUN
hjic-299	24	46	-	-	PUNCT
hjic-299	24	47	penetrating	penetrate	VERB
hjic-299	24	48	radar	radar	NOUN
hjic-299	24	49	[	[	X
hjic-299	24	50	3	3	NUM
hjic-299	24	51	]	]	PUNCT
hjic-299	24	52	.	.	PUNCT
hjic-299	25	1	another	another	DET
hjic-299	25	2	environmental	environmental	ADJ
hjic-299	25	3	robot	robot	NOUN
hjic-299	25	4	,	,	PUNCT
hjic-299	25	5	the	the	DET
hjic-299	25	6	dustcart	dustcart	NOUN
hjic-299	25	7	,	,	PUNCT
hjic-299	25	8	was	be	AUX
hjic-299	25	9	developed	develop	VERB
hjic-299	25	10	by	by	ADP
hjic-299	25	11	numerous	numerous	ADJ
hjic-299	25	12	european	european	ADJ
hjic-299	25	13	companies	company	NOUN
hjic-299	25	14	and	and	CCONJ
hjic-299	25	15	universities	university	NOUN
hjic-299	25	16	,	,	PUNCT
hjic-299	25	17	who	who	PRON
hjic-299	25	18	aims	aim	VERB
hjic-299	25	19	to	to	PART
hjic-299	25	20	be	be	AUX
hjic-299	25	21	a	a	DET
hjic-299	25	22	collecting	collecting	NOUN
hjic-299	25	23	and	and	CCONJ
hjic-299	25	24	segregating	segregate	VERB
hjic-299	25	25	garbage	garbage	NOUN
hjic-299	25	26	robot	robot	NOUN
hjic-299	25	27	.	.	PUNCT
hjic-299	26	1	what	what	PRON
hjic-299	26	2	’s	’	VERB
hjic-299	26	3	more	more	ADJ
hjic-299	26	4	,	,	PUNCT
hjic-299	26	5	it	it	PRON
hjic-299	26	6	can	can	AUX
hjic-299	26	7	go	go	VERB
hjic-299	26	8	door	door	NOUN
hjic-299	26	9	to	to	PART
hjic-299	26	10	door	door	VERB
hjic-299	26	11	playing	play	VERB
hjic-299	26	12	garbage	garbage	NOUN
hjic-299	26	13	man	man	NOUN
hjic-299	26	14	and	and	CCONJ
hjic-299	26	15	can	can	AUX
hjic-299	26	16	be	be	AUX
hjic-299	26	17	summoned	summon	VERB
hjic-299	26	18	by	by	ADP
hjic-299	26	19	a	a	DET
hjic-299	26	20	cell	cell	NOUN
hjic-299	26	21	phone	phone	NOUN
hjic-299	26	22	.	.	PUNCT
hjic-299	27	1	to	to	PART
hjic-299	27	2	top	top	VERB
hjic-299	27	3	it	it	PRON
hjic-299	27	4	all	all	PRON
hjic-299	27	5	off	off	ADP
hjic-299	27	6	,	,	PUNCT
hjic-299	27	7	it	it	PRON
hjic-299	27	8	can	can	AUX
hjic-299	27	9	also	also	ADV
hjic-299	27	10	act	act	VERB
hjic-299	27	11	as	as	ADP
hjic-299	27	12	a	a	DET
hjic-299	27	13	mobile	mobile	ADJ
hjic-299	27	14	pollution	pollution	NOUN
hjic-299	27	15	monitor	monitor	NOUN
hjic-299	27	16	by	by	ADP
hjic-299	27	17	monitoring	monitor	VERB
hjic-299	27	18	atmospheric	atmospheric	ADJ
hjic-299	27	19	pollution	pollution	NOUN
hjic-299	27	20	levels	level	NOUN
hjic-299	27	21	.	.	PUNCT
hjic-299	28	1	figure	figure	NOUN
hjic-299	28	2	2	2	NUM
hjic-299	28	3	:	:	PUNCT
hjic-299	28	4	the	the	DET
hjic-299	28	5	dustcart	dustcart	NOUN
hjic-299	28	6	188	188	NUM
hjic-299	28	7	research	research	NOUN
hjic-299	28	8	on	on	ADP
hjic-299	28	9	using	use	VERB
hjic-299	28	10	chemical	chemical	ADJ
hjic-299	28	11	sensors	sensor	NOUN
hjic-299	28	12	in	in	ADP
hjic-299	28	13	robotic	robotic	ADJ
hjic-299	28	14	systems	system	NOUN
hjic-299	28	15	started	start	VERB
hjic-299	28	16	in	in	ADP
hjic-299	28	17	early	early	ADJ
hjic-299	28	18	nineties	ninety	NOUN
hjic-299	28	19	focusing	focus	VERB
hjic-299	28	20	on	on	ADP
hjic-299	28	21	the	the	DET
hjic-299	28	22	development	development	NOUN
hjic-299	28	23	of	of	ADP
hjic-299	28	24	two	two	NUM
hjic-299	28	25	typologies	typology	NOUN
hjic-299	28	26	of	of	ADP
hjic-299	28	27	robots	robot	NOUN
hjic-299	28	28	:	:	PUNCT
hjic-299	28	29	the	the	DET
hjic-299	28	30	first	first	ADJ
hjic-299	28	31	typology	typology	NOUN
hjic-299	28	32	is	be	AUX
hjic-299	28	33	able	able	ADJ
hjic-299	28	34	to	to	PART
hjic-299	28	35	follow	follow	VERB
hjic-299	28	36	odor	odor	NOUN
hjic-299	28	37	trails	trail	NOUN
hjic-299	28	38	marked	mark	VERB
hjic-299	28	39	on	on	ADP
hjic-299	28	40	the	the	DET
hjic-299	28	41	ground	ground	NOUN
hjic-299	28	42	as	as	SCONJ
hjic-299	28	43	ants	ant	NOUN
hjic-299	28	44	follow	follow	VERB
hjic-299	28	45	a	a	DET
hjic-299	28	46	pheromone	pheromone	NOUN
hjic-299	28	47	trail	trail	NOUN
hjic-299	29	1	[	[	X
hjic-299	29	2	1	1	NUM
hjic-299	29	3	]	]	PUNCT
hjic-299	29	4	;	;	PUNCT
hjic-299	29	5	the	the	DET
hjic-299	29	6	second	second	ADJ
hjic-299	29	7	one	one	NOUN
hjic-299	29	8	is	be	AUX
hjic-299	29	9	able	able	ADJ
hjic-299	29	10	to	to	PART
hjic-299	29	11	track	track	VERB
hjic-299	29	12	odor	odor	NOUN
hjic-299	29	13	trails	trail	NOUN
hjic-299	29	14	formed	form	VERB
hjic-299	29	15	in	in	ADP
hjic-299	29	16	fluid	fluid	ADJ
hjic-299	29	17	media	medium	NOUN
hjic-299	29	18	to	to	PART
hjic-299	29	19	find	find	VERB
hjic-299	29	20	a	a	DET
hjic-299	29	21	chemical	chemical	ADJ
hjic-299	29	22	source	source	NOUN
hjic-299	29	23	[	[	X
hjic-299	29	24	20	20	NUM
hjic-299	29	25	,	,	PUNCT
hjic-299	29	26	9	9	NUM
hjic-299	29	27	,	,	PUNCT
hjic-299	29	28	2	2	NUM
hjic-299	29	29	]	]	PUNCT
hjic-299	29	30	.	.	PUNCT
hjic-299	30	1	nowadays	nowadays	ADV
hjic-299	30	2	this	this	DET
hjic-299	30	3	research	research	NOUN
hjic-299	30	4	field	field	NOUN
hjic-299	30	5	of	of	ADP
hjic-299	30	6	finding	find	VERB
hjic-299	30	7	places	place	NOUN
hjic-299	30	8	where	where	SCONJ
hjic-299	30	9	chemical	chemical	NOUN
hjic-299	30	10	sources	source	NOUN
hjic-299	30	11	are	be	AUX
hjic-299	30	12	present	present	ADJ
hjic-299	30	13	or	or	CCONJ
hjic-299	30	14	in	in	ADP
hjic-299	30	15	the	the	DET
hjic-299	30	16	air	air	NOUN
hjic-299	30	17	or	or	CCONJ
hjic-299	30	18	on	on	ADP
hjic-299	30	19	the	the	DET
hjic-299	30	20	ground	ground	NOUN
hjic-299	30	21	surface	surface	NOUN
hjic-299	30	22	or	or	CCONJ
hjic-299	30	23	underground	underground	NOUN
hjic-299	30	24	,	,	PUNCT
hjic-299	30	25	has	have	AUX
hjic-299	30	26	been	be	AUX
hjic-299	30	27	widely	widely	ADV
hjic-299	30	28	spreaded	spread	VERB
hjic-299	30	29	.	.	PUNCT
hjic-299	31	1	other	other	ADJ
hjic-299	31	2	robots	robot	NOUN
hjic-299	31	3	for	for	ADP
hjic-299	31	4	monitoring	monitor	VERB
hjic-299	31	5	gas	gas	NOUN
hjic-299	31	6	pollution	pollution	NOUN
hjic-299	31	7	in	in	ADP
hjic-299	31	8	areas	area	NOUN
hjic-299	31	9	of	of	ADP
hjic-299	31	10	interest	interest	NOUN
hjic-299	31	11	have	have	AUX
hjic-299	31	12	been	be	AUX
hjic-299	31	13	proposed	propose	VERB
hjic-299	31	14	in	in	ADP
hjic-299	31	15	literature	literature	NOUN
hjic-299	31	16	.	.	PUNCT
hjic-299	32	1	there	there	PRON
hjic-299	32	2	are	be	VERB
hjic-299	32	3	robots	robot	NOUN
hjic-299	32	4	designed	design	VERB
hjic-299	32	5	to	to	PART
hjic-299	32	6	monitor	monitor	VERB
hjic-299	32	7	ammonia	ammonia	NOUN
hjic-299	32	8	pollution	pollution	NOUN
hjic-299	32	9	near	near	ADP
hjic-299	32	10	animal	animal	NOUN
hjic-299	32	11	farms	farm	NOUN
hjic-299	32	12	[	[	X
hjic-299	32	13	11	11	NUM
hjic-299	32	14	]	]	PUNCT
hjic-299	32	15	,	,	PUNCT
hjic-299	32	16	robots	robot	NOUN
hjic-299	32	17	designed	design	VERB
hjic-299	32	18	to	to	PART
hjic-299	32	19	go	go	VERB
hjic-299	32	20	into	into	ADP
hjic-299	32	21	old	old	ADJ
hjic-299	32	22	mines	mine	NOUN
hjic-299	32	23	and	and	CCONJ
hjic-299	32	24	detect	detect	VERB
hjic-299	32	25	dangers	danger	NOUN
hjic-299	32	26	of	of	ADP
hjic-299	32	27	gas	gas	NOUN
hjic-299	32	28	intoxication	intoxication	NOUN
hjic-299	32	29	and	and	CCONJ
hjic-299	32	30	so	so	ADV
hjic-299	32	31	on	on	ADV
hjic-299	32	32	.	.	PUNCT
hjic-299	33	1	in	in	ADP
hjic-299	33	2	case	case	NOUN
hjic-299	33	3	of	of	ADP
hjic-299	33	4	the	the	DET
hjic-299	33	5	underground	underground	ADJ
hjic-299	33	6	search	search	NOUN
hjic-299	33	7	finding	find	VERB
hjic-299	33	8	unexploded	unexploded	ADJ
hjic-299	33	9	ordinance	ordinance	NOUN
hjic-299	33	10	,	,	PUNCT
hjic-299	33	11	land	land	NOUN
hjic-299	33	12	mines	mine	NOUN
hjic-299	33	13	,	,	PUNCT
hjic-299	33	14	and	and	CCONJ
hjic-299	33	15	sources	source	NOUN
hjic-299	33	16	of	of	ADP
hjic-299	33	17	leaks	leak	NOUN
hjic-299	33	18	from	from	ADP
hjic-299	33	19	pipes	pipe	NOUN
hjic-299	33	20	and	and	CCONJ
hjic-299	33	21	tanks	tank	NOUN
hjic-299	33	22	are	be	AUX
hjic-299	33	23	some	some	DET
hjic-299	33	24	examples	example	NOUN
hjic-299	33	25	.	.	PUNCT
hjic-299	34	1	our	our	PRON
hjic-299	34	2	project	project	NOUN
hjic-299	34	3	proposal	proposal	NOUN
hjic-299	34	4	is	be	AUX
hjic-299	34	5	related	relate	VERB
hjic-299	34	6	to	to	ADP
hjic-299	34	7	a	a	DET
hjic-299	34	8	mine	mine	ADJ
hjic-299	34	9	exploration	exploration	NOUN
hjic-299	34	10	situation	situation	NOUN
hjic-299	34	11	,	,	PUNCT
hjic-299	34	12	where	where	SCONJ
hjic-299	34	13	an	an	DET
hjic-299	34	14	autonomous	autonomous	ADJ
hjic-299	34	15	robot	robot	NOUN
hjic-299	34	16	is	be	AUX
hjic-299	34	17	sent	send	VERB
hjic-299	34	18	to	to	PART
hjic-299	34	19	explore	explore	VERB
hjic-299	34	20	the	the	DET
hjic-299	34	21	area	area	NOUN
hjic-299	34	22	in	in	ADP
hjic-299	34	23	order	order	NOUN
hjic-299	34	24	to	to	PART
hjic-299	34	25	detect	detect	VERB
hjic-299	34	26	places	place	NOUN
hjic-299	34	27	where	where	SCONJ
hjic-299	34	28	the	the	DET
hjic-299	34	29	air	air	NOUN
hjic-299	34	30	contains	contain	VERB
hjic-299	34	31	more	more	ADJ
hjic-299	34	32	chemical	chemical	ADJ
hjic-299	34	33	components	component	NOUN
hjic-299	34	34	than	than	ADP
hjic-299	34	35	the	the	DET
hjic-299	34	36	normal	normal	ADJ
hjic-299	34	37	values	value	NOUN
hjic-299	34	38	.	.	PUNCT
hjic-299	35	1	the	the	DET
hjic-299	35	2	robot	robot	NOUN
hjic-299	35	3	is	be	AUX
hjic-299	35	4	creating	create	VERB
hjic-299	35	5	the	the	DET
hjic-299	35	6	map	map	NOUN
hjic-299	35	7	of	of	ADP
hjic-299	35	8	the	the	DET
hjic-299	35	9	environment	environment	NOUN
hjic-299	35	10	,	,	PUNCT
hjic-299	35	11	which	which	PRON
hjic-299	35	12	is	be	AUX
hjic-299	35	13	explored	explore	VERB
hjic-299	35	14	at	at	ADP
hjic-299	35	15	exact	exact	ADJ
hjic-299	35	16	intervallums	intervallum	NOUN
hjic-299	35	17	.	.	PUNCT
hjic-299	36	1	in	in	ADP
hjic-299	36	2	case	case	NOUN
hjic-299	36	3	of	of	ADP
hjic-299	36	4	pollution	pollution	NOUN
hjic-299	36	5	detection	detection	NOUN
hjic-299	36	6	the	the	DET
hjic-299	36	7	robot	robot	NOUN
hjic-299	36	8	is	be	AUX
hjic-299	36	9	sending	send	VERB
hjic-299	36	10	a	a	DET
hjic-299	36	11	warning	warning	NOUN
hjic-299	36	12	signal	signal	NOUN
hjic-299	36	13	to	to	ADP
hjic-299	36	14	the	the	DET
hjic-299	36	15	server	server	NOUN
hjic-299	36	16	by	by	ADP
hjic-299	36	17	wireless	wireless	ADJ
hjic-299	36	18	network	network	NOUN
hjic-299	36	19	.	.	PUNCT
hjic-299	37	1	the	the	DET
hjic-299	37	2	warning	warning	NOUN
hjic-299	37	3	message	message	NOUN
hjic-299	37	4	contains	contain	VERB
hjic-299	37	5	the	the	DET
hjic-299	37	6	position	position	NOUN
hjic-299	37	7	of	of	ADP
hjic-299	37	8	the	the	DET
hjic-299	37	9	robot	robot	NOUN
hjic-299	37	10	and	and	CCONJ
hjic-299	37	11	the	the	DET
hjic-299	37	12	quantity	quantity	NOUN
hjic-299	37	13	of	of	ADP
hjic-299	37	14	the	the	DET
hjic-299	37	15	pollution	pollution	NOUN
hjic-299	37	16	.	.	PUNCT
hjic-299	38	1	using	use	VERB
hjic-299	38	2	all	all	DET
hjic-299	38	3	these	these	DET
hjic-299	38	4	informations	information	NOUN
hjic-299	38	5	the	the	DET
hjic-299	38	6	rescue	rescue	NOUN
hjic-299	38	7	team	team	NOUN
hjic-299	38	8	can	can	AUX
hjic-299	38	9	be	be	AUX
hjic-299	38	10	sent	send	VERB
hjic-299	38	11	to	to	PART
hjic-299	38	12	avoid	avoid	VERB
hjic-299	38	13	more	more	ADJ
hjic-299	38	14	tragic	tragic	ADJ
hjic-299	38	15	events	event	NOUN
hjic-299	38	16	,	,	PUNCT
hjic-299	38	17	explosions	explosion	NOUN
hjic-299	38	18	which	which	PRON
hjic-299	38	19	can	can	AUX
hjic-299	38	20	harm	harm	VERB
hjic-299	38	21	the	the	DET
hjic-299	38	22	mine	mine	ADJ
hjic-299	38	23	workers	worker	NOUN
hjic-299	38	24	.	.	PUNCT
hjic-299	39	1	in	in	ADP
hjic-299	39	2	fig	fig	NOUN
hjic-299	39	3	.	.	PUNCT
hjic-299	40	1	3	3	NUM
hjic-299	40	2	can	can	AUX
hjic-299	40	3	be	be	AUX
hjic-299	40	4	seen	see	VERB
hjic-299	40	5	a	a	DET
hjic-299	40	6	mine	mine	ADJ
hjic-299	40	7	scene	scene	NOUN
hjic-299	40	8	together	together	ADV
hjic-299	40	9	with	with	ADP
hjic-299	40	10	the	the	DET
hjic-299	40	11	pioneer	pioneer	NOUN
hjic-299	40	12	robot	robot	NOUN
hjic-299	40	13	,	,	PUNCT
hjic-299	40	14	a	a	DET
hjic-299	40	15	four	four	NUM
hjic-299	40	16	wheeled	wheel	VERB
hjic-299	40	17	mobile	mobile	ADJ
hjic-299	40	18	robot	robot	NOUN
hjic-299	40	19	which	which	PRON
hjic-299	40	20	is	be	AUX
hjic-299	40	21	used	use	VERB
hjic-299	40	22	in	in	ADP
hjic-299	40	23	our	our	PRON
hjic-299	40	24	research	research	NOUN
hjic-299	40	25	project	project	NOUN
hjic-299	40	26	.	.	PUNCT
hjic-299	41	1	figure	figure	VERB
hjic-299	41	2	3	3	NUM
hjic-299	41	3	:	:	PUNCT
hjic-299	41	4	mine	mine	NOUN
hjic-299	41	5	scene	scene	NOUN
hjic-299	41	6	with	with	ADP
hjic-299	41	7	the	the	DET
hjic-299	41	8	p3	p3	NOUN
hjic-299	41	9	-	-	PUNCT
hjic-299	41	10	at	at	ADP
hjic-299	41	11	robot	robot	NOUN
hjic-299	41	12	in	in	ADP
hjic-299	41	13	the	the	DET
hjic-299	41	14	following	follow	VERB
hjic-299	41	15	sections	section	NOUN
hjic-299	41	16	the	the	DET
hjic-299	41	17	theories	theory	NOUN
hjic-299	41	18	of	of	ADP
hjic-299	41	19	the	the	DET
hjic-299	41	20	visual	visual	ADJ
hjic-299	41	21	and	and	CCONJ
hjic-299	41	22	laser	laser	NOUN
hjic-299	41	23	system	system	NOUN
hjic-299	41	24	is	be	AUX
hjic-299	41	25	described	describe	VERB
hjic-299	41	26	.	.	PUNCT
hjic-299	42	1	these	these	DET
hjic-299	42	2	two	two	NUM
hjic-299	42	3	systems	system	NOUN
hjic-299	42	4	are	be	AUX
hjic-299	42	5	combined	combine	VERB
hjic-299	42	6	at	at	ADP
hjic-299	42	7	different	different	ADJ
hjic-299	42	8	steps	step	NOUN
hjic-299	42	9	of	of	ADP
hjic-299	42	10	the	the	DET
hjic-299	42	11	robots	robot	NOUN
hjic-299	42	12	behaviour	behaviour	NOUN
hjic-299	42	13	like	like	ADP
hjic-299	42	14	the	the	DET
hjic-299	42	15	mapping	mapping	NOUN
hjic-299	42	16	,	,	PUNCT
hjic-299	42	17	localization	localization	NOUN
hjic-299	42	18	stages	stage	NOUN
hjic-299	42	19	.	.	PUNCT
hjic-299	43	1	theoretical	theoretical	ADJ
hjic-299	43	2	background	background	NOUN
hjic-299	43	3	of	of	ADP
hjic-299	43	4	the	the	DET
hjic-299	43	5	visual	visual	ADJ
hjic-299	43	6	system	system	NOUN
hjic-299	43	7	building	build	VERB
hjic-299	43	8	feature	feature	NOUN
hjic-299	43	9	based	base	VERB
hjic-299	43	10	maps	map	NOUN
hjic-299	43	11	in	in	ADP
hjic-299	43	12	fig	fig	NOUN
hjic-299	43	13	.	.	PUNCT
hjic-299	44	1	4	4	NUM
hjic-299	44	2	is	be	AUX
hjic-299	44	3	shown	show	VERB
hjic-299	44	4	the	the	DET
hjic-299	44	5	diagram	diagram	NOUN
hjic-299	44	6	of	of	ADP
hjic-299	44	7	the	the	DET
hjic-299	44	8	visual	visual	ADJ
hjic-299	44	9	feature	feature	NOUN
hjic-299	44	10	based	base	VERB
hjic-299	44	11	mapping	mapping	NOUN
hjic-299	44	12	algorithm	algorithm	NOUN
hjic-299	44	13	.	.	PUNCT
hjic-299	45	1	the	the	DET
hjic-299	45	2	visual	visual	ADJ
hjic-299	45	3	data	datum	NOUN
hjic-299	45	4	and	and	CCONJ
hjic-299	45	5	the	the	DET
hjic-299	45	6	laser	laser	NOUN
hjic-299	45	7	scans	scan	NOUN
hjic-299	45	8	need	need	VERB
hjic-299	45	9	to	to	PART
hjic-299	45	10	be	be	AUX
hjic-299	45	11	taken	take	VERB
hjic-299	45	12	synchronously	synchronously	ADV
hjic-299	45	13	.	.	PUNCT
hjic-299	46	1	after	after	SCONJ
hjic-299	46	2	the	the	DET
hjic-299	46	3	data	data	NOUN
hjic-299	46	4	acquisition	acquisition	NOUN
hjic-299	46	5	is	be	AUX
hjic-299	46	6	done	do	VERB
hjic-299	46	7	from	from	ADP
hjic-299	46	8	the	the	DET
hjic-299	46	9	displacement	displacement	NOUN
hjic-299	46	10	of	of	ADP
hjic-299	46	11	the	the	DET
hjic-299	46	12	consecutive	consecutive	ADJ
hjic-299	46	13	laser	laser	NOUN
hjic-299	46	14	scans	scan	VERB
hjic-299	46	15	the	the	DET
hjic-299	46	16	robots	robot	NOUN
hjic-299	46	17	displacement	displacement	NOUN
hjic-299	46	18	(	(	PUNCT
hjic-299	46	19	translation	translation	NOUN
hjic-299	46	20	and	and	CCONJ
hjic-299	46	21	rotation	rotation	NOUN
hjic-299	46	22	)	)	PUNCT
hjic-299	46	23	is	be	AUX
hjic-299	46	24	computed	compute	VERB
hjic-299	46	25	with	with	ADP
hjic-299	46	26	a	a	DET
hjic-299	46	27	standard	standard	ADJ
hjic-299	46	28	iterative	iterative	NOUN
hjic-299	46	29	closest	close	ADJ
hjic-299	46	30	point	point	NOUN
hjic-299	46	31	algorithm	algorithm	NOUN
hjic-299	47	1	[	[	X
hjic-299	47	2	22	22	NUM
hjic-299	47	3	]	]	PUNCT
hjic-299	47	4	between	between	ADP
hjic-299	47	5	two	two	NUM
hjic-299	47	6	consecutive	consecutive	ADJ
hjic-299	47	7	scans	scan	NOUN
hjic-299	47	8	.	.	PUNCT
hjic-299	48	1	because	because	SCONJ
hjic-299	48	2	the	the	DET
hjic-299	48	3	test	test	NOUN
hjic-299	48	4	environment	environment	NOUN
hjic-299	48	5	is	be	AUX
hjic-299	48	6	relatively	relatively	ADV
hjic-299	48	7	small	small	ADJ
hjic-299	48	8	a	a	DET
hjic-299	48	9	more	more	ADV
hjic-299	48	10	complex	complex	ADJ
hjic-299	48	11	scan	scan	ADJ
hjic-299	48	12	registration	registration	NOUN
hjic-299	48	13	method	method	NOUN
hjic-299	48	14	is	be	AUX
hjic-299	48	15	not	not	PART
hjic-299	48	16	needed	need	VERB
hjic-299	48	17	like	like	ADP
hjic-299	48	18	in	in	ADP
hjic-299	48	19	[	[	X
hjic-299	48	20	14	14	NUM
hjic-299	48	21	]	]	PUNCT
hjic-299	48	22	,	,	PUNCT
hjic-299	48	23	where	where	SCONJ
hjic-299	48	24	the	the	DET
hjic-299	48	25	problem	problem	NOUN
hjic-299	48	26	of	of	ADP
hjic-299	48	27	mapping	map	VERB
hjic-299	48	28	a	a	DET
hjic-299	48	29	large	large	ADJ
hjic-299	48	30	mine	mine	NOUN
hjic-299	48	31	is	be	AUX
hjic-299	48	32	addressed	address	VERB
hjic-299	48	33	.	.	PUNCT
hjic-299	49	1	figure	figure	VERB
hjic-299	49	2	4	4	NUM
hjic-299	49	3	:	:	PUNCT
hjic-299	49	4	diagram	diagram	NOUN
hjic-299	49	5	of	of	ADP
hjic-299	49	6	the	the	DET
hjic-299	49	7	mapping	mapping	NOUN
hjic-299	49	8	algorithm	algorithm	NOUN
hjic-299	49	9	in	in	ADP
hjic-299	49	10	the	the	DET
hjic-299	49	11	mean	mean	ADJ
hjic-299	49	12	time	time	NOUN
hjic-299	49	13	another	another	DET
hjic-299	49	14	task	task	NOUN
hjic-299	49	15	is	be	AUX
hjic-299	49	16	to	to	PART
hjic-299	49	17	detect	detect	VERB
hjic-299	49	18	the	the	DET
hjic-299	49	19	image	image	NOUN
hjic-299	49	20	features	feature	VERB
hjic-299	49	21	on	on	ADP
hjic-299	49	22	both	both	PRON
hjic-299	49	23	of	of	ADP
hjic-299	49	24	the	the	DET
hjic-299	49	25	stereo	stereo	NOUN
hjic-299	49	26	image	image	NOUN
hjic-299	49	27	pair	pair	NOUN
hjic-299	49	28	synchronously	synchronously	ADV
hjic-299	49	29	.	.	PUNCT
hjic-299	50	1	our	our	PRON
hjic-299	50	2	algorithm	algorithm	NOUN
hjic-299	50	3	uses	use	VERB
hjic-299	50	4	image	image	NOUN
hjic-299	50	5	features	feature	NOUN
hjic-299	50	6	detector	detector	NOUN
hjic-299	50	7	and	and	CCONJ
hjic-299	50	8	descriptor	descriptor	NOUN
hjic-299	50	9	called	call	VERB
hjic-299	50	10	surf	surf	NOUN
hjic-299	50	11	.	.	PUNCT
hjic-299	51	1	surf	surf	PROPN
hjic-299	51	2	is	be	AUX
hjic-299	51	3	an	an	DET
hjic-299	51	4	abbreviation	abbreviation	NOUN
hjic-299	51	5	from	from	ADP
hjic-299	51	6	speeded	speed	VERB
hjic-299	51	7	up	up	ADP
hjic-299	51	8	robust	robust	ADJ
hjic-299	51	9	features	feature	NOUN
hjic-299	51	10	;	;	PUNCT
hjic-299	51	11	it	it	PRON
hjic-299	51	12	is	be	AUX
hjic-299	51	13	a	a	DET
hjic-299	51	14	method	method	NOUN
hjic-299	51	15	,	,	PUNCT
hjic-299	51	16	known	know	VERB
hjic-299	51	17	in	in	ADP
hjic-299	51	18	the	the	DET
hjic-299	51	19	field	field	NOUN
hjic-299	51	20	of	of	ADP
hjic-299	51	21	computer	computer	NOUN
hjic-299	51	22	vision	vision	NOUN
hjic-299	51	23	to	to	PART
hjic-299	51	24	detect	detect	VERB
hjic-299	51	25	interest	interest	NOUN
hjic-299	51	26	points	point	NOUN
hjic-299	51	27	on	on	ADP
hjic-299	51	28	images	image	NOUN
hjic-299	51	29	.	.	PUNCT
hjic-299	52	1	surf	surf	PROPN
hjic-299	52	2	was	be	AUX
hjic-299	52	3	first	first	ADV
hjic-299	52	4	introduced	introduce	VERB
hjic-299	52	5	by	by	ADP
hjic-299	52	6	[	[	X
hjic-299	52	7	7	7	NUM
hjic-299	52	8	]	]	PUNCT
hjic-299	52	9	,	,	PUNCT
hjic-299	52	10	the	the	DET
hjic-299	52	11	advantage	advantage	NOUN
hjic-299	52	12	of	of	ADP
hjic-299	52	13	this	this	DET
hjic-299	52	14	algorithm	algorithm	NOUN
hjic-299	52	15	is	be	AUX
hjic-299	52	16	the	the	DET
hjic-299	52	17	computational	computational	ADJ
hjic-299	52	18	speed	speed	NOUN
hjic-299	52	19	compared	compare	VERB
hjic-299	52	20	with	with	ADP
hjic-299	52	21	other	other	ADJ
hjic-299	52	22	performing	perform	VERB
hjic-299	52	23	image	image	NOUN
hjic-299	52	24	feature	feature	NOUN
hjic-299	52	25	detectors	detector	NOUN
hjic-299	52	26	like	like	ADP
hjic-299	52	27	scaleinvariant	scaleinvariant	ADJ
hjic-299	52	28	feature	feature	NOUN
hjic-299	52	29	transform	transform	NOUN
hjic-299	52	30	(	(	PUNCT
hjic-299	52	31	sift	sift	NOUN
hjic-299	52	32	)	)	PUNCT
hjic-299	52	33	presented	present	VERB
hjic-299	52	34	by	by	ADP
hjic-299	52	35	[	[	X
hjic-299	52	36	17	17	NUM
hjic-299	52	37	]	]	PUNCT
hjic-299	52	38	,	,	PUNCT
hjic-299	52	39	maintaining	maintain	VERB
hjic-299	52	40	approximately	approximately	ADV
hjic-299	52	41	the	the	DET
hjic-299	52	42	same	same	ADJ
hjic-299	52	43	or	or	CCONJ
hjic-299	52	44	even	even	ADV
hjic-299	52	45	better	well	ADJ
hjic-299	52	46	performances	performance	NOUN
hjic-299	52	47	regarding	regard	VERB
hjic-299	52	48	:	:	PUNCT
hjic-299	52	49	repeatability	repeatability	NOUN
hjic-299	52	50	,	,	PUNCT
hjic-299	52	51	distinctiveness	distinctiveness	NOUN
hjic-299	52	52	and	and	CCONJ
hjic-299	52	53	robustness	robustness	NOUN
hjic-299	52	54	.	.	PUNCT
hjic-299	53	1	in	in	ADP
hjic-299	53	2	[	[	X
hjic-299	53	3	22	22	NUM
hjic-299	53	4	]	]	PUNCT
hjic-299	53	5	is	be	AUX
hjic-299	53	6	concluded	conclude	VERB
hjic-299	53	7	that	that	SCONJ
hjic-299	53	8	surf	surf	NOUN
hjic-299	53	9	is	be	AUX
hjic-299	53	10	one	one	NUM
hjic-299	53	11	of	of	ADP
hjic-299	53	12	the	the	DET
hjic-299	53	13	most	most	ADV
hjic-299	53	14	suitable	suitable	ADJ
hjic-299	53	15	descriptor	descriptor	NOUN
hjic-299	53	16	for	for	ADP
hjic-299	53	17	visual	visual	ADJ
hjic-299	53	18	simultaneous	simultaneous	ADJ
hjic-299	53	19	localization	localization	NOUN
hjic-299	53	20	and	and	CCONJ
hjic-299	53	21	mapping	mapping	NOUN
hjic-299	53	22	applications	application	NOUN
hjic-299	53	23	.	.	PUNCT
hjic-299	54	1	the	the	DET
hjic-299	54	2	algorithm	algorithm	NOUN
hjic-299	54	3	and	and	CCONJ
hjic-299	54	4	the	the	DET
hjic-299	54	5	performances	performance	NOUN
hjic-299	54	6	are	be	AUX
hjic-299	54	7	largely	largely	ADV
hjic-299	54	8	discussed	discuss	VERB
hjic-299	54	9	in	in	ADP
hjic-299	54	10	[	[	X
hjic-299	54	11	6	6	NUM
hjic-299	54	12	]	]	PUNCT
hjic-299	54	13	and	and	CCONJ
hjic-299	54	14	[	[	X
hjic-299	54	15	16	16	NUM
hjic-299	54	16	]	]	PUNCT
hjic-299	54	17	,	,	PUNCT
hjic-299	54	18	whereas	whereas	SCONJ
hjic-299	54	19	hereby	hereby	ADV
hjic-299	54	20	only	only	ADV
hjic-299	54	21	a	a	DET
hjic-299	54	22	short	short	ADJ
hjic-299	54	23	overview	overview	NOUN
hjic-299	54	24	is	be	AUX
hjic-299	54	25	presented	present	VERB
hjic-299	54	26	.	.	PUNCT
hjic-299	55	1	the	the	DET
hjic-299	55	2	main	main	ADJ
hjic-299	55	3	reason	reason	NOUN
hjic-299	55	4	why	why	SCONJ
hjic-299	55	5	the	the	DET
hjic-299	55	6	algorithm	algorithm	NOUN
hjic-299	55	7	decreases	decrease	VERB
hjic-299	55	8	the	the	DET
hjic-299	55	9	computational	computational	ADJ
hjic-299	55	10	time	time	NOUN
hjic-299	55	11	is	be	AUX
hjic-299	55	12	because	because	SCONJ
hjic-299	55	13	surf	surf	NOUN
hjic-299	55	14	uses	use	VERB
hjic-299	55	15	integral	integral	ADJ
hjic-299	55	16	images	image	NOUN
hjic-299	55	17	[	[	X
hjic-299	55	18	16	16	NUM
hjic-299	55	19	]	]	PUNCT
hjic-299	55	20	as	as	ADP
hjic-299	55	21	intermediate	intermediate	ADJ
hjic-299	55	22	representation	representation	NOUN
hjic-299	55	23	,	,	PUNCT
hjic-299	55	24	in	in	ADP
hjic-299	55	25	this	this	DET
hjic-299	55	26	way	way	NOUN
hjic-299	55	27	the	the	DET
hjic-299	55	28	sum	sum	NOUN
hjic-299	55	29	of	of	ADP
hjic-299	55	30	intensities	intensity	NOUN
hjic-299	55	31	over	over	ADP
hjic-299	55	32	any	any	DET
hjic-299	55	33	upright	upright	NOUN
hjic-299	55	34	,	,	PUNCT
hjic-299	55	35	rectangular	rectangular	ADJ
hjic-299	55	36	region	region	NOUN
hjic-299	55	37	is	be	AUX
hjic-299	55	38	calculated	calculate	VERB
hjic-299	55	39	with	with	ADP
hjic-299	55	40	only	only	ADV
hjic-299	55	41	four	four	NUM
hjic-299	55	42	additions	addition	NOUN
hjic-299	55	43	.	.	PUNCT
hjic-299	56	1	the	the	DET
hjic-299	56	2	surf	surf	NOUN
hjic-299	56	3	algorithm	algorithm	NOUN
hjic-299	56	4	is	be	AUX
hjic-299	56	5	based	base	VERB
hjic-299	56	6	on	on	ADP
hjic-299	56	7	the	the	DET
hjic-299	56	8	fast	fast	ADJ
hjic-299	56	9	-	-	PUNCT
hjic-299	56	10	hessian	hessian	NOUN
hjic-299	56	11	detector	detector	NOUN
hjic-299	56	12	,	,	PUNCT
hjic-299	56	13	which	which	PRON
hjic-299	56	14	computes	compute	VERB
hjic-299	56	15	the	the	DET
hjic-299	56	16	determinant	determinant	NOUN
hjic-299	56	17	of	of	ADP
hjic-299	56	18	the	the	DET
hjic-299	56	19	hessian	hessian	ADJ
hjic-299	56	20	matrix	matrix	NOUN
hjic-299	56	21	:	:	PUNCT
hjic-299	56	22	⎥	⎥	PROPN
hjic-299	56	23	⎦	⎦	NOUN
hjic-299	56	24	⎤	⎤	ADJ
hjic-299	56	25	⎢	⎢	NOUN
hjic-299	56	26	⎣	⎣	PROPN
hjic-299	56	27	⎡	⎡	NOUN
hjic-299	56	28	σσ	σσ	ADV
hjic-299	56	29	σσ	σσ	ADV
hjic-299	56	30	=	=	SYM
hjic-299	56	31	)	)	PUNCT
hjic-299	56	32	,	,	PUNCT
hjic-299	56	33	(	(	PUNCT
hjic-299	56	34	)	)	PUNCT
hjic-299	56	35	,	,	PUNCT
hjic-299	56	36	(	(	PUNCT
hjic-299	56	37	)	)	PUNCT
hjic-299	56	38	,	,	PUNCT
hjic-299	56	39	(	(	PUNCT
hjic-299	56	40	)	)	PUNCT
hjic-299	56	41	,	,	PUNCT
hjic-299	56	42	(	(	PUNCT
hjic-299	56	43	)	)	PUNCT
hjic-299	56	44	,	,	PUNCT
hjic-299	56	45	(	(	PUNCT
hjic-299	56	46	yyxy	yyxy	INTJ
hjic-299	56	47	xyxx	xyxx	VERB
hjic-299	57	1	pp	pp	ADV
hjic-299	57	2	pp	pp	INTJ
hjic-299	57	3	σp	σp	INTJ
hjic-299	58	1	ll	ll	AUX
hjic-299	58	2	ll	ll	AUX
hjic-299	58	3	h	h	NOUN
hjic-299	58	4	(	(	PUNCT
hjic-299	58	5	1	1	NUM
hjic-299	58	6	)	)	PUNCT
hjic-299	58	7	where	where	SCONJ
hjic-299	58	8	with	with	ADP
hjic-299	58	9	lxx(p	lxx(p	PROPN
hjic-299	58	10	,	,	PUNCT
hjic-299	58	11	σ	σ	PROPN
hjic-299	58	12	)	)	PUNCT
hjic-299	58	13	is	be	AUX
hjic-299	58	14	denoted	denote	VERB
hjic-299	58	15	the	the	DET
hjic-299	58	16	convolution	convolution	NOUN
hjic-299	58	17	of	of	ADP
hjic-299	58	18	the	the	DET
hjic-299	58	19	second	second	ADJ
hjic-299	58	20	order	order	NOUN
hjic-299	58	21	gaussian	gaussian	NOUN
hjic-299	58	22	derivative	derivative	ADJ
hjic-299	58	23	2	2	NUM
hjic-299	58	24	2	2	NUM
hjic-299	58	25	)	)	PUNCT
hjic-299	58	26	(	(	PUNCT
hjic-299	58	27	x	x	SYM
hjic-299	58	28	σg	σg	PROPN
hjic-299	58	29	∂	∂	NUM
hjic-299	58	30	∂	∂	NUM
hjic-299	58	31	of	of	ADP
hjic-299	58	32	the	the	DET
hjic-299	58	33	image	image	NOUN
hjic-299	58	34	at	at	ADP
hjic-299	58	35	point	point	NOUN
hjic-299	58	36	p(x	p(x	PROPN
hjic-299	58	37	,	,	PUNCT
hjic-299	58	38	y	y	NOUN
hjic-299	58	39	)	)	PUNCT
hjic-299	58	40	and	and	CCONJ
hjic-299	58	41	scale	scale	NOUN
hjic-299	58	42	σ	σ	NOUN
hjic-299	58	43	in	in	ADP
hjic-299	58	44	the	the	DET
hjic-299	58	45	x	x	NOUN
hjic-299	58	46	direction	direction	NOUN
hjic-299	58	47	.	.	PUNCT
hjic-299	59	1	lxy(p	lxy(p	PROPN
hjic-299	59	2	,	,	PUNCT
hjic-299	59	3	σ	σ	NOUN
hjic-299	59	4	)	)	PUNCT
hjic-299	59	5	and	and	CCONJ
hjic-299	59	6	lyy(p	lyy(p	PROPN
hjic-299	59	7	,	,	PUNCT
hjic-299	59	8	σ	σ	NOUN
hjic-299	59	9	)	)	PUNCT
hjic-299	59	10	are	be	AUX
hjic-299	59	11	calculated	calculate	VERB
hjic-299	59	12	similarly	similarly	ADV
hjic-299	59	13	,	,	PUNCT
hjic-299	59	14	these	these	DET
hjic-299	59	15	derivatives	derivative	NOUN
hjic-299	59	16	are	be	AUX
hjic-299	59	17	known	know	VERB
hjic-299	59	18	as	as	ADP
hjic-299	59	19	laplacian	laplacian	NOUN
hjic-299	59	20	of	of	ADP
hjic-299	59	21	gaussian	gaussian	NOUN
hjic-299	59	22	.	.	PUNCT
hjic-299	60	1	another	another	DET
hjic-299	60	2	reason	reason	NOUN
hjic-299	60	3	why	why	SCONJ
hjic-299	60	4	the	the	DET
hjic-299	60	5	surf	surf	NOUN
hjic-299	60	6	algorithm	algorithm	NOUN
hjic-299	60	7	performs	perform	VERB
hjic-299	60	8	fast	fast	ADV
hjic-299	60	9	is	be	AUX
hjic-299	60	10	that	that	SCONJ
hjic-299	60	11	it	it	PRON
hjic-299	60	12	approximates	approximate	VERB
hjic-299	60	13	the	the	DET
hjic-299	60	14	laplacian	laplacian	NOUN
hjic-299	60	15	of	of	ADP
hjic-299	60	16	gaussian	gaussian	NOUN
hjic-299	60	17	with	with	ADP
hjic-299	60	18	a	a	DET
hjic-299	60	19	box	box	NOUN
hjic-299	60	20	filter	filter	NOUN
hjic-299	60	21	representation	representation	NOUN
hjic-299	60	22	.	.	PUNCT
hjic-299	61	1	the	the	DET
hjic-299	61	2	box	box	PROPN
hjic-299	61	3	filter	filter	NOUN
hjic-299	61	4	allows	allow	VERB
hjic-299	61	5	a	a	DET
hjic-299	61	6	performance	performance	NOUN
hjic-299	61	7	increase	increase	NOUN
hjic-299	61	8	in	in	ADP
hjic-299	61	9	time	time	NOUN
hjic-299	61	10	when	when	SCONJ
hjic-299	61	11	they	they	PRON
hjic-299	61	12	are	be	AUX
hjic-299	61	13	computed	compute	VERB
hjic-299	61	14	on	on	ADP
hjic-299	61	15	integral	integral	ADJ
hjic-299	61	16	images	image	NOUN
hjic-299	61	17	the	the	DET
hjic-299	61	18	features	feature	NOUN
hjic-299	61	19	must	must	AUX
hjic-299	61	20	be	be	AUX
hjic-299	61	21	detected	detect	VERB
hjic-299	61	22	on	on	ADP
hjic-299	61	23	both	both	DET
hjic-299	61	24	images	image	NOUN
hjic-299	61	25	of	of	ADP
hjic-299	61	26	the	the	DET
hjic-299	61	27	stereo	stereo	ADJ
hjic-299	61	28	pair	pair	NOUN
hjic-299	61	29	to	to	PART
hjic-299	61	30	calculate	calculate	VERB
hjic-299	61	31	the	the	DET
hjic-299	61	32	local	local	ADJ
hjic-299	61	33	3d	3d	NUM
hjic-299	61	34	feature	feature	NOUN
hjic-299	61	35	map	map	NOUN
hjic-299	61	36	using	use	VERB
hjic-299	61	37	the	the	DET
hjic-299	61	38	stereo	stereo	NOUN
hjic-299	61	39	geometry	geometry	NOUN
hjic-299	61	40	of	of	ADP
hjic-299	61	41	the	the	DET
hjic-299	61	42	stereo	stereo	PROPN
hjic-299	61	43	camera	camera	NOUN
hjic-299	61	44	system	system	NOUN
hjic-299	61	45	.	.	PUNCT
hjic-299	62	1	in	in	ADP
hjic-299	62	2	every	every	DET
hjic-299	62	3	robotic	robotic	ADJ
hjic-299	62	4	application	application	NOUN
hjic-299	62	5	it	it	PRON
hjic-299	62	6	is	be	AUX
hjic-299	62	7	desirable	desirable	ADJ
hjic-299	62	8	to	to	PART
hjic-299	62	9	limit	limit	VERB
hjic-299	62	10	the	the	DET
hjic-299	62	11	amount	amount	NOUN
hjic-299	62	12	of	of	ADP
hjic-299	62	13	189	189	NUM
hjic-299	62	14	data	datum	NOUN
hjic-299	62	15	to	to	PART
hjic-299	62	16	decrease	decrease	VERB
hjic-299	62	17	computational	computational	ADJ
hjic-299	62	18	time	time	NOUN
hjic-299	62	19	as	as	ADV
hjic-299	62	20	much	much	ADV
hjic-299	62	21	as	as	ADP
hjic-299	62	22	possible	possible	ADJ
hjic-299	62	23	.	.	PUNCT
hjic-299	63	1	for	for	ADP
hjic-299	63	2	this	this	DET
hjic-299	63	3	reason	reason	NOUN
hjic-299	63	4	the	the	DET
hjic-299	63	5	prior	prior	ADJ
hjic-299	63	6	map	map	NOUN
hjic-299	63	7	should	should	AUX
hjic-299	63	8	n’t	not	PART
hjic-299	63	9	be	be	AUX
hjic-299	63	10	overpopulate	overpopulate	ADJ
hjic-299	63	11	,	,	PUNCT
hjic-299	63	12	but	but	CCONJ
hjic-299	63	13	in	in	ADP
hjic-299	63	14	the	the	DET
hjic-299	63	15	mean	mean	ADJ
hjic-299	63	16	time	time	NOUN
hjic-299	63	17	the	the	DET
hjic-299	63	18	distinctiveness	distinctiveness	NOUN
hjic-299	63	19	of	of	ADP
hjic-299	63	20	the	the	DET
hjic-299	63	21	data	data	NOUN
hjic-299	63	22	is	be	AUX
hjic-299	63	23	important	important	ADJ
hjic-299	63	24	.	.	PUNCT
hjic-299	64	1	therefore	therefore	ADV
hjic-299	64	2	the	the	DET
hjic-299	64	3	3d	3d	PROPN
hjic-299	64	4	image	image	NOUN
hjic-299	64	5	features	feature	NOUN
hjic-299	64	6	that	that	PRON
hjic-299	64	7	are	be	AUX
hjic-299	64	8	already	already	ADV
hjic-299	64	9	in	in	ADP
hjic-299	64	10	the	the	DET
hjic-299	64	11	global	global	ADJ
hjic-299	64	12	map	map	NOUN
hjic-299	64	13	or	or	CCONJ
hjic-299	64	14	the	the	DET
hjic-299	64	15	similar	similar	ADJ
hjic-299	64	16	ones	one	NOUN
hjic-299	64	17	to	to	ADP
hjic-299	64	18	these	these	PRON
hjic-299	64	19	are	be	AUX
hjic-299	64	20	filtered	filter	VERB
hjic-299	64	21	out	out	ADP
hjic-299	64	22	based	base	VERB
hjic-299	64	23	on	on	ADP
hjic-299	64	24	the	the	DET
hjic-299	64	25	surf	surf	NOUN
hjic-299	64	26	descriptor	descriptor	NOUN
hjic-299	64	27	.	.	PUNCT
hjic-299	65	1	in	in	ADP
hjic-299	65	2	the	the	DET
hjic-299	65	3	final	final	ADJ
hjic-299	65	4	step	step	NOUN
hjic-299	65	5	the	the	DET
hjic-299	65	6	local	local	ADJ
hjic-299	65	7	feature	feature	NOUN
hjic-299	65	8	point	point	NOUN
hjic-299	65	9	cloud	cloud	NOUN
hjic-299	65	10	coordinate	coordinate	NOUN
hjic-299	65	11	system	system	NOUN
hjic-299	65	12	is	be	AUX
hjic-299	65	13	updated	update	VERB
hjic-299	65	14	with	with	ADP
hjic-299	65	15	the	the	DET
hjic-299	65	16	global	global	ADJ
hjic-299	65	17	position	position	NOUN
hjic-299	65	18	of	of	ADP
hjic-299	65	19	the	the	DET
hjic-299	65	20	robot	robot	NOUN
hjic-299	65	21	computed	compute	VERB
hjic-299	65	22	by	by	ADP
hjic-299	65	23	the	the	DET
hjic-299	65	24	laser	laser	NOUN
hjic-299	65	25	scan	scan	ADJ
hjic-299	65	26	registration	registration	NOUN
hjic-299	65	27	algorithm	algorithm	NOUN
hjic-299	65	28	and	and	CCONJ
hjic-299	65	29	the	the	DET
hjic-299	65	30	new	new	ADJ
hjic-299	65	31	distinctive	distinctive	ADJ
hjic-299	65	32	features	feature	NOUN
hjic-299	65	33	are	be	AUX
hjic-299	65	34	recorded	record	VERB
hjic-299	65	35	in	in	ADP
hjic-299	65	36	the	the	DET
hjic-299	65	37	global	global	ADJ
hjic-299	65	38	3d	3d	PROPN
hjic-299	65	39	feature	feature	NOUN
hjic-299	65	40	map	map	NOUN
hjic-299	65	41	.	.	PUNCT
hjic-299	66	1	theoretical	theoretical	ADJ
hjic-299	66	2	background	background	NOUN
hjic-299	66	3	of	of	ADP
hjic-299	66	4	the	the	DET
hjic-299	66	5	laser	laser	NOUN
hjic-299	66	6	system	system	NOUN
hjic-299	66	7	gaussian	gaussian	NOUN
hjic-299	66	8	mixture	mixture	NOUN
hjic-299	66	9	models	model	NOUN
hjic-299	66	10	are	be	AUX
hjic-299	66	11	widely	widely	ADV
hjic-299	66	12	used	use	VERB
hjic-299	66	13	in	in	ADP
hjic-299	66	14	data	datum	NOUN
hjic-299	66	15	mining	mining	NOUN
hjic-299	66	16	,	,	PUNCT
hjic-299	66	17	pattern	pattern	NOUN
hjic-299	66	18	recognition	recognition	NOUN
hjic-299	66	19	,	,	PUNCT
hjic-299	66	20	machine	machine	NOUN
hjic-299	66	21	learning	learning	NOUN
hjic-299	66	22	and	and	CCONJ
hjic-299	66	23	statistical	statistical	ADJ
hjic-299	66	24	analysis	analysis	NOUN
hjic-299	66	25	.	.	PUNCT
hjic-299	67	1	in	in	ADP
hjic-299	67	2	order	order	NOUN
hjic-299	67	3	to	to	PART
hjic-299	67	4	build	build	VERB
hjic-299	67	5	complex	complex	ADJ
hjic-299	67	6	probability	probability	NOUN
hjic-299	67	7	distributions	distribution	NOUN
hjic-299	67	8	,	,	PUNCT
hjic-299	67	9	mixture	mixture	NOUN
hjic-299	67	10	models	model	NOUN
hjic-299	67	11	can	can	AUX
hjic-299	67	12	also	also	ADV
hjic-299	67	13	be	be	AUX
hjic-299	67	14	used	use	VERB
hjic-299	67	15	to	to	PART
hjic-299	67	16	cluster	cluster	NOUN
hjic-299	67	17	data	datum	NOUN
hjic-299	67	18	.	.	PUNCT
hjic-299	68	1	the	the	DET
hjic-299	68	2	problem	problem	NOUN
hjic-299	68	3	of	of	ADP
hjic-299	68	4	finding	find	VERB
hjic-299	68	5	clusters	cluster	NOUN
hjic-299	68	6	in	in	ADP
hjic-299	68	7	a	a	DET
hjic-299	68	8	set	set	NOUN
hjic-299	68	9	of	of	ADP
hjic-299	68	10	data	datum	NOUN
hjic-299	68	11	points	point	NOUN
hjic-299	68	12	can	can	AUX
hjic-299	68	13	be	be	AUX
hjic-299	68	14	resolved	resolve	VERB
hjic-299	68	15	by	by	ADP
hjic-299	68	16	a	a	DET
hjic-299	68	17	non	non	ADJ
hjic-299	68	18	-	-	ADJ
hjic-299	68	19	probabilistic	probabilistic	ADJ
hjic-299	68	20	technique	technique	NOUN
hjic-299	68	21	,	,	PUNCT
hjic-299	68	22	the	the	DET
hjic-299	68	23	k	k	NOUN
hjic-299	68	24	-	-	PUNCT
hjic-299	68	25	means	means	NOUN
hjic-299	68	26	algorithm	algorithm	NOUN
hjic-299	68	27	.	.	PUNCT
hjic-299	69	1	k	k	X
hjic-299	69	2	-	-	PUNCT
hjic-299	69	3	means	means	NOUN
hjic-299	69	4	clustering	cluster	VERB
hjic-299	69	5	the	the	DET
hjic-299	69	6	main	main	ADJ
hjic-299	69	7	usage	usage	NOUN
hjic-299	69	8	of	of	ADP
hjic-299	69	9	the	the	DET
hjic-299	69	10	method	method	NOUN
hjic-299	69	11	created	create	VERB
hjic-299	69	12	by	by	ADP
hjic-299	69	13	[	[	X
hjic-299	69	14	15	15	NUM
hjic-299	69	15	]	]	PUNCT
hjic-299	69	16	is	be	AUX
hjic-299	69	17	to	to	PART
hjic-299	69	18	identify	identify	VERB
hjic-299	69	19	groups	group	NOUN
hjic-299	69	20	,	,	PUNCT
hjic-299	69	21	or	or	CCONJ
hjic-299	69	22	clusters	cluster	NOUN
hjic-299	69	23	of	of	ADP
hjic-299	69	24	data	datum	NOUN
hjic-299	69	25	points	point	NOUN
hjic-299	69	26	in	in	ADP
hjic-299	69	27	a	a	DET
hjic-299	69	28	multidimensional	multidimensional	ADJ
hjic-299	69	29	space	space	NOUN
hjic-299	69	30	.	.	PUNCT
hjic-299	70	1	the	the	DET
hjic-299	70	2	inputs	input	NOUN
hjic-299	70	3	of	of	ADP
hjic-299	70	4	the	the	DET
hjic-299	70	5	method	method	NOUN
hjic-299	70	6	are	be	AUX
hjic-299	70	7	a	a	DET
hjic-299	70	8	data	data	NOUN
hjic-299	70	9	set	set	VERB
hjic-299	70	10	{	{	PUNCT
hjic-299	70	11	x1	x1	PROPN
hjic-299	70	12	,	,	PUNCT
hjic-299	70	13	...	...	PUNCT
hjic-299	70	14	,	,	PUNCT
hjic-299	70	15	xn	xn	PROPN
hjic-299	70	16	}	}	PUNCT
hjic-299	70	17	consisting	consist	VERB
hjic-299	70	18	of	of	ADP
hjic-299	70	19	n	n	PRON
hjic-299	70	20	observations	observation	NOUN
hjic-299	70	21	of	of	ADP
hjic-299	70	22	a	a	DET
hjic-299	70	23	random	random	ADJ
hjic-299	70	24	d	d	ADJ
hjic-299	70	25	-	-	ADJ
hjic-299	70	26	dimensional	dimensional	ADJ
hjic-299	70	27	euclidean	euclidean	ADJ
hjic-299	70	28	variable	variable	NOUN
hjic-299	70	29	x	x	NOUN
hjic-299	70	30	,	,	PUNCT
hjic-299	70	31	and	and	CCONJ
hjic-299	70	32	k	k	X
hjic-299	70	33	the	the	DET
hjic-299	70	34	number	number	NOUN
hjic-299	70	35	of	of	ADP
hjic-299	70	36	clusters	cluster	NOUN
hjic-299	70	37	which	which	PRON
hjic-299	70	38	we	we	PRON
hjic-299	70	39	would	would	AUX
hjic-299	70	40	like	like	VERB
hjic-299	70	41	to	to	PART
hjic-299	70	42	obtain	obtain	VERB
hjic-299	70	43	.	.	PUNCT
hjic-299	71	1	in	in	ADP
hjic-299	71	2	common	common	ADJ
hjic-299	71	3	words	word	NOUN
hjic-299	71	4	a	a	DET
hjic-299	71	5	cluster	cluster	NOUN
hjic-299	71	6	can	can	AUX
hjic-299	71	7	be	be	AUX
hjic-299	71	8	described	describe	VERB
hjic-299	71	9	as	as	ADP
hjic-299	71	10	comprising	comprise	VERB
hjic-299	71	11	a	a	DET
hjic-299	71	12	group	group	NOUN
hjic-299	71	13	of	of	ADP
hjic-299	71	14	data	datum	NOUN
hjic-299	71	15	points	point	NOUN
hjic-299	71	16	whose	whose	DET
hjic-299	71	17	distances	distance	NOUN
hjic-299	71	18	between	between	ADP
hjic-299	71	19	the	the	DET
hjic-299	71	20	points	point	NOUN
hjic-299	71	21	are	be	AUX
hjic-299	71	22	less	less	ADJ
hjic-299	71	23	than	than	ADP
hjic-299	71	24	the	the	DET
hjic-299	71	25	distances	distance	NOUN
hjic-299	71	26	between	between	ADP
hjic-299	71	27	the	the	DET
hjic-299	71	28	points	point	NOUN
hjic-299	71	29	outside	outside	ADV
hjic-299	71	30	from	from	ADP
hjic-299	71	31	the	the	DET
hjic-299	71	32	cluster	cluster	NOUN
hjic-299	71	33	.	.	PUNCT
hjic-299	72	1	we	we	PRON
hjic-299	72	2	note	note	VERB
hjic-299	72	3	μk	μk	VERB
hjic-299	72	4	as	as	ADP
hjic-299	72	5	the	the	DET
hjic-299	72	6	representation	representation	NOUN
hjic-299	72	7	of	of	ADP
hjic-299	72	8	the	the	DET
hjic-299	72	9	centers	center	NOUN
hjic-299	72	10	of	of	ADP
hjic-299	72	11	the	the	DET
hjic-299	72	12	clusters	cluster	NOUN
hjic-299	72	13	.	.	PUNCT
hjic-299	73	1	finding	find	VERB
hjic-299	73	2	an	an	DET
hjic-299	73	3	optimal	optimal	ADJ
hjic-299	73	4	solution	solution	NOUN
hjic-299	73	5	to	to	ADP
hjic-299	73	6	the	the	DET
hjic-299	73	7	data	datum	NOUN
hjic-299	73	8	set	set	VERB
hjic-299	73	9	clustering	clustering	NOUN
hjic-299	73	10	problem	problem	NOUN
hjic-299	73	11	is	be	AUX
hjic-299	73	12	not	not	PART
hjic-299	73	13	straightforward	straightforward	ADJ
hjic-299	73	14	.	.	PUNCT
hjic-299	74	1	a	a	DET
hjic-299	74	2	relative	relative	ADJ
hjic-299	74	3	good	good	ADJ
hjic-299	74	4	solution	solution	NOUN
hjic-299	74	5	has	have	AUX
hjic-299	74	6	been	be	AUX
hjic-299	74	7	found	find	VERB
hjic-299	74	8	when	when	SCONJ
hjic-299	74	9	the	the	DET
hjic-299	74	10	sum	sum	NOUN
hjic-299	74	11	of	of	ADP
hjic-299	74	12	the	the	DET
hjic-299	74	13	squares	square	NOUN
hjic-299	74	14	of	of	ADP
hjic-299	74	15	the	the	DET
hjic-299	74	16	distances	distance	NOUN
hjic-299	74	17	of	of	ADP
hjic-299	74	18	each	each	DET
hjic-299	74	19	data	datum	NOUN
hjic-299	74	20	point	point	NOUN
hjic-299	74	21	to	to	ADP
hjic-299	74	22	its	its	PRON
hjic-299	74	23	closest	close	ADJ
hjic-299	74	24	center	center	NOUN
hjic-299	74	25	is	be	AUX
hjic-299	74	26	a	a	DET
hjic-299	74	27	minimum	minimum	NOUN
hjic-299	74	28	.	.	PUNCT
hjic-299	75	1	for	for	ADP
hjic-299	75	2	each	each	DET
hjic-299	75	3	data	datum	NOUN
hjic-299	75	4	point	point	NOUN
hjic-299	75	5	xn	xn	PROPN
hjic-299	75	6	is	be	AUX
hjic-299	75	7	introduced	introduce	VERB
hjic-299	75	8	a	a	DET
hjic-299	75	9	corresponding	corresponding	ADJ
hjic-299	75	10	set	set	NOUN
hjic-299	75	11	of	of	ADP
hjic-299	75	12	binary	binary	ADJ
hjic-299	75	13	indicator	indicator	PROPN
hjic-299	75	14	variables	variable	VERB
hjic-299	75	15	rnk	rnk	PROPN
hjic-299	75	16	∈	∈	PROPN
hjic-299	75	17	{	{	PUNCT
hjic-299	75	18	0,1	0,1	NOUN
hjic-299	75	19	}	}	PUNCT
hjic-299	75	20	,	,	PUNCT
hjic-299	75	21	where	where	SCONJ
hjic-299	75	22	k	k	PROPN
hjic-299	75	23	=	=	SYM
hjic-299	75	24	1	1	NUM
hjic-299	75	25	,	,	PUNCT
hjic-299	75	26	...	...	PUNCT
hjic-299	75	27	,	,	PUNCT
hjic-299	76	1	k	k	PROPN
hjic-299	76	2	describing	describe	VERB
hjic-299	76	3	which	which	PRON
hjic-299	76	4	of	of	ADP
hjic-299	76	5	the	the	DET
hjic-299	76	6	k	k	PROPN
hjic-299	76	7	clusters	cluster	NOUN
hjic-299	76	8	the	the	DET
hjic-299	76	9	data	data	NOUN
hjic-299	76	10	point	point	NOUN
hjic-299	76	11	xn	xn	PROPN
hjic-299	76	12	is	be	AUX
hjic-299	76	13	assigned	assign	VERB
hjic-299	76	14	to	to	ADP
hjic-299	76	15	.	.	PUNCT
hjic-299	77	1	each	each	DET
hjic-299	77	2	point	point	NOUN
hjic-299	77	3	can	can	AUX
hjic-299	77	4	be	be	AUX
hjic-299	77	5	assigned	assign	VERB
hjic-299	77	6	just	just	ADV
hjic-299	77	7	to	to	ADP
hjic-299	77	8	one	one	NUM
hjic-299	77	9	cluster	cluster	NOUN
hjic-299	77	10	,	,	PUNCT
hjic-299	77	11	this	this	PRON
hjic-299	77	12	can	can	AUX
hjic-299	77	13	be	be	AUX
hjic-299	77	14	described	describe	VERB
hjic-299	77	15	as	as	SCONJ
hjic-299	77	16	follows	follow	VERB
hjic-299	77	17	if	if	SCONJ
hjic-299	77	18	rnk	rnk	X
hjic-299	77	19	=	=	SYM
hjic-299	77	20	1	1	NUM
hjic-299	77	21	∧	∧	PROPN
hjic-299	77	22	rnk	rnk	NOUN
hjic-299	77	23	=	=	SYM
hjic-299	77	24	0	0	NUM
hjic-299	77	25	,	,	PUNCT
hjic-299	77	26	then	then	ADV
hjic-299	77	27	j	j	PROPN
hjic-299	77	28	≠	≠	PROPN
hjic-299	77	29	k	k	PROPN
hjic-299	77	30	,	,	PUNCT
hjic-299	77	31	this	this	PRON
hjic-299	77	32	is	be	AUX
hjic-299	77	33	called	call	VERB
hjic-299	77	34	the	the	DET
hjic-299	77	35	1	1	NUM
hjic-299	77	36	-	-	PUNCT
hjic-299	77	37	of	of	ADP
hjic-299	77	38	-	-	PUNCT
hjic-299	77	39	k	k	NOUN
hjic-299	77	40	coding	code	VERB
hjic-299	77	41	scheme	scheme	NOUN
hjic-299	77	42	.	.	PUNCT
hjic-299	78	1	∑∑	∑∑	NOUN
hjic-299	78	2	=	=	PUNCT
hjic-299	78	3	=	=	SYM
hjic-299	78	4	μ−=	μ−=	NOUN
hjic-299	79	1	k	k	NOUN
hjic-299	79	2	1k	1k	NUM
hjic-299	79	3	2	2	NUM
hjic-299	79	4	knnk	knnk	NOUN
hjic-299	79	5	n	n	NUM
hjic-299	79	6	1n	1n	NUM
hjic-299	79	7	xrj	xrj	X
hjic-299	79	8	(	(	PUNCT
hjic-299	79	9	2	2	X
hjic-299	79	10	)	)	PUNCT
hjic-299	79	11	the	the	DET
hjic-299	79	12	objective	objective	ADJ
hjic-299	79	13	function	function	NOUN
hjic-299	79	14	(	(	PUNCT
hjic-299	79	15	9	9	NUM
hjic-299	79	16	)	)	PUNCT
hjic-299	79	17	represents	represent	VERB
hjic-299	79	18	the	the	DET
hjic-299	79	19	sum	sum	NOUN
hjic-299	79	20	of	of	ADP
hjic-299	79	21	the	the	DET
hjic-299	79	22	squares	square	NOUN
hjic-299	79	23	of	of	ADP
hjic-299	79	24	the	the	DET
hjic-299	79	25	distances	distance	NOUN
hjic-299	79	26	of	of	ADP
hjic-299	79	27	each	each	DET
hjic-299	79	28	data	datum	NOUN
hjic-299	79	29	point	point	NOUN
hjic-299	79	30	to	to	ADP
hjic-299	79	31	its	its	PRON
hjic-299	79	32	assigned	assign	VERB
hjic-299	79	33	vector	vector	NOUN
hjic-299	79	34	μk	μk	NOUN
hjic-299	79	35	.	.	PUNCT
hjic-299	80	1	the	the	DET
hjic-299	80	2	solution	solution	NOUN
hjic-299	80	3	is	be	AUX
hjic-299	80	4	optimal	optimal	ADJ
hjic-299	80	5	when	when	SCONJ
hjic-299	80	6	the	the	DET
hjic-299	80	7	values	value	NOUN
hjic-299	80	8	found	find	VERB
hjic-299	80	9	for	for	ADP
hjic-299	80	10	rnk	rnk	NOUN
hjic-299	80	11	and	and	CCONJ
hjic-299	80	12	μk	μk	PROPN
hjic-299	80	13	are	be	AUX
hjic-299	80	14	minimizing	minimize	VERB
hjic-299	80	15	j.	j.	PROPN
hjic-299	80	16	these	these	DET
hjic-299	80	17	values	value	NOUN
hjic-299	80	18	can	can	AUX
hjic-299	80	19	be	be	AUX
hjic-299	80	20	obtained	obtain	VERB
hjic-299	80	21	developing	develop	VERB
hjic-299	80	22	an	an	DET
hjic-299	80	23	iterative	iterative	NOUN
hjic-299	80	24	procedure	procedure	NOUN
hjic-299	80	25	,	,	PUNCT
hjic-299	80	26	it	it	PRON
hjic-299	80	27	involves	involve	VERB
hjic-299	80	28	two	two	NUM
hjic-299	80	29	successive	successive	ADJ
hjic-299	80	30	steps	step	NOUN
hjic-299	80	31	in	in	ADP
hjic-299	80	32	which	which	PRON
hjic-299	80	33	rnk	rnk	X
hjic-299	80	34	and	and	CCONJ
hjic-299	80	35	μk	μk	PROPN
hjic-299	80	36	are	be	AUX
hjic-299	80	37	optimized	optimize	VERB
hjic-299	80	38	.	.	PUNCT
hjic-299	81	1	in	in	ADP
hjic-299	81	2	the	the	DET
hjic-299	81	3	beginning	beginning	NOUN
hjic-299	81	4	initial	initial	ADJ
hjic-299	81	5	values	value	NOUN
hjic-299	81	6	are	be	AUX
hjic-299	81	7	chosen	choose	VERB
hjic-299	81	8	for	for	ADP
hjic-299	81	9	μk	μk	NOUN
hjic-299	81	10	,	,	PUNCT
hjic-299	81	11	j	j	PROPN
hjic-299	81	12	is	be	AUX
hjic-299	81	13	minimized	minimize	VERB
hjic-299	81	14	with	with	ADP
hjic-299	81	15	respect	respect	NOUN
hjic-299	81	16	to	to	ADP
hjic-299	81	17	rnk	rnk	VERB
hjic-299	81	18	,	,	PUNCT
hjic-299	81	19	keeping	keep	VERB
hjic-299	81	20	the	the	DET
hjic-299	81	21	μk	μk	NOUN
hjic-299	81	22	fixed	fix	VERB
hjic-299	81	23	.	.	PUNCT
hjic-299	82	1	in	in	ADP
hjic-299	82	2	the	the	DET
hjic-299	82	3	following	follow	VERB
hjic-299	82	4	step	step	NOUN
hjic-299	82	5	j	j	PROPN
hjic-299	82	6	is	be	AUX
hjic-299	82	7	minimized	minimize	VERB
hjic-299	82	8	with	with	ADP
hjic-299	82	9	respect	respect	NOUN
hjic-299	82	10	to	to	ADP
hjic-299	82	11	μk	μk	NUM
hjic-299	82	12	,	,	PUNCT
hjic-299	82	13	rnk	rnk	X
hjic-299	82	14	is	be	AUX
hjic-299	82	15	kept	keep	VERB
hjic-299	82	16	fixed	fix	VERB
hjic-299	82	17	.	.	PUNCT
hjic-299	83	1	these	these	DET
hjic-299	83	2	two	two	NUM
hjic-299	83	3	stages	stage	NOUN
hjic-299	83	4	correspond	correspond	VERB
hjic-299	83	5	to	to	ADP
hjic-299	83	6	e(expectation	e(expectation	NOUN
hjic-299	83	7	)	)	PUNCT
hjic-299	83	8	and	and	CCONJ
hjic-299	83	9	m(maximization	m(maximization	NOUN
hjic-299	83	10	)	)	PUNCT
hjic-299	83	11	steps	step	NOUN
hjic-299	83	12	of	of	ADP
hjic-299	83	13	the	the	DET
hjic-299	83	14	em	em	PROPN
hjic-299	83	15	algorithm	algorithm	NOUN
hjic-299	83	16	,	,	PUNCT
hjic-299	83	17	which	which	DET
hjic-299	83	18	steps	step	NOUN
hjic-299	83	19	are	be	AUX
hjic-299	83	20	repeated	repeat	VERB
hjic-299	83	21	until	until	ADP
hjic-299	83	22	convergence	convergence	NOUN
hjic-299	83	23	[	[	X
hjic-299	83	24	12	12	NUM
hjic-299	83	25	]	]	PUNCT
hjic-299	83	26	.	.	PUNCT
hjic-299	84	1	expectation	expectation	NOUN
hjic-299	84	2	-	-	PUNCT
hjic-299	84	3	maximization	maximization	NOUN
hjic-299	84	4	algorithm	algorithm	NOUN
hjic-299	84	5	the	the	DET
hjic-299	84	6	goal	goal	NOUN
hjic-299	84	7	of	of	ADP
hjic-299	84	8	the	the	DET
hjic-299	84	9	em	em	PROPN
hjic-299	84	10	algorithm	algorithm	NOUN
hjic-299	84	11	is	be	AUX
hjic-299	84	12	to	to	PART
hjic-299	84	13	find	find	VERB
hjic-299	84	14	maximum	maximum	ADJ
hjic-299	84	15	likelihood	likelihood	NOUN
hjic-299	84	16	solutions	solution	NOUN
hjic-299	84	17	for	for	ADP
hjic-299	84	18	models	model	NOUN
hjic-299	84	19	having	have	VERB
hjic-299	84	20	latent	latent	NOUN
hjic-299	84	21	variables	variable	NOUN
hjic-299	85	1	[	[	X
hjic-299	85	2	9	9	NUM
hjic-299	85	3	]	]	PUNCT
hjic-299	85	4	.	.	PUNCT
hjic-299	86	1	table	table	NOUN
hjic-299	86	2	1	1	NUM
hjic-299	86	3	:	:	PUNCT
hjic-299	86	4	description	description	NOUN
hjic-299	86	5	of	of	ADP
hjic-299	86	6	the	the	DET
hjic-299	86	7	em	em	PROPN
hjic-299	86	8	algorithm	algorithm	NOUN
hjic-299	86	9	experimental	experimental	ADJ
hjic-299	86	10	results	result	NOUN
hjic-299	86	11	in	in	ADP
hjic-299	86	12	order	order	NOUN
hjic-299	86	13	to	to	PART
hjic-299	86	14	achieve	achieve	VERB
hjic-299	86	15	an	an	DET
hjic-299	86	16	autonomous	autonomous	ADJ
hjic-299	86	17	navigation	navigation	NOUN
hjic-299	86	18	for	for	ADP
hjic-299	86	19	the	the	DET
hjic-299	86	20	p3	p3	NOUN
hjic-299	86	21	-	-	PUNCT
hjic-299	86	22	at	at	NOUN
hjic-299	86	23	in	in	ADP
hjic-299	86	24	a	a	DET
hjic-299	86	25	mine	mine	ADJ
hjic-299	86	26	scene	scene	NOUN
hjic-299	86	27	,	,	PUNCT
hjic-299	86	28	first	first	ADV
hjic-299	86	29	we	we	PRON
hjic-299	86	30	tested	test	VERB
hjic-299	86	31	our	our	PRON
hjic-299	86	32	algorithms	algorithm	NOUN
hjic-299	86	33	in	in	ADP
hjic-299	86	34	an	an	DET
hjic-299	86	35	indoor	indoor	ADJ
hjic-299	86	36	environment	environment	NOUN
hjic-299	86	37	,	,	PUNCT
hjic-299	86	38	which	which	PRON
hjic-299	86	39	is	be	AUX
hjic-299	86	40	the	the	DET
hjic-299	86	41	office	office	NOUN
hjic-299	86	42	building	building	NOUN
hjic-299	86	43	where	where	SCONJ
hjic-299	86	44	the	the	DET
hjic-299	86	45	research	research	NOUN
hjic-299	86	46	is	be	AUX
hjic-299	86	47	done	do	VERB
hjic-299	86	48	.	.	PUNCT
hjic-299	87	1	the	the	DET
hjic-299	87	2	2d	2d	PROPN
hjic-299	87	3	laser	laser	NOUN
hjic-299	87	4	map	map	NOUN
hjic-299	87	5	and	and	CCONJ
hjic-299	87	6	the	the	DET
hjic-299	87	7	map	map	NOUN
hjic-299	87	8	built	build	VERB
hjic-299	87	9	using	use	VERB
hjic-299	87	10	the	the	DET
hjic-299	87	11	images	image	NOUN
hjic-299	87	12	taken	take	VERB
hjic-299	87	13	by	by	ADP
hjic-299	87	14	the	the	DET
hjic-299	87	15	stereo	stereo	PROPN
hjic-299	87	16	camera	camera	NOUN
hjic-299	87	17	are	be	AUX
hjic-299	87	18	well	well	ADV
hjic-299	87	19	combined	combine	VERB
hjic-299	87	20	.	.	PUNCT
hjic-299	88	1	the	the	DET
hjic-299	88	2	feature	feature	NOUN
hjic-299	88	3	based	base	VERB
hjic-299	88	4	map	map	NOUN
hjic-299	88	5	is	be	AUX
hjic-299	88	6	built	build	VERB
hjic-299	88	7	iteratively	iteratively	ADV
hjic-299	88	8	with	with	ADP
hjic-299	88	9	the	the	DET
hjic-299	88	10	presented	present	VERB
hjic-299	88	11	algorithm	algorithm	NOUN
hjic-299	88	12	above	above	ADV
hjic-299	88	13	by	by	ADP
hjic-299	88	14	navigating	navigate	VERB
hjic-299	88	15	the	the	DET
hjic-299	88	16	robot	robot	NOUN
hjic-299	88	17	in	in	ADP
hjic-299	88	18	the	the	DET
hjic-299	88	19	test	test	NOUN
hjic-299	88	20	environment	environment	NOUN
hjic-299	88	21	which	which	PRON
hjic-299	88	22	is	be	AUX
hjic-299	88	23	an	an	DET
hjic-299	88	24	indoor	indoor	ADJ
hjic-299	88	25	office	office	NOUN
hjic-299	88	26	building	building	NOUN
hjic-299	88	27	.	.	PUNCT
hjic-299	89	1	a	a	DET
hjic-299	89	2	selected	select	VERB
hjic-299	89	3	image	image	NOUN
hjic-299	89	4	sequence	sequence	NOUN
hjic-299	89	5	can	can	AUX
hjic-299	89	6	be	be	AUX
hjic-299	89	7	seen	see	VERB
hjic-299	89	8	on	on	ADP
hjic-299	89	9	fig	fig	NOUN
hjic-299	89	10	.	.	PUNCT
hjic-299	90	1	5	5	NUM
hjic-299	90	2	from	from	ADP
hjic-299	90	3	the	the	DET
hjic-299	90	4	155	155	NUM
hjic-299	90	5	stereo	stereo	NOUN
hjic-299	90	6	pair	pair	NOUN
hjic-299	90	7	image	image	NOUN
hjic-299	90	8	sequences	sequence	NOUN
hjic-299	90	9	that	that	PRON
hjic-299	90	10	were	be	AUX
hjic-299	90	11	taken	take	VERB
hjic-299	90	12	in	in	ADP
hjic-299	90	13	the	the	DET
hjic-299	90	14	office	office	NOUN
hjic-299	90	15	,	,	PUNCT
hjic-299	90	16	corridor	corridor	NOUN
hjic-299	90	17	and	and	CCONJ
hjic-299	90	18	staircase	staircase	NOUN
hjic-299	90	19	of	of	ADP
hjic-299	90	20	our	our	PRON
hjic-299	90	21	laboratory	laboratory	NOUN
hjic-299	90	22	.	.	PUNCT
hjic-299	91	1	figure	figure	VERB
hjic-299	91	2	5	5	NUM
hjic-299	91	3	:	:	PUNCT
hjic-299	91	4	selected	select	VERB
hjic-299	91	5	images	image	NOUN
hjic-299	91	6	from	from	ADP
hjic-299	91	7	the	the	DET
hjic-299	91	8	data	datum	NOUN
hjic-299	91	9	set	set	VERB
hjic-299	91	10	the	the	DET
hjic-299	91	11	obtained	obtain	VERB
hjic-299	91	12	3d	3d	NUM
hjic-299	91	13	feature	feature	NOUN
hjic-299	91	14	map	map	NOUN
hjic-299	91	15	is	be	AUX
hjic-299	91	16	plotted	plot	VERB
hjic-299	91	17	on	on	ADP
hjic-299	91	18	fig	fig	NOUN
hjic-299	91	19	.	.	PUNCT
hjic-299	92	1	6	6	NUM
hjic-299	92	2	,	,	PUNCT
hjic-299	92	3	where	where	SCONJ
hjic-299	92	4	with	with	ADP
hjic-299	92	5	black	black	ADJ
hjic-299	92	6	spheres	sphere	NOUN
hjic-299	92	7	are	be	AUX
hjic-299	92	8	represented	represent	VERB
hjic-299	92	9	the	the	DET
hjic-299	92	10	3d	3d	NUM
hjic-299	92	11	feature	feature	NOUN
hjic-299	92	12	landmarks	landmark	NOUN
hjic-299	92	13	obtained	obtain	VERB
hjic-299	92	14	in	in	ADP
hjic-299	92	15	the	the	DET
hjic-299	92	16	whole	whole	ADJ
hjic-299	92	17	test	test	NOUN
hjic-299	92	18	environment	environment	NOUN
hjic-299	92	19	,	,	PUNCT
hjic-299	92	20	divided	divide	VERB
hjic-299	92	21	in	in	ADP
hjic-299	92	22	the	the	DET
hjic-299	92	23	three	three	NUM
hjic-299	92	24	main	main	ADJ
hjic-299	92	25	rooms	room	NOUN
hjic-299	92	26	.	.	PUNCT
hjic-299	93	1	1	1	X
hjic-299	93	2	.	.	X
hjic-299	93	3	chose	choose	VERB
hjic-299	93	4	initial	initial	ADJ
hjic-299	93	5	values	value	NOUN
hjic-299	93	6	for	for	ADP
hjic-299	93	7	θold	θold	ADJ
hjic-299	93	8	2	2	NUM
hjic-299	93	9	.	.	PUNCT
hjic-299	93	10	e	e	NOUN
hjic-299	93	11	step	step	NOUN
hjic-299	93	12	evaluate	evaluate	VERB
hjic-299	93	13	)	)	PUNCT
hjic-299	93	14	,	,	PUNCT
hjic-299	94	1	|	|	ADV
hjic-299	94	2	(	(	PUNCT
hjic-299	94	3	oldxzp	oldxzp	NOUN
hjic-299	94	4	θ	θ	PROPN
hjic-299	94	5	3	3	X
hjic-299	94	6	.	.	X
hjic-299	94	7	m	m	AUX
hjic-299	94	8	step	step	NOUN
hjic-299	94	9	evaluate	evaluate	VERB
hjic-299	94	10	θnew	θnew	NOUN
hjic-299	94	11	,	,	PUNCT
hjic-299	94	12	where	where	SCONJ
hjic-299	94	13	)	)	PUNCT
hjic-299	94	14	,	,	PUNCT
hjic-299	94	15	(	(	PUNCT
hjic-299	94	16	maxarg	maxarg	NOUN
hjic-299	94	17	oldnew	oldnew	ADJ
hjic-299	94	18	θθφθ	θθφθ	NOUN
hjic-299	94	19	θ	θ	X
hjic-299	95	1	=	=	NOUN
hjic-299	95	2	we	we	PRON
hjic-299	95	3	know	know	VERB
hjic-299	95	4	that	that	PRON
hjic-299	95	5	,	,	PUNCT
hjic-299	95	6	∑=	∑=	PROPN
hjic-299	95	7	z	z	NOUN
hjic-299	95	8	oldold	oldold	PROPN
hjic-299	95	9	zxpxzp	zxpxzp	PROPN
hjic-299	95	10	)	)	PUNCT
hjic-299	96	1	.|,(ln),|	.|,(ln),|	PROPN
hjic-299	96	2	(	(	PUNCT
hjic-299	96	3	)	)	PUNCT
hjic-299	96	4	,	,	PUNCT
hjic-299	96	5	(	(	PUNCT
hjic-299	96	6	θθθθφ	θθθθφ	NOUN
hjic-299	96	7	4	4	NUM
hjic-299	96	8	.	.	PUNCT
hjic-299	96	9	check	check	VERB
hjic-299	96	10	the	the	DET
hjic-299	96	11	convergence	convergence	NOUN
hjic-299	96	12	of	of	ADP
hjic-299	96	13	the	the	DET
hjic-299	96	14	parameter	parameter	NOUN
hjic-299	96	15	values	value	NOUN
hjic-299	96	16	,	,	PUNCT
hjic-299	96	17	if	if	SCONJ
hjic-299	96	18	the	the	DET
hjic-299	96	19	convergence	convergence	NOUN
hjic-299	96	20	is	be	AUX
hjic-299	96	21	not	not	PART
hjic-299	96	22	achieved	achieve	VERB
hjic-299	96	23	then	then	ADV
hjic-299	96	24	θold	θold	ADJ
hjic-299	96	25	=	=	NOUN
hjic-299	96	26	θnew	θnew	NOUN
hjic-299	96	27	and	and	CCONJ
hjic-299	96	28	return	return	VERB
hjic-299	96	29	to	to	PART
hjic-299	96	30	step	step	NOUN
hjic-299	96	31	2	2	NUM
hjic-299	96	32	.	.	X
hjic-299	96	33	190	190	NUM
hjic-299	96	34	figure	figure	NOUN
hjic-299	96	35	6	6	NUM
hjic-299	96	36	:	:	PUNCT
hjic-299	96	37	the	the	DET
hjic-299	96	38	obtained	obtain	VERB
hjic-299	96	39	3d	3d	NUM
hjic-299	96	40	feature	feature	NOUN
hjic-299	96	41	based	base	VERB
hjic-299	96	42	map	map	NOUN
hjic-299	96	43	of	of	ADP
hjic-299	96	44	the	the	DET
hjic-299	96	45	environment	environment	NOUN
hjic-299	96	46	with	with	ADP
hjic-299	96	47	the	the	DET
hjic-299	96	48	red	red	ADJ
hjic-299	96	49	disk	disk	NOUN
hjic-299	96	50	are	be	AUX
hjic-299	96	51	denoted	denote	VERB
hjic-299	96	52	the	the	DET
hjic-299	96	53	positions	position	NOUN
hjic-299	96	54	of	of	ADP
hjic-299	96	55	the	the	DET
hjic-299	96	56	robot	robot	NOUN
hjic-299	96	57	,	,	PUNCT
hjic-299	96	58	where	where	SCONJ
hjic-299	96	59	the	the	DET
hjic-299	96	60	stereo	stereo	ADJ
hjic-299	96	61	image	image	NOUN
hjic-299	96	62	pares	pare	NOUN
hjic-299	96	63	were	be	AUX
hjic-299	96	64	taken	take	VERB
hjic-299	96	65	.	.	PUNCT
hjic-299	97	1	the	the	DET
hjic-299	97	2	origin	origin	NOUN
hjic-299	97	3	of	of	ADP
hjic-299	97	4	the	the	DET
hjic-299	97	5	map	map	NOUN
hjic-299	97	6	,	,	PUNCT
hjic-299	97	7	the	the	DET
hjic-299	97	8	first	first	ADJ
hjic-299	97	9	robot	robot	NOUN
hjic-299	97	10	location	location	NOUN
hjic-299	97	11	is	be	AUX
hjic-299	97	12	the	the	DET
hjic-299	97	13	dark	dark	ADJ
hjic-299	97	14	red	red	ADJ
hjic-299	97	15	one	one	NUM
hjic-299	97	16	.	.	PUNCT
hjic-299	98	1	the	the	DET
hjic-299	98	2	fade	fade	NOUN
hjic-299	98	3	color	color	NOUN
hjic-299	98	4	of	of	ADP
hjic-299	98	5	the	the	DET
hjic-299	98	6	disks	disk	NOUN
hjic-299	98	7	shows	show	VERB
hjic-299	98	8	the	the	DET
hjic-299	98	9	path	path	NOUN
hjic-299	98	10	travelled	travel	VERB
hjic-299	98	11	by	by	ADP
hjic-299	98	12	the	the	DET
hjic-299	98	13	robot	robot	NOUN
hjic-299	98	14	.	.	PUNCT
hjic-299	99	1	the	the	DET
hjic-299	99	2	point	point	NOUN
hjic-299	99	3	clouds	cloud	NOUN
hjic-299	99	4	acquired	acquire	VERB
hjic-299	99	5	by	by	ADP
hjic-299	99	6	the	the	DET
hjic-299	99	7	2d	2d	PROPN
hjic-299	99	8	laser	laser	NOUN
hjic-299	99	9	system	system	NOUN
hjic-299	99	10	can	can	AUX
hjic-299	99	11	be	be	AUX
hjic-299	99	12	computed	compute	VERB
hjic-299	99	13	for	for	ADP
hjic-299	99	14	different	different	ADJ
hjic-299	99	15	usage	usage	NOUN
hjic-299	99	16	in	in	ADP
hjic-299	99	17	the	the	DET
hjic-299	99	18	navigation	navigation	NOUN
hjic-299	99	19	process	process	NOUN
hjic-299	99	20	.	.	PUNCT
hjic-299	100	1	the	the	DET
hjic-299	100	2	first	first	ADJ
hjic-299	100	3	objective	objective	NOUN
hjic-299	100	4	would	would	AUX
hjic-299	100	5	be	be	AUX
hjic-299	100	6	to	to	PART
hjic-299	100	7	create	create	VERB
hjic-299	100	8	an	an	DET
hjic-299	100	9	apriori	apriori	ADV
hjic-299	100	10	static	static	ADJ
hjic-299	100	11	map	map	NOUN
hjic-299	100	12	,	,	PUNCT
hjic-299	100	13	which	which	PRON
hjic-299	100	14	is	be	AUX
hjic-299	100	15	done	do	VERB
hjic-299	100	16	using	use	VERB
hjic-299	100	17	the	the	DET
hjic-299	100	18	above	above	ADJ
hjic-299	100	19	described	describe	VERB
hjic-299	100	20	algorithms	algorithm	NOUN
hjic-299	100	21	,	,	PUNCT
hjic-299	100	22	k	k	NOUN
hjic-299	100	23	-	-	PUNCT
hjic-299	100	24	means	mean	NOUN
hjic-299	100	25	and	and	CCONJ
hjic-299	100	26	em	em	PRON
hjic-299	100	27	algorithm	algorithm	NOUN
hjic-299	100	28	.	.	PUNCT
hjic-299	101	1	in	in	ADP
hjic-299	101	2	fig	fig	NOUN
hjic-299	101	3	.	.	PUNCT
hjic-299	102	1	7	7	NUM
hjic-299	103	1	the	the	DET
hjic-299	103	2	map	map	NOUN
hjic-299	103	3	of	of	ADP
hjic-299	103	4	the	the	DET
hjic-299	103	5	office	office	NOUN
hjic-299	103	6	environment	environment	NOUN
hjic-299	103	7	can	can	AUX
hjic-299	103	8	be	be	AUX
hjic-299	103	9	seen	see	VERB
hjic-299	103	10	,	,	PUNCT
hjic-299	103	11	which	which	PRON
hjic-299	103	12	will	will	AUX
hjic-299	103	13	be	be	AUX
hjic-299	103	14	clustered	cluster	VERB
hjic-299	103	15	in	in	ADP
hjic-299	103	16	equal	equal	ADJ
hjic-299	103	17	rectangles	rectangle	NOUN
hjic-299	103	18	.	.	PUNCT
hjic-299	104	1	the	the	DET
hjic-299	104	2	objective	objective	NOUN
hjic-299	104	3	is	be	AUX
hjic-299	104	4	to	to	PART
hjic-299	104	5	clusterize	clusterize	VERB
hjic-299	104	6	all	all	DET
hjic-299	104	7	the	the	DET
hjic-299	104	8	separate	separate	ADJ
hjic-299	104	9	objects	object	NOUN
hjic-299	104	10	and	and	CCONJ
hjic-299	104	11	to	to	PART
hjic-299	104	12	detect	detect	VERB
hjic-299	104	13	the	the	DET
hjic-299	104	14	dynamic	dynamic	ADJ
hjic-299	104	15	ones	one	NOUN
hjic-299	104	16	.	.	PUNCT
hjic-299	105	1	figure	figure	VERB
hjic-299	105	2	7	7	NUM
hjic-299	105	3	:	:	SYM
hjic-299	105	4	2d	2d	NUM
hjic-299	105	5	laser	laser	NOUN
hjic-299	105	6	map	map	NOUN
hjic-299	105	7	of	of	ADP
hjic-299	105	8	the	the	DET
hjic-299	105	9	office	office	NOUN
hjic-299	105	10	in	in	ADP
hjic-299	105	11	fig	fig	NOUN
hjic-299	105	12	.	.	PUNCT
hjic-299	106	1	8	8	NUM
hjic-299	107	1	the	the	DET
hjic-299	107	2	map	map	NOUN
hjic-299	107	3	is	be	AUX
hjic-299	107	4	separate	separate	ADJ
hjic-299	107	5	in	in	ADP
hjic-299	107	6	rectangles	rectangle	NOUN
hjic-299	107	7	,	,	PUNCT
hjic-299	107	8	for	for	ADP
hjic-299	107	9	each	each	DET
hjic-299	107	10	rectangle	rectangle	NOUN
hjic-299	107	11	the	the	DET
hjic-299	107	12	same	same	ADJ
hjic-299	107	13	algorithms	algorithm	NOUN
hjic-299	107	14	are	be	AUX
hjic-299	107	15	applied	apply	VERB
hjic-299	107	16	.	.	PUNCT
hjic-299	108	1	figure	figure	NOUN
hjic-299	108	2	8	8	NUM
hjic-299	108	3	:	:	PUNCT
hjic-299	108	4	clustered	clustered	ADJ
hjic-299	108	5	map	map	NOUN
hjic-299	108	6	of	of	ADP
hjic-299	108	7	the	the	DET
hjic-299	108	8	office	office	NOUN
hjic-299	108	9	in	in	ADP
hjic-299	108	10	each	each	DET
hjic-299	108	11	rectangle	rectangle	NOUN
hjic-299	108	12	the	the	DET
hjic-299	108	13	data	datum	NOUN
hjic-299	108	14	set	set	VERB
hjic-299	108	15	is	be	AUX
hjic-299	108	16	clustered	cluster	VERB
hjic-299	108	17	in	in	ADP
hjic-299	108	18	separate	separate	ADJ
hjic-299	108	19	parts	part	NOUN
hjic-299	108	20	by	by	ADP
hjic-299	108	21	both	both	PRON
hjic-299	108	22	of	of	ADP
hjic-299	108	23	the	the	DET
hjic-299	108	24	algorithms	algorithm	NOUN
hjic-299	108	25	in	in	ADP
hjic-299	108	26	order	order	NOUN
hjic-299	108	27	to	to	PART
hjic-299	108	28	detect	detect	VERB
hjic-299	108	29	the	the	DET
hjic-299	108	30	dynamic	dynamic	ADJ
hjic-299	108	31	ones	one	NOUN
hjic-299	108	32	.	.	PUNCT
hjic-299	109	1	in	in	ADP
hjic-299	109	2	fig	fig	NOUN
hjic-299	109	3	.	.	PUNCT
hjic-299	110	1	9	9	NUM
hjic-299	110	2	from	from	ADP
hjic-299	110	3	the	the	DET
hjic-299	110	4	two	two	NUM
hjic-299	110	5	separations	separation	NOUN
hjic-299	110	6	the	the	DET
hjic-299	110	7	one	one	NOUN
hjic-299	110	8	with	with	ADP
hjic-299	110	9	the	the	DET
hjic-299	110	10	most	most	ADV
hjic-299	110	11	clear	clear	ADJ
hjic-299	110	12	one	one	NUM
hjic-299	110	13	is	be	AUX
hjic-299	110	14	chosen	choose	VERB
hjic-299	110	15	.	.	PUNCT
hjic-299	111	1	all	all	DET
hjic-299	111	2	the	the	DET
hjic-299	111	3	separate	separate	ADJ
hjic-299	111	4	data	datum	NOUN
hjic-299	111	5	set	set	NOUN
hjic-299	111	6	will	will	AUX
hjic-299	111	7	be	be	AUX
hjic-299	111	8	encontoured	encontoure	VERB
hjic-299	111	9	by	by	ADP
hjic-299	111	10	geometrical	geometrical	ADJ
hjic-299	111	11	shapes	shape	NOUN
hjic-299	111	12	,	,	PUNCT
hjic-299	111	13	like	like	ADP
hjic-299	111	14	ellipsoids	ellipsoid	NOUN
hjic-299	111	15	and	and	CCONJ
hjic-299	111	16	different	different	ADJ
hjic-299	111	17	contours	contours	NOUN
hjic-299	111	18	.	.	PUNCT
hjic-299	112	1	figure	figure	VERB
hjic-299	112	2	9	9	NUM
hjic-299	112	3	:	:	PUNCT
hjic-299	112	4	the	the	DET
hjic-299	112	5	separated	separated	ADJ
hjic-299	112	6	data	datum	NOUN
hjic-299	112	7	set	set	VERB
hjic-299	112	8	by	by	ADP
hjic-299	112	9	k	k	PROPN
hjic-299	112	10	-	-	PUNCT
hjic-299	112	11	means	mean	NOUN
hjic-299	112	12	and	and	CCONJ
hjic-299	112	13	em	em	PRON
hjic-299	112	14	algorithm	algorithm	NOUN
hjic-299	112	15	after	after	SCONJ
hjic-299	112	16	all	all	DET
hjic-299	112	17	these	these	DET
hjic-299	112	18	steps	step	NOUN
hjic-299	112	19	will	will	AUX
hjic-299	112	20	be	be	AUX
hjic-299	112	21	made	make	VERB
hjic-299	112	22	to	to	ADP
hjic-299	112	23	each	each	DET
hjic-299	112	24	rectangles	rectangle	NOUN
hjic-299	112	25	,	,	PUNCT
hjic-299	112	26	the	the	DET
hjic-299	112	27	objective	objective	NOUN
hjic-299	112	28	is	be	AUX
hjic-299	112	29	to	to	PART
hjic-299	112	30	put	put	VERB
hjic-299	112	31	together	together	ADV
hjic-299	112	32	the	the	DET
hjic-299	112	33	data	data	NOUN
hjic-299	112	34	points	point	NOUN
hjic-299	112	35	which	which	PRON
hjic-299	112	36	are	be	AUX
hjic-299	112	37	part	part	NOUN
hjic-299	112	38	from	from	ADP
hjic-299	112	39	the	the	DET
hjic-299	112	40	same	same	ADJ
hjic-299	112	41	object	object	NOUN
hjic-299	112	42	.	.	PUNCT
hjic-299	113	1	the	the	DET
hjic-299	113	2	data	datum	NOUN
hjic-299	113	3	set	set	VERB
hjic-299	113	4	which	which	PRON
hjic-299	113	5	will	will	AUX
hjic-299	113	6	change	change	VERB
hjic-299	113	7	its	its	PRON
hjic-299	113	8	original	original	ADJ
hjic-299	113	9	cluster	cluster	NOUN
hjic-299	113	10	will	will	AUX
hjic-299	113	11	be	be	AUX
hjic-299	113	12	included	include	VERB
hjic-299	113	13	in	in	ADP
hjic-299	113	14	a	a	DET
hjic-299	113	15	new	new	ADJ
hjic-299	113	16	geometrical	geometrical	ADJ
hjic-299	113	17	form	form	NOUN
hjic-299	113	18	.	.	PUNCT
hjic-299	114	1	these	these	DET
hjic-299	114	2	newly	newly	ADV
hjic-299	114	3	created	create	VERB
hjic-299	114	4	forms	form	NOUN
hjic-299	114	5	will	will	AUX
hjic-299	114	6	be	be	AUX
hjic-299	114	7	put	put	VERB
hjic-299	114	8	in	in	ADP
hjic-299	114	9	cells	cell	NOUN
hjic-299	114	10	,	,	PUNCT
hjic-299	114	11	of	of	ADP
hjic-299	114	12	which	which	DET
hjic-299	114	13	size	size	NOUN
hjic-299	114	14	will	will	AUX
hjic-299	114	15	be	be	AUX
hjic-299	114	16	deducted	deduct	VERB
hjic-299	114	17	by	by	ADP
hjic-299	114	18	the	the	DET
hjic-299	114	19	size	size	NOUN
hjic-299	114	20	of	of	ADP
hjic-299	114	21	the	the	DET
hjic-299	114	22	object	object	NOUN
hjic-299	114	23	.	.	PUNCT
hjic-299	115	1	using	use	VERB
hjic-299	115	2	the	the	DET
hjic-299	115	3	markovian	markovian	ADJ
hjic-299	115	4	properties	property	NOUN
hjic-299	115	5	an	an	DET
hjic-299	115	6	optimal	optimal	ADJ
hjic-299	115	7	trajectory	trajectory	NOUN
hjic-299	115	8	will	will	AUX
hjic-299	115	9	be	be	AUX
hjic-299	115	10	find	find	VERB
hjic-299	115	11	and	and	CCONJ
hjic-299	115	12	in	in	ADP
hjic-299	115	13	collaboration	collaboration	NOUN
hjic-299	115	14	with	with	ADP
hjic-299	115	15	the	the	DET
hjic-299	115	16	vision	vision	NOUN
hjic-299	115	17	system	system	NOUN
hjic-299	115	18	the	the	DET
hjic-299	115	19	localization	localization	NOUN
hjic-299	115	20	process	process	NOUN
hjic-299	115	21	will	will	AUX
hjic-299	115	22	work	work	VERB
hjic-299	115	23	more	more	ADV
hjic-299	115	24	efficiently	efficiently	ADV
hjic-299	115	25	.	.	PUNCT
hjic-299	116	1	future	future	ADJ
hjic-299	116	2	work	work	VERB
hjic-299	116	3	our	our	PRON
hjic-299	116	4	future	future	ADJ
hjic-299	116	5	objective	objective	NOUN
hjic-299	116	6	is	be	AUX
hjic-299	116	7	to	to	PART
hjic-299	116	8	develop	develop	VERB
hjic-299	116	9	the	the	DET
hjic-299	116	10	visual	visual	ADJ
hjic-299	116	11	system	system	NOUN
hjic-299	116	12	to	to	PART
hjic-299	116	13	be	be	AUX
hjic-299	116	14	capable	capable	ADJ
hjic-299	116	15	of	of	ADP
hjic-299	116	16	building	build	VERB
hjic-299	116	17	large	large	ADJ
hjic-299	116	18	scale	scale	NOUN
hjic-299	116	19	image	image	NOUN
hjic-299	116	20	feature	feature	NOUN
hjic-299	116	21	based	base	VERB
hjic-299	116	22	maps	map	NOUN
hjic-299	116	23	.	.	PUNCT
hjic-299	117	1	to	to	PART
hjic-299	117	2	accomplish	accomplish	VERB
hjic-299	117	3	this	this	DET
hjic-299	117	4	goal	goal	NOUN
hjic-299	117	5	in	in	ADP
hjic-299	117	6	an	an	DET
hjic-299	117	7	efficient	efficient	ADJ
hjic-299	117	8	data	data	NOUN
hjic-299	117	9	management	management	NOUN
hjic-299	117	10	manner	manner	NOUN
hjic-299	117	11	the	the	DET
hjic-299	117	12	bag	bag	NOUN
hjic-299	117	13	of	of	ADP
hjic-299	117	14	words	word	NOUN
hjic-299	117	15	representations	representation	NOUN
hjic-299	117	16	will	will	AUX
hjic-299	117	17	be	be	AUX
hjic-299	117	18	used	use	VERB
hjic-299	117	19	.	.	PUNCT
hjic-299	118	1	the	the	DET
hjic-299	118	2	laser	laser	NOUN
hjic-299	118	3	system	system	NOUN
hjic-299	118	4	will	will	AUX
hjic-299	118	5	be	be	AUX
hjic-299	118	6	combined	combine	VERB
hjic-299	118	7	with	with	ADP
hjic-299	118	8	the	the	DET
hjic-299	118	9	markovian	markovian	ADJ
hjic-299	118	10	properties	property	NOUN
hjic-299	118	11	.	.	PUNCT
hjic-299	119	1	another	another	DET
hjic-299	119	2	interest	interest	NOUN
hjic-299	119	3	of	of	ADP
hjic-299	119	4	our	our	PRON
hjic-299	119	5	research	research	NOUN
hjic-299	119	6	is	be	AUX
hjic-299	119	7	focused	focus	VERB
hjic-299	119	8	on	on	ADP
hjic-299	119	9	the	the	DET
hjic-299	119	10	possibility	possibility	NOUN
hjic-299	119	11	of	of	ADP
hjic-299	119	12	putting	put	VERB
hjic-299	119	13	the	the	DET
hjic-299	119	14	visual	visual	ADJ
hjic-299	119	15	mapping	mapping	NOUN
hjic-299	119	16	system	system	NOUN
hjic-299	119	17	in	in	ADP
hjic-299	119	18	a	a	DET
hjic-299	119	19	probabilistic	probabilistic	ADJ
hjic-299	119	20	framework	framework	NOUN
hjic-299	119	21	to	to	PART
hjic-299	119	22	be	be	AUX
hjic-299	119	23	able	able	ADJ
hjic-299	119	24	to	to	PART
hjic-299	119	25	perform	perform	VERB
hjic-299	119	26	simultaneous	simultaneous	ADJ
hjic-299	119	27	localization	localization	NOUN
hjic-299	119	28	and	and	CCONJ
hjic-299	119	29	mapping	mapping	NOUN
hjic-299	119	30	.	.	PUNCT
hjic-299	120	1	references	reference	NOUN
hjic-299	120	2	1	1	NUM
hjic-299	120	3	.	.	PUNCT
hjic-299	120	4	g.	g.	PROPN
hjic-299	120	5	ferri	ferri	PROPN
hjic-299	120	6	,	,	PUNCT
hjic-299	120	7	a.	a.	NOUN
hjic-299	120	8	mondini	mondini	PROPN
hjic-299	120	9	,	,	PUNCT
hjic-299	120	10	a.	a.	NOUN
hjic-299	120	11	manzi	manzi	PROPN
hjic-299	120	12	,	,	PUNCT
hjic-299	120	13	b.	b.	PROPN
hjic-299	120	14	mazzolai	mazzolai	PROPN
hjic-299	120	15	,	,	PUNCT
hjic-299	120	16	c.	c.	PROPN
hjic-299	120	17	laschi	laschi	PROPN
hjic-299	120	18	,	,	PUNCT
hjic-299	120	19	v.	v.	CCONJ
hjic-299	120	20	mattoli	mattoli	PROPN
hjic-299	120	21	,	,	PUNCT
hjic-299	120	22	m.	m.	NOUN
hjic-299	120	23	reggente	reggente	PROPN
hjic-299	120	24	,	,	PUNCT
hjic-299	120	25	t.	t.	PROPN
hjic-299	120	26	stoyanov	stoyanov	PROPN
hjic-299	120	27	,	,	PUNCT
hjic-299	120	28	a.	a.	NOUN
hjic-299	120	29	lilienthal	lilienthal	PROPN
hjic-299	120	30	,	,	PUNCT
hjic-299	120	31	m.	m.	NOUN
hjic-299	120	32	lettere	lettere	PROPN
hjic-299	120	33	,	,	PUNCT
hjic-299	120	34	p.	p.	PROPN
hjic-299	120	35	dario	dario	PROPN
hjic-299	120	36	:	:	PUNCT
hjic-299	121	1	dustcart	dustcart	PROPN
hjic-299	121	2	,	,	PUNCT
hjic-299	121	3	a	a	DET
hjic-299	121	4	mobile	mobile	ADJ
hjic-299	121	5	robot	robot	NOUN
hjic-299	121	6	for	for	ADP
hjic-299	121	7	urban	urban	ADJ
hjic-299	121	8	environments	environment	NOUN
hjic-299	121	9	:	:	PUNCT
hjic-299	121	10	experiments	experiment	NOUN
hjic-299	121	11	of	of	ADP
hjic-299	121	12	pollution	pollution	NOUN
hjic-299	121	13	monitoring	monitoring	NOUN
hjic-299	121	14	and	and	CCONJ
hjic-299	121	15	mapping	mapping	NOUN
hjic-299	121	16	during	during	ADP
hjic-299	121	17	autonomous	autonomous	ADJ
hjic-299	121	18	navigation	navigation	NOUN
hjic-299	121	19	in	in	ADP
hjic-299	121	20	urban	urban	ADJ
hjic-299	121	21	scenarios	scenario	NOUN
hjic-299	121	22	,	,	PUNCT
hjic-299	121	23	icra	icra	PROPN
hjic-299	121	24	workshop	workshop	NOUN
hjic-299	121	25	,	,	PUNCT
hjic-299	121	26	2010	2010	NUM
hjic-299	121	27	.	.	PUNCT
hjic-299	122	1	2	2	NUM
hjic-299	122	2	.	.	X
hjic-299	122	3	g.	g.	PROPN
hjic-299	122	4	ferri	ferri	PROPN
hjic-299	122	5	,	,	PUNCT
hjic-299	122	6	e.	e.	PROPN
hjic-299	122	7	caselli	caselli	PROPN
hjic-299	122	8	,	,	PUNCT
hjic-299	122	9	v.	v.	ADP
hjic-299	122	10	mattoli	mattoli	NOUN
hjic-299	122	11	,	,	PUNCT
hjic-299	122	12	a.	a.	NOUN
hjic-299	122	13	mondini	mondini	PROPN
hjic-299	122	14	,	,	PUNCT
hjic-299	122	15	b.	b.	PROPN
hjic-299	122	16	mazzolai	mazzolai	PROPN
hjic-299	122	17	,	,	PUNCT
hjic-299	122	18	p.	p.	PROPN
hjic-299	122	19	dario	dario	NOUN
hjic-299	122	20	:	:	PUNCT
hjic-299	123	1	spiral	spiral	ADV
hjic-299	123	2	:	:	PUNCT
hjic-299	123	3	a	a	DET
hjic-299	123	4	novel	novel	ADJ
hjic-299	123	5	biologicallyinspired	biologicallyinspire	VERB
hjic-299	123	6	algorithm	algorithm	NOUN
hjic-299	123	7	for	for	ADP
hjic-299	123	8	gas	gas	NOUN
hjic-299	123	9	/	/	SYM
hjic-299	123	10	odor	odor	NOUN
hjic-299	123	11	source	source	NOUN
hjic-299	123	12	localization	localization	NOUN
hjic-299	123	13	in	in	ADP
hjic-299	123	14	an	an	DET
hjic-299	123	15	indoor	indoor	ADJ
hjic-299	123	16	environment	environment	NOUN
hjic-299	123	17	with	with	ADP
hjic-299	123	18	no	no	DET
hjic-299	123	19	strong	strong	ADJ
hjic-299	123	20	airflow	airflow	NOUN
hjic-299	123	21	,	,	PUNCT
hjic-299	123	22	robotics	robotic	NOUN
hjic-299	123	23	and	and	CCONJ
hjic-299	123	24	autonomous	autonomous	ADJ
hjic-299	123	25	systems	system	NOUN
hjic-299	123	26	,	,	PUNCT
hjic-299	123	27	issue	issue	NOUN
hjic-299	123	28	4	4	NUM
hjic-299	123	29	,	,	PUNCT
hjic-299	123	30	april	april	PROPN
hjic-299	123	31	,	,	PUNCT
hjic-299	123	32	2009	2009	NUM
hjic-299	123	33	.	.	PUNCT
hjic-299	124	1	3	3	X
hjic-299	124	2	.	.	X
hjic-299	124	3	m.	m.	NOUN
hjic-299	124	4	k.	k.	PROPN
hjic-299	124	5	muezzinoglu	muezzinoglu	PROPN
hjic-299	124	6	,	,	PUNCT
hjic-299	124	7	a.	a.	PROPN
hjic-299	124	8	vergara	vergara	PROPN
hjic-299	124	9	,	,	PUNCT
hjic-299	124	10	r.	r.	PROPN
hjic-299	124	11	huerta	huerta	PROPN
hjic-299	124	12	,	,	PUNCT
hjic-299	124	13	n.	n.	PROPN
hjic-299	124	14	rulkov	rulkov	PROPN
hjic-299	124	15	,	,	PUNCT
hjic-299	124	16	m.	m.	NOUN
hjic-299	124	17	i.	i.	PROPN
hjic-299	124	18	rabinovich	rabinovich	PROPN
hjic-299	124	19	,	,	PUNCT
hjic-299	124	20	a.	a.	PROPN
hjic-299	124	21	selverston	selverston	PROPN
hjic-299	124	22	,	,	PUNCT
hjic-299	124	23	h.	h.	PROPN
hjic-299	124	24	d.	d.	PROPN
hjic-299	124	25	abarbanel	abarbanel	PROPN
hjic-299	124	26	:	:	PUNCT
hjic-299	124	27	acceleration	acceleration	NOUN
hjic-299	124	28	of	of	ADP
hjic-299	124	29	chemosensory	chemosensory	ADJ
hjic-299	124	30	information	information	NOUN
hjic-299	124	31	processing	processing	NOUN
hjic-299	124	32	using	use	VERB
hjic-299	124	33	transient	transient	NOUN
hjic-299	124	34	features	feature	NOUN
hjic-299	124	35	,	,	PUNCT
hjic-299	124	36	sensors	sensor	NOUN
hjic-299	124	37	and	and	CCONJ
hjic-299	124	38	actuators	actuator	NOUN
hjic-299	125	1	b	b	X
hjic-299	125	2	:	:	PUNCT
hjic-299	125	3	chemical	chemical	NOUN
hjic-299	125	4	,	,	PUNCT
hjic-299	125	5	2009	2009	NUM
hjic-299	125	6	.	.	PUNCT
hjic-299	126	1	191	191	NUM
hjic-299	126	2	4	4	NUM
hjic-299	126	3	.	.	PUNCT
hjic-299	126	4	c.	c.	NOUN
hjic-299	126	5	stachniss	stachniss	PROPN
hjic-299	126	6	,	,	PUNCT
hjic-299	126	7	c.	c.	PROPN
hjic-299	126	8	plagemann	plagemann	PROPN
hjic-299	126	9	,	,	PUNCT
hjic-299	126	10	a.	a.	NOUN
hjic-299	126	11	lilienthal	lilienthal	NOUN
hjic-299	126	12	:	:	PUNCT
hjic-299	126	13	learning	learn	VERB
hjic-299	126	14	gas	gas	NOUN
hjic-299	126	15	distribution	distribution	NOUN
hjic-299	126	16	models	model	NOUN
hjic-299	126	17	using	use	VERB
hjic-299	126	18	sparse	sparse	ADJ
hjic-299	126	19	gaussian	gaussian	ADJ
hjic-299	126	20	process	process	NOUN
hjic-299	126	21	mixtures	mixture	NOUN
hjic-299	126	22	,	,	PUNCT
hjic-299	126	23	autonomous	autonomous	ADJ
hjic-299	126	24	robots	robot	NOUN
hjic-299	126	25	,	,	PUNCT
hjic-299	126	26	2009	2009	NUM
hjic-299	126	27	.	.	PUNCT
hjic-299	127	1	5	5	NUM
hjic-299	127	2	.	.	PUNCT
hjic-299	127	3	a.	a.	NOUN
hjic-299	127	4	gil	gil	PROPN
hjic-299	127	5	,	,	PUNCT
hjic-299	127	6	et	et	PROPN
hjic-299	127	7	al	al	PROPN
hjic-299	127	8	.	.	PUNCT
hjic-299	127	9	:	:	PUNCT
hjic-299	128	1	a	a	DET
hjic-299	128	2	comparative	comparative	ADJ
hjic-299	128	3	evaluation	evaluation	NOUN
hjic-299	128	4	of	of	ADP
hjic-299	128	5	interest	interest	NOUN
hjic-299	128	6	point	point	NOUN
hjic-299	128	7	detectors	detector	NOUN
hjic-299	128	8	and	and	CCONJ
hjic-299	128	9	local	local	ADJ
hjic-299	128	10	descriptors	descriptor	NOUN
hjic-299	128	11	for	for	ADP
hjic-299	128	12	visual	visual	ADJ
hjic-299	128	13	slam	slam	NOUN
hjic-299	128	14	,	,	PUNCT
hjic-299	128	15	machine	machine	NOUN
hjic-299	128	16	vision	vision	NOUN
hjic-299	128	17	and	and	CCONJ
hjic-299	128	18	applications	application	NOUN
hjic-299	128	19	,	,	PUNCT
hjic-299	128	20	springer	springer	NOUN
hjic-299	128	21	,	,	PUNCT
hjic-299	128	22	2009	2009	NUM
hjic-299	128	23	.	.	PUNCT
hjic-299	129	1	6	6	NUM
hjic-299	129	2	.	.	PUNCT
hjic-299	129	3	c.	c.	PROPN
hjic-299	129	4	evans	evans	PROPN
hjic-299	129	5	:	:	PUNCT
hjic-299	129	6	notes	note	NOUN
hjic-299	129	7	on	on	ADP
hjic-299	129	8	the	the	DET
hjic-299	129	9	opensurf	opensurf	ADJ
hjic-299	129	10	library	library	NOUN
hjic-299	129	11	,	,	PUNCT
hjic-299	129	12	university	university	NOUN
hjic-299	129	13	of	of	ADP
hjic-299	129	14	bristol	bristol	PROPN
hjic-299	129	15	,	,	PUNCT
hjic-299	129	16	technical	technical	ADJ
hjic-299	129	17	report	report	NOUN
hjic-299	129	18	:	:	PUNCT
hjic-299	129	19	cstr-0900	cstr-0900	ADJ
hjic-299	129	20	,	,	PUNCT
hjic-299	129	21	2009	2009	NUM
hjic-299	129	22	.	.	PUNCT
hjic-299	130	1	7	7	X
hjic-299	130	2	.	.	X
hjic-299	130	3	h.	h.	PROPN
hjic-299	130	4	bay	bay	PROPN
hjic-299	130	5	,	,	PUNCT
hjic-299	130	6	a.	a.	PROPN
hjic-299	130	7	ess	ess	PROPN
hjic-299	130	8	,	,	PUNCT
hjic-299	130	9	t.	t.	NOUN
hjic-299	130	10	tuytelaars	tuytelaar	NOUN
hjic-299	130	11	,	,	PUNCT
hjic-299	130	12	a.	a.	PROPN
hjic-299	130	13	van	van	PROPN
hjic-299	130	14	gool	gool	PROPN
hjic-299	130	15	:	:	PUNCT
hjic-299	130	16	surf	surf	NOUN
hjic-299	130	17	:	:	PUNCT
hjic-299	130	18	speeded	speed	VERB
hjic-299	130	19	up	up	ADP
hjic-299	130	20	robust	robust	ADJ
hjic-299	130	21	feature	feature	NOUN
hjic-299	130	22	,	,	PUNCT
hjic-299	130	23	computer	computer	NOUN
hjic-299	130	24	vision	vision	NOUN
hjic-299	130	25	and	and	CCONJ
hjic-299	130	26	image	image	NOUN
hjic-299	130	27	understanding	understanding	NOUN
hjic-299	130	28	,	,	PUNCT
hjic-299	130	29	110	110	NUM
hjic-299	130	30	,	,	PUNCT
hjic-299	130	31	2008	2008	NUM
hjic-299	130	32	,	,	PUNCT
hjic-299	130	33	346–359	346–359	NUM
hjic-299	130	34	.	.	NOUN
hjic-299	131	1	8	8	NUM
hjic-299	131	2	.	.	PUNCT
hjic-299	131	3	g.	g.	PROPN
hjic-299	131	4	ferri	ferri	PROPN
hjic-299	131	5	,	,	PUNCT
hjic-299	131	6	m.	m.	NOUN
hjic-299	131	7	v.	v.	ADP
hjic-299	131	8	jakuba	jakuba	PROPN
hjic-299	131	9	,	,	PUNCT
hjic-299	131	10	e.	e.	PROPN
hjic-299	131	11	caselli	caselli	PROPN
hjic-299	131	12	yoerger	yoerger	PROPN
hjic-299	131	13	,	,	PUNCT
hjic-299	131	14	p.	p.	NOUN
hjic-299	131	15	dario	dario	PROPN
hjic-299	131	16	:	:	PUNCT
hjic-299	131	17	localizing	localize	VERB
hjic-299	131	18	multiple	multiple	ADJ
hjic-299	131	19	gas	gas	NOUN
hjic-299	131	20	/	/	SYM
hjic-299	131	21	odor	odor	NOUN
hjic-299	131	22	sources	source	NOUN
hjic-299	131	23	in	in	ADP
hjic-299	131	24	an	an	DET
hjic-299	131	25	indoor	indoor	ADJ
hjic-299	131	26	environment	environment	NOUN
hjic-299	131	27	using	use	VERB
hjic-299	131	28	bayesian	bayesian	NOUN
hjic-299	131	29	occupancy	occupancy	NOUN
hjic-299	131	30	grid	grid	NOUN
hjic-299	131	31	mapping	mapping	NOUN
hjic-299	131	32	,	,	PUNCT
hjic-299	131	33	ieee	ieee	NOUN
hjic-299	131	34	/	/	SYM
hjic-299	131	35	rsj	rsj	NOUN
hjic-299	131	36	international	international	ADJ
hjic-299	131	37	conference	conference	NOUN
hjic-299	131	38	on	on	ADP
hjic-299	131	39	intelligent	intelligent	ADJ
hjic-299	131	40	robots	robot	NOUN
hjic-299	131	41	and	and	CCONJ
hjic-299	131	42	systems	system	NOUN
hjic-299	131	43	,	,	PUNCT
hjic-299	131	44	2007	2007	NUM
hjic-299	131	45	.	.	PUNCT
hjic-299	132	1	9	9	NUM
hjic-299	132	2	.	.	X
hjic-299	132	3	c.	c.	NOUN
hjic-299	132	4	laugier	laugier	PROPN
hjic-299	132	5	,	,	PUNCT
hjic-299	132	6	r.	r.	PROPN
hjic-299	132	7	chatila	chatila	PROPN
hjic-299	132	8	:	:	PUNCT
hjic-299	132	9	autonomous	autonomous	ADJ
hjic-299	132	10	navigation	navigation	NOUN
hjic-299	132	11	in	in	ADP
hjic-299	132	12	dynamic	dynamic	ADJ
hjic-299	132	13	environments	environment	NOUN
hjic-299	132	14	,	,	PUNCT
hjic-299	132	15	springer	springer	NOUN
hjic-299	132	16	tracts	tract	NOUN
hjic-299	132	17	in	in	ADP
hjic-299	132	18	advanced	advanced	ADJ
hjic-299	132	19	robotics	robotic	NOUN
hjic-299	132	20	,	,	PUNCT
hjic-299	132	21	35	35	NUM
hjic-299	132	22	,	,	PUNCT
hjic-299	132	23	2007	2007	NUM
hjic-299	132	24	.	.	PUNCT
hjic-299	133	1	10	10	NUM
hjic-299	133	2	.	.	PUNCT
hjic-299	133	3	a.	a.	PROPN
hjic-299	133	4	lilienthal	lilienthal	PROPN
hjic-299	133	5	,	,	PUNCT
hjic-299	133	6	a.	a.	NOUN
hjic-299	133	7	loutfi	loutfi	PROPN
hjic-299	133	8	,	,	PUNCT
hjic-299	133	9	t.	t.	PROPN
hjic-299	133	10	duckett	duckett	PROPN
hjic-299	133	11	:	:	PUNCT
hjic-299	133	12	airborne	airborne	ADJ
hjic-299	133	13	chemical	chemical	NOUN
hjic-299	133	14	sensing	sense	VERB
hjic-299	133	15	with	with	ADP
hjic-299	133	16	mobile	mobile	ADJ
hjic-299	133	17	robots	robot	NOUN
hjic-299	133	18	,	,	PUNCT
hjic-299	133	19	sensors	sensor	NOUN
hjic-299	133	20	,	,	PUNCT
hjic-299	133	21	2006	2006	NUM
hjic-299	133	22	.	.	PUNCT
hjic-299	134	1	11	11	NUM
hjic-299	134	2	.	.	PUNCT
hjic-299	134	3	d.	d.	PROPN
hjic-299	134	4	martinez	martinez	PROPN
hjic-299	134	5	,	,	PUNCT
hjic-299	134	6	o.	o.	PROPN
hjic-299	134	7	rochel	rochel	PROPN
hjic-299	134	8	,	,	PUNCT
hjic-299	134	9	e.	e.	PROPN
hjic-299	134	10	hughes	hughes	PROPN
hjic-299	134	11	:	:	PUNCT
hjic-299	134	12	a	a	DET
hjic-299	134	13	biomimetic	biomimetic	ADJ
hjic-299	134	14	robot	robot	NOUN
hjic-299	134	15	for	for	ADP
hjic-299	134	16	tracking	track	VERB
hjic-299	134	17	specific	specific	ADJ
hjic-299	134	18	odors	odor	NOUN
hjic-299	134	19	in	in	ADP
hjic-299	134	20	turbulent	turbulent	ADJ
hjic-299	134	21	plumes	plume	NOUN
hjic-299	134	22	,	,	PUNCT
hjic-299	134	23	autonomous	autonomous	ADJ
hjic-299	134	24	robots	robot	NOUN
hjic-299	134	25	,	,	PUNCT
hjic-299	134	26	june	june	PROPN
hjic-299	134	27	2006	2006	NUM
hjic-299	134	28	.	.	PUNCT
hjic-299	135	1	12	12	NUM
hjic-299	135	2	.	.	PUNCT
hjic-299	135	3	c.	c.	PROPN
hjic-299	135	4	m.	m.	PROPN
hjic-299	135	5	bishop	bishop	PROPN
hjic-299	135	6	:	:	PUNCT
hjic-299	135	7	pattern	pattern	NOUN
hjic-299	135	8	recognition	recognition	NOUN
hjic-299	135	9	and	and	CCONJ
hjic-299	135	10	machine	machine	NOUN
hjic-299	135	11	learning	learning	NOUN
hjic-299	135	12	.	.	PUNCT
hjic-299	136	1	information	information	NOUN
hjic-299	136	2	science	science	NOUN
hjic-299	136	3	and	and	CCONJ
hjic-299	136	4	statistics	statistic	NOUN
hjic-299	136	5	,	,	PUNCT
hjic-299	136	6	2006	2006	NUM
hjic-299	136	7	.	.	PUNCT
hjic-299	137	1	13	13	NUM
hjic-299	137	2	.	.	PUNCT
hjic-299	138	1	h.	h.	PROPN
hjic-299	138	2	r.	r.	PROPN
hjic-299	138	3	olesen	olesen	PROPN
hjic-299	138	4	,	,	PUNCT
hjic-299	138	5	r.	r.	PROPN
hjic-299	138	6	berkowicz	berkowicz	PROPN
hjic-299	138	7	,	,	PUNCT
hjic-299	138	8	m.	m.	PROPN
hjic-299	138	9	ketzel	ketzel	PROPN
hjic-299	138	10	:	:	PUNCT
hjic-299	138	11	regulatory	regulatory	ADJ
hjic-299	138	12	odour	odour	NOUN
hjic-299	138	13	model	model	NOUN
hjic-299	138	14	development	development	NOUN
hjic-299	138	15	:	:	PUNCT
hjic-299	138	16	survey	survey	NOUN
hjic-299	138	17	of	of	ADP
hjic-299	138	18	modelling	model	VERB
hjic-299	138	19	tools	tool	NOUN
hjic-299	138	20	and	and	CCONJ
hjic-299	138	21	datasets	dataset	NOUN
hjic-299	138	22	with	with	ADP
hjic-299	138	23	focus	focus	NOUN
hjic-299	138	24	on	on	ADP
hjic-299	138	25	building	building	NOUN
hjic-299	138	26	effects	effect	NOUN
hjic-299	138	27	,	,	PUNCT
hjic-299	138	28	technical	technical	ADJ
hjic-299	138	29	report	report	NOUN
hjic-299	138	30	541	541	NUM
hjic-299	138	31	,	,	PUNCT
hjic-299	138	32	denmark	denmark	NOUN
hjic-299	138	33	2005	2005	NUM
hjic-299	138	34	.	.	PUNCT
hjic-299	139	1	14	14	NUM
hjic-299	139	2	.	.	PUNCT
hjic-299	139	3	l.	l.	PROPN
hjic-299	139	4	marques	marques	PROPN
hjic-299	139	5	,	,	PUNCT
hjic-299	139	6	a.	a.	NOUN
hjic-299	139	7	martins	martins	PROPN
hjic-299	139	8	,	,	PUNCT
hjic-299	139	9	a.	a.	PROPN
hjic-299	139	10	de	de	PROPN
hjic-299	139	11	almeida	almeida	PROPN
hjic-299	139	12	:	:	PUNCT
hjic-299	139	13	environmental	environmental	ADJ
hjic-299	139	14	monitoring	monitoring	NOUN
hjic-299	139	15	with	with	ADP
hjic-299	139	16	mobile	mobile	ADJ
hjic-299	139	17	robots	robot	NOUN
hjic-299	139	18	,	,	PUNCT
hjic-299	139	19	conference	conference	NOUN
hjic-299	139	20	on	on	ADP
hjic-299	139	21	intelligent	intelligent	ADJ
hjic-299	139	22	robots	robot	NOUN
hjic-299	139	23	and	and	CCONJ
hjic-299	139	24	systems	system	NOUN
hjic-299	139	25	,	,	PUNCT
hjic-299	139	26	iros	iro	NOUN
hjic-299	139	27	2005	2005	NUM
hjic-299	139	28	.	.	PUNCT
hjic-299	140	1	15	15	NUM
hjic-299	140	2	.	.	PUNCT
hjic-299	140	3	j.	j.	PROPN
hjic-299	140	4	a.	a.	PROPN
hjic-299	140	5	farrell	farrell	PROPN
hjic-299	140	6	,	,	PUNCT
hjic-299	140	7	s.	s.	PROPN
hjic-299	140	8	pang	pang	PROPN
hjic-299	140	9	,	,	PUNCT
hjic-299	140	10	w.	w.	PROPN
hjic-299	140	11	li	li	PROPN
hjic-299	140	12	:	:	PUNCT
hjic-299	140	13	plume	plume	NOUN
hjic-299	140	14	mapping	mapping	NOUN
hjic-299	140	15	using	use	VERB
hjic-299	140	16	markov	markov	NOUN
hjic-299	140	17	methods	method	NOUN
hjic-299	140	18	,	,	PUNCT
hjic-299	140	19	ieee	ieee	NOUN
hjic-299	140	20	transactions	transaction	NOUN
hjic-299	140	21	on	on	ADP
hjic-299	140	22	systems	system	NOUN
hjic-299	140	23	,	,	PUNCT
hjic-299	140	24	man	man	NOUN
hjic-299	140	25	and	and	CCONJ
hjic-299	140	26	cybernetics	cybernetic	NOUN
hjic-299	140	27	part	part	NOUN
hjic-299	140	28	b	b	NOUN
hjic-299	140	29	:	:	PUNCT
hjic-299	140	30	cybernetics	cybernetic	NOUN
hjic-299	140	31	,	,	PUNCT
hjic-299	140	32	2003	2003	NUM
hjic-299	140	33	.	.	PUNCT
hjic-299	141	1	16	16	NUM
hjic-299	141	2	.	.	PUNCT
hjic-299	142	1	s.	s.	PROPN
hjic-299	142	2	thrun	thrun	PROPN
hjic-299	142	3	et	et	PROPN
hjic-299	142	4	al	al	PROPN
hjic-299	142	5	.	.	PROPN
hjic-299	142	6	:	:	PUNCT
hjic-299	143	1	a	a	DET
hjic-299	143	2	system	system	NOUN
hjic-299	143	3	for	for	ADP
hjic-299	143	4	volumetric	volumetric	ADJ
hjic-299	143	5	robotic	robotic	ADJ
hjic-299	143	6	mapping	mapping	NOUN
hjic-299	143	7	of	of	ADP
hjic-299	143	8	abandoned	abandon	VERB
hjic-299	143	9	mines	mine	NOUN
hjic-299	143	10	,	,	PUNCT
hjic-299	143	11	ieee	ieee	PROPN
hjic-299	143	12	international	international	ADJ
hjic-299	143	13	conference	conference	NOUN
hjic-299	143	14	on	on	ADP
hjic-299	143	15	robotics	robotic	NOUN
hjic-299	143	16	and	and	CCONJ
hjic-299	143	17	automation	automation	NOUN
hjic-299	143	18	,	,	PUNCT
hjic-299	143	19	2003	2003	NUM
hjic-299	143	20	,	,	PUNCT
hjic-299	143	21	4270–4275	4270–4275	NUM
hjic-299	143	22	.	.	NOUN
hjic-299	143	23	17	17	NUM
hjic-299	143	24	.	.	PUNCT
hjic-299	143	25	a.	a.	NOUN
hjic-299	143	26	t.	t.	PROPN
hjic-299	143	27	hayes	hayes	PROPN
hjic-299	143	28	,	,	PUNCT
hjic-299	143	29	a.	a.	NOUN
hjic-299	143	30	martinoli	martinoli	PROPN
hjic-299	143	31	,	,	PUNCT
hjic-299	143	32	r.	r.	PROPN
hjic-299	143	33	m.	m.	PROPN
hjic-299	143	34	goodman	goodman	PROPN
hjic-299	143	35	:	:	PUNCT
hjic-299	143	36	distributed	distribute	VERB
hjic-299	143	37	odor	odor	NOUN
hjic-299	143	38	source	source	NOUN
hjic-299	143	39	localization	localization	NOUN
hjic-299	143	40	,	,	PUNCT
hjic-299	143	41	ieee	ieee	NOUN
hjic-299	143	42	sensors	sensor	NOUN
hjic-299	143	43	journal	journal	NOUN
hjic-299	143	44	,	,	PUNCT
hjic-299	143	45	2	2	NUM
hjic-299	143	46	,	,	PUNCT
hjic-299	143	47	2002	2002	NUM
hjic-299	143	48	.	.	PUNCT
hjic-299	144	1	18	18	NUM
hjic-299	144	2	.	.	PUNCT
hjic-299	145	1	p.	p.	NOUN
hjic-299	145	2	viola	viola	PROPN
hjic-299	145	3	,	,	PUNCT
hjic-299	145	4	m.	m.	NOUN
hjic-299	145	5	jones	jones	PROPN
hjic-299	145	6	:	:	PUNCT
hjic-299	145	7	rapid	rapid	ADJ
hjic-299	145	8	object	object	NOUN
hjic-299	145	9	detection	detection	NOUN
hjic-299	145	10	using	use	VERB
hjic-299	145	11	a	a	DET
hjic-299	145	12	boosted	boosted	ADJ
hjic-299	145	13	cascade	cascade	NOUN
hjic-299	145	14	of	of	ADP
hjic-299	145	15	simple	simple	ADJ
hjic-299	145	16	features	feature	NOUN
hjic-299	145	17	,	,	PUNCT
hjic-299	145	18	computer	computer	NOUN
hjic-299	145	19	vision	vision	NOUN
hjic-299	145	20	and	and	CCONJ
hjic-299	145	21	pattern	pattern	NOUN
hjic-299	145	22	recognition	recognition	NOUN
hjic-299	145	23	,	,	PUNCT
hjic-299	145	24	2001	2001	NUM
hjic-299	145	25	.	.	PUNCT
hjic-299	146	1	19	19	NUM
hjic-299	146	2	.	.	X
hjic-299	146	3	d.	d.	PROPN
hjic-299	146	4	g.	g.	PROPN
hjic-299	146	5	lowe	lowe	PROPN
hjic-299	146	6	:	:	PUNCT
hjic-299	146	7	object	object	VERB
hjic-299	146	8	recognition	recognition	NOUN
hjic-299	146	9	from	from	ADP
hjic-299	146	10	local	local	ADJ
hjic-299	146	11	scaleinvariant	scaleinvariant	NOUN
hjic-299	146	12	features	feature	NOUN
hjic-299	146	13	,	,	PUNCT
hjic-299	146	14	international	international	ADJ
hjic-299	146	15	conference	conference	NOUN
hjic-299	146	16	on	on	ADP
hjic-299	146	17	computer	computer	NOUN
hjic-299	146	18	vision	vision	NOUN
hjic-299	146	19	,	,	PUNCT
hjic-299	146	20	1999	1999	NUM
hjic-299	146	21	,	,	PUNCT
hjic-299	146	22	1150–1157	1150–1157	NUM
hjic-299	146	23	.	.	PUNCT
hjic-299	146	24	20	20	NUM
hjic-299	146	25	.	.	PUNCT
hjic-299	147	1	h.	h.	PROPN
hjic-299	147	2	ishida	ishida	PROPN
hjic-299	147	3	,	,	PUNCT
hjic-299	147	4	t.	t.	NOUN
hjic-299	147	5	nakamoto	nakamoto	NOUN
hjic-299	147	6	,	,	PUNCT
hjic-299	147	7	t.	t.	PROPN
hjic-299	147	8	moriizumi	moriizumi	PROPN
hjic-299	147	9	:	:	PUNCT
hjic-299	147	10	remote	remote	ADJ
hjic-299	147	11	sensing	sensing	NOUN
hjic-299	147	12	of	of	ADP
hjic-299	147	13	gas	gas	NOUN
hjic-299	147	14	/	/	SYM
hjic-299	147	15	odor	odor	NOUN
hjic-299	147	16	source	source	NOUN
hjic-299	147	17	location	location	NOUN
hjic-299	147	18	and	and	CCONJ
hjic-299	147	19	concentration	concentration	NOUN
hjic-299	147	20	distribution	distribution	NOUN
hjic-299	147	21	using	use	VERB
hjic-299	147	22	mobile	mobile	ADJ
hjic-299	147	23	systems	system	NOUN
hjic-299	147	24	,	,	PUNCT
hjic-299	147	25	sensors	sensor	NOUN
hjic-299	147	26	and	and	CCONJ
hjic-299	147	27	actuators	actuator	NOUN
hjic-299	147	28	b	b	PROPN
hjic-299	147	29	1998	1998	NUM
hjic-299	147	30	.	.	PUNCT
hjic-299	148	1	21	21	NUM
hjic-299	148	2	.	.	PUNCT
hjic-299	148	3	r.	r.	PROPN
hjic-299	148	4	a.	a.	PROPN
hjic-299	148	5	russell	russell	PROPN
hjic-299	148	6	:	:	PUNCT
hjic-299	148	7	laying	lay	VERB
hjic-299	148	8	and	and	CCONJ
hjic-299	148	9	sensing	sense	VERB
hjic-299	148	10	odor	odor	NOUN
hjic-299	148	11	markings	marking	NOUN
hjic-299	148	12	as	as	ADP
hjic-299	148	13	a	a	DET
hjic-299	148	14	strategy	strategy	NOUN
hjic-299	148	15	for	for	ADP
hjic-299	148	16	assisting	assist	VERB
hjic-299	148	17	mobile	mobile	ADJ
hjic-299	148	18	robot	robot	NOUN
hjic-299	148	19	navigation	navigation	NOUN
hjic-299	148	20	tasks	task	NOUN
hjic-299	148	21	,	,	PUNCT
hjic-299	148	22	ieee	ieee	NOUN
hjic-299	148	23	robot	robot	NOUN
hjic-299	148	24	.	.	PUNCT
hjic-299	149	1	mag	mag	INTJ
hjic-299	149	2	.	.	PROPN
hjic-299	149	3	,	,	PUNCT
hjic-299	149	4	2	2	NUM
hjic-299	149	5	,	,	PUNCT
hjic-299	149	6	1995	1995	NUM
hjic-299	149	7	.	.	PUNCT
hjic-299	150	1	22	22	NUM
hjic-299	150	2	.	.	PUNCT
hjic-299	151	1	h.	h.	PROPN
hjic-299	151	2	ishida	ishida	PROPN
hjic-299	151	3	,	,	PUNCT
hjic-299	151	4	k.	k.	PROPN
hjic-299	151	5	suetsugu	suetsugu	PROPN
hjic-299	151	6	,	,	PUNCT
hjic-299	151	7	t.	t.	NOUN
hjic-299	151	8	nakamoto	nakamoto	NOUN
hjic-299	151	9	,	,	PUNCT
hjic-299	151	10	t.	t.	PROPN
hjic-299	151	11	moriizumi	moriizumi	PROPN
hjic-299	151	12	:	:	PUNCT
hjic-299	151	13	study	study	NOUN
hjic-299	151	14	of	of	ADP
hjic-299	151	15	autonomous	autonomous	ADJ
hjic-299	151	16	mobile	mobile	ADJ
hjic-299	151	17	sensing	sense	VERB
hjic-299	151	18	system	system	NOUN
hjic-299	151	19	for	for	ADP
hjic-299	151	20	localization	localization	NOUN
hjic-299	151	21	of	of	ADP
hjic-299	151	22	odor	odor	NOUN
hjic-299	151	23	source	source	NOUN
hjic-299	151	24	using	use	VERB
hjic-299	151	25	gas	gas	NOUN
hjic-299	151	26	sensors	sensor	NOUN
hjic-299	151	27	and	and	CCONJ
hjic-299	151	28	anemometric	anemometric	ADJ
hjic-299	151	29	sensors	sensor	NOUN
hjic-299	151	30	,	,	PUNCT
hjic-299	151	31	45	45	NUM
hjic-299	151	32	,	,	PUNCT
hjic-299	151	33	1994	1994	NUM
hjic-299	151	34	.	.	PUNCT
hjic-299	152	1	23	23	NUM
hjic-299	152	2	.	.	PUNCT
hjic-299	153	1	p.	p.	NOUN
hjic-299	153	2	j.	j.	PROPN
hjic-299	153	3	besl	besl	PROPN
hjic-299	153	4	,	,	PUNCT
hjic-299	153	5	n.	n.	PROPN
hjic-299	153	6	d.	d.	PROPN
hjic-299	153	7	mckay	mckay	PROPN
hjic-299	153	8	:	:	PUNCT
hjic-299	153	9	a	a	DET
hjic-299	153	10	method	method	NOUN
hjic-299	153	11	for	for	ADP
hjic-299	153	12	registration	registration	NOUN
hjic-299	153	13	of	of	ADP
hjic-299	153	14	3	3	NUM
hjic-299	153	15	-	-	PUNCT
hjic-299	153	16	d	d	NOUN
hjic-299	153	17	shapes	shape	NOUN
hjic-299	153	18	,	,	PUNCT
hjic-299	153	19	ieee	ieee	NOUN
hjic-299	153	20	transactions	transaction	NOUN
hjic-299	153	21	on	on	ADP
hjic-299	153	22	pattern	pattern	NOUN
hjic-299	153	23	analysis	analysis	NOUN
hjic-299	153	24	&	&	CCONJ
hjic-299	153	25	machine	machine	NOUN
hjic-299	153	26	intelligence	intelligence	NOUN
hjic-299	153	27	,	,	PUNCT
hjic-299	153	28	14	14	NUM
hjic-299	153	29	,	,	PUNCT
hjic-299	153	30	1992	1992	NUM
hjic-299	153	31	,	,	PUNCT
hjic-299	153	32	239–256	239–256	NUM
hjic-299	153	33	.	.	PUNCT
hjic-299	154	1	<	<	X
hjic-299	154	2	<	<	X
hjic-299	154	3	/ascii85encodepages	/ascii85encodepage	NOUN
hjic-299	154	4	false	false	ADJ
hjic-299	154	5	/allowtransparency	/allowtransparency	NOUN
hjic-299	154	6	false	false	ADJ
hjic-299	154	7	/autopositionepsfiles	/autopositionepsfile	NOUN
hjic-299	154	8	true	true	ADJ
hjic-299	154	9	/autorotatepages	/autorotatepage	NOUN
hjic-299	154	10	/none	/none	PUNCT
hjic-299	154	11	/binding	/binding	PUNCT
hjic-299	154	12	/left	/left	ADJ
hjic-299	155	1	/calgrayprofile	/calgrayprofile	VERB
hjic-299	155	2	(	(	PUNCT
hjic-299	155	3	dot	dot	NOUN
hjic-299	155	4	gain	gain	NOUN
hjic-299	155	5	20	20	NUM
hjic-299	155	6	%	%	NOUN
hjic-299	155	7	)	)	PUNCT
hjic-299	155	8	/calrgbprofile	/calrgbprofile	PUNCT
hjic-299	156	1	(	(	PUNCT
hjic-299	156	2	srgb	srgb	PROPN
hjic-299	156	3	iec61966	iec61966	NOUN
hjic-299	156	4	-	-	PUNCT
hjic-299	156	5	2.1	2.1	NUM
hjic-299	156	6	)	)	PUNCT
hjic-299	156	7	/calcmykprofile	/calcmykprofile	PUNCT
hjic-299	157	1	(	(	PUNCT
hjic-299	157	2	u.s	u.s	PROPN
hjic-299	157	3	.	.	PROPN
hjic-299	157	4	web	web	NOUN
hjic-299	157	5	coated	coat	VERB
hjic-299	157	6	\050swop\051	\050swop\051	ADJ
hjic-299	157	7	v2	v2	NOUN
hjic-299	157	8	)	)	PUNCT
hjic-299	157	9	/srgbprofile	/srgbprofile	PUNCT
hjic-299	157	10	(	(	PUNCT
hjic-299	157	11	srgb	srgb	PROPN
hjic-299	157	12	iec61966	iec61966	NOUN
hjic-299	157	13	-	-	PUNCT
hjic-299	157	14	2.1	2.1	NUM
hjic-299	157	15	)	)	PUNCT
hjic-299	157	16	/cannotembedfontpolicy	/cannotembedfontpolicy	PUNCT
hjic-299	158	1	/error	/error	INTJ
hjic-299	158	2	/compatibilitylevel	/compatibilitylevel	NOUN
hjic-299	159	1	1.4	1.4	NUM
hjic-299	159	2	/compressobjects	/compressobject	NOUN
hjic-299	159	3	/tags	/tag	VERB
hjic-299	159	4	/compresspages	/compresspage	NOUN
hjic-299	159	5	true	true	ADJ
hjic-299	159	6	/convertimagestoindexed	/convertimagestoindexed	ADJ
hjic-299	159	7	true	true	ADJ
hjic-299	159	8	/passthroughjpegimages	/passthroughjpegimage	NOUN
hjic-299	159	9	true	true	ADJ
hjic-299	159	10	/createjobticket	/createjobticket	NOUN
hjic-299	159	11	false	false	ADJ
hjic-299	159	12	/defaultrenderingintent	/defaultrenderingintent	NOUN
hjic-299	159	13	/default	/default	PUNCT
hjic-299	159	14	/detectblends	/detectblend	NOUN
hjic-299	159	15	true	true	ADJ
hjic-299	159	16	/detectcurves	/detectcurve	VERB
hjic-299	160	1	0.0000	0.0000	NUM
hjic-299	160	2	/colorconversionstrategy	/colorconversionstrategy	NOUN
hjic-299	160	3	/cmyk	/cmyk	PUNCT
hjic-299	161	1	/dothumbnails	/dothumbnail	VERB
hjic-299	162	1	false	false	ADJ
hjic-299	162	2	/embedallfonts	/embedallfont	NOUN
hjic-299	162	3	true	true	ADJ
hjic-299	162	4	/embedopentype	/embedopentype	PUNCT
hjic-299	162	5	false	false	ADJ
hjic-299	162	6	/parseiccprofilesincomments	/parseiccprofilesincomment	NOUN
hjic-299	162	7	true	true	ADJ
hjic-299	162	8	/embedjoboptions	/embedjoboption	NOUN
hjic-299	162	9	true	true	ADJ
hjic-299	162	10	/dscreportinglevel	/dscreportinglevel	NOUN
hjic-299	162	11	0	0	NUM
hjic-299	162	12	/emitdscwarnings	/emitdscwarning	NOUN
hjic-299	162	13	false	false	ADJ
hjic-299	162	14	/endpage	/endpage	NOUN
hjic-299	162	15	-1	-1	NOUN
hjic-299	162	16	/imagememory	/imagememory	NUM
hjic-299	162	17	1048576	1048576	NUM
hjic-299	162	18	/lockdistillerparams	/lockdistillerparams	NOUN
hjic-299	162	19	false	false	ADJ
hjic-299	162	20	/maxsubsetpct	/maxsubsetpct	ADJ
hjic-299	162	21	100	100	NUM
hjic-299	162	22	/optimize	/optimize	NOUN
hjic-299	162	23	true	true	ADJ
hjic-299	162	24	/opm	/opm	NOUN
hjic-299	162	25	1	1	NUM
hjic-299	162	26	/parsedsccomments	/parsedsccomment	NOUN
hjic-299	162	27	true	true	ADJ
hjic-299	162	28	/parsedsccommentsfordocinfo	/parsedsccommentsfordocinfo	VERB
hjic-299	162	29	true	true	ADJ
hjic-299	162	30	/preservecopypage	/preservecopypage	NOUN
hjic-299	162	31	true	true	ADJ
hjic-299	162	32	/preservedicmykvalues	/preservedicmykvalue	NOUN
hjic-299	162	33	true	true	ADJ
hjic-299	162	34	/preserveepsinfo	/preserveepsinfo	NOUN
hjic-299	162	35	true	true	ADJ
hjic-299	162	36	/preserveflatness	/preserveflatness	NOUN
hjic-299	162	37	true	true	ADJ
hjic-299	162	38	/preservehalftoneinfo	/preservehalftoneinfo	PUNCT
hjic-299	162	39	false	false	ADJ
hjic-299	162	40	/preserveopicomments	/preserveopicomment	NOUN
hjic-299	162	41	true	true	ADJ
hjic-299	162	42	/preserveoverprintsettings	/preserveoverprintsetting	NOUN
hjic-299	162	43	true	true	ADJ
hjic-299	162	44	/startpage	/startpage	NOUN
hjic-299	162	45	1	1	NUM
hjic-299	162	46	/subsetfonts	/subsetfont	NOUN
hjic-299	162	47	true	true	ADJ
hjic-299	162	48	/transferfunctioninfo	/transferfunctioninfo	PUNCT
hjic-299	162	49	/apply	/apply	PUNCT
hjic-299	162	50	/ucrandbginfo	/ucrandbginfo	PUNCT
hjic-299	163	1	/preserve	/preserve	NOUN
hjic-299	163	2	/useprologue	/useprologue	NOUN
hjic-299	163	3	false	false	ADJ
hjic-299	163	4	/colorsettingsfile	/colorsettingsfile	NOUN
hjic-299	163	5	(	(	PUNCT
hjic-299	163	6	)	)	PUNCT
hjic-299	163	7	/alwaysembed	/alwaysembe	VERB
hjic-299	163	8	[	[	PUNCT
hjic-299	163	9	true	true	ADJ
hjic-299	163	10	]	]	PUNCT
hjic-299	163	11	/neverembed	/neverembed	PUNCT
hjic-299	164	1	[	[	PUNCT
hjic-299	164	2	true	true	ADJ
hjic-299	164	3	]	]	PUNCT
hjic-299	164	4	/antialiascolorimages	/antialiascolorimages	X
hjic-299	164	5	false	false	ADJ
hjic-299	164	6	/cropcolorimages	/cropcolorimages	PUNCT
hjic-299	164	7	true	true	ADJ
hjic-299	164	8	/colorimageminresolution	/colorimageminresolution	PUNCT
hjic-299	164	9	300	300	NUM
hjic-299	164	10	/colorimageminresolutionpolicy	/colorimageminresolutionpolicy	NOUN
hjic-299	164	11	/ok	/ok	ADJ
hjic-299	165	1	/downsamplecolorimages	/downsamplecolorimage	VERB
hjic-299	166	1	true	true	ADJ
hjic-299	166	2	/colorimagedownsampletype	/colorimagedownsampletype	PUNCT
hjic-299	166	3	/bicubic	/bicubic	NOUN
hjic-299	166	4	/colorimageresolution	/colorimageresolution	NOUN
hjic-299	167	1	300	300	NUM
hjic-299	167	2	/colorimagedepth	/colorimagedepth	PRON
hjic-299	167	3	-1	-1	INTJ
hjic-299	167	4	/colorimagemindownsampledepth	/colorimagemindownsampledepth	SYM
hjic-299	167	5	1	1	NUM
hjic-299	167	6	/colorimagedownsamplethreshold	/colorimagedownsamplethreshold	SYM
hjic-299	167	7	1.50000	1.50000	NUM
hjic-299	167	8	/encodecolorimages	/encodecolorimage	NOUN
hjic-299	167	9	true	true	ADJ
hjic-299	167	10	/colorimagefilter	/colorimagefilter	PUNCT
hjic-299	167	11	/dctencode	/dctencode	PUNCT
hjic-299	168	1	/autofiltercolorimages	/autofiltercolorimage	NOUN
hjic-299	168	2	true	true	ADJ
hjic-299	168	3	/colorimageautofilterstrategy	/colorimageautofilterstrategy	PUNCT
hjic-299	168	4	/jpeg	/jpeg	PUNCT
hjic-299	168	5	/coloracsimagedict	/coloracsimagedict	PUNCT
hjic-299	169	1	<	<	X
hjic-299	169	2	<	<	X
hjic-299	169	3	/qfactor	/qfactor	NOUN
hjic-299	169	4	0.15	0.15	NUM
hjic-299	169	5	/hsamples	/hsample	NOUN
hjic-299	170	1	[	[	X
hjic-299	170	2	1	1	NUM
hjic-299	170	3	1	1	NUM
hjic-299	170	4	1	1	NUM
hjic-299	170	5	1	1	NUM
hjic-299	170	6	]	]	PUNCT
hjic-299	170	7	/vsamples	/vsample	NOUN
hjic-299	171	1	[	[	X
hjic-299	171	2	1	1	NUM
hjic-299	171	3	1	1	NUM
hjic-299	171	4	1	1	NUM
hjic-299	171	5	1	1	NUM
hjic-299	171	6	]	]	PUNCT
hjic-299	171	7	>	>	PUNCT
hjic-299	171	8	>	>	X
hjic-299	171	9	/colorimagedict	/colorimagedict	PUNCT
hjic-299	172	1	<	<	X
hjic-299	172	2	<	<	X
hjic-299	172	3	/qfactor	/qfactor	NOUN
hjic-299	172	4	0.15	0.15	NUM
hjic-299	172	5	/hsamples	/hsample	NOUN
hjic-299	173	1	[	[	X
hjic-299	173	2	1	1	NUM
hjic-299	173	3	1	1	NUM
hjic-299	173	4	1	1	NUM
hjic-299	173	5	1	1	NUM
hjic-299	173	6	]	]	PUNCT
hjic-299	173	7	/vsamples	/vsample	NOUN
hjic-299	174	1	[	[	X
hjic-299	174	2	1	1	NUM
hjic-299	174	3	1	1	NUM
hjic-299	174	4	1	1	NUM
hjic-299	174	5	1	1	NUM
hjic-299	174	6	]	]	PUNCT
hjic-299	174	7	>	>	PUNCT
hjic-299	174	8	>	>	X
hjic-299	174	9	/jpeg2000coloracsimagedict	/jpeg2000coloracsimagedict	PUNCT
hjic-299	175	1	<	<	X
hjic-299	175	2	<	<	X
hjic-299	175	3	/tilewidth	/tilewidth	PUNCT
hjic-299	175	4	256	256	NUM
hjic-299	175	5	/tileheight	/tileheight	NUM
hjic-299	175	6	256	256	NUM
hjic-299	175	7	/quality	/quality	NOUN
hjic-299	175	8	30	30	NUM
hjic-299	175	9	>	>	PUNCT
hjic-299	175	10	>	>	X
hjic-299	175	11	/jpeg2000colorimagedict	/jpeg2000colorimagedict	PUNCT
hjic-299	175	12	<	<	X
hjic-299	175	13	<	<	X
hjic-299	175	14	/tilewidth	/tilewidth	PUNCT
hjic-299	175	15	256	256	NUM
hjic-299	175	16	/tileheight	/tileheight	NUM
hjic-299	175	17	256	256	NUM
hjic-299	175	18	/quality	/quality	NOUN
hjic-299	175	19	30	30	NUM
hjic-299	175	20	>	>	PUNCT
hjic-299	175	21	>	>	X
hjic-299	175	22	/antialiasgrayimages	/antialiasgrayimages	X
hjic-299	175	23	false	false	ADJ
hjic-299	175	24	/cropgrayimages	/cropgrayimage	NOUN
hjic-299	175	25	true	true	ADJ
hjic-299	175	26	/grayimageminresolution	/grayimageminresolution	ADV
hjic-299	175	27	300	300	NUM
hjic-299	175	28	/grayimageminresolutionpolicy	/grayimageminresolutionpolicy	NOUN
hjic-299	175	29	/ok	/ok	ADJ
hjic-299	175	30	/downsamplegrayimages	/downsamplegrayimages	PUNCT
hjic-299	176	1	true	true	ADJ
hjic-299	176	2	/grayimagedownsampletype	/grayimagedownsampletype	INTJ
hjic-299	176	3	/bicubic	/bicubic	NOUN
hjic-299	176	4	/grayimageresolution	/grayimageresolution	NOUN
hjic-299	176	5	300	300	NUM
hjic-299	176	6	/grayimagedepth	/grayimagedepth	PUNCT
hjic-299	176	7	-1	-1	PUNCT
hjic-299	176	8	/grayimagemindownsampledepth	/grayimagemindownsampledepth	PUNCT
hjic-299	177	1	2	2	NUM
hjic-299	177	2	/grayimagedownsamplethreshold	/grayimagedownsamplethreshold	NUM
hjic-299	177	3	1.50000	1.50000	NUM
hjic-299	177	4	/encodegrayimages	/encodegrayimage	NOUN
hjic-299	177	5	true	true	ADJ
hjic-299	177	6	/grayimagefilter	/grayimagefilter	NOUN
hjic-299	177	7	/dctencode	/dctencode	PUNCT
hjic-299	178	1	/autofiltergrayimages	/autofiltergrayimages	VERB
hjic-299	178	2	true	true	ADJ
hjic-299	178	3	/grayimageautofilterstrategy	/grayimageautofilterstrategy	INTJ
hjic-299	178	4	/jpeg	/jpeg	PUNCT
hjic-299	178	5	/grayacsimagedict	/grayacsimagedict	PUNCT
hjic-299	179	1	<	<	X
hjic-299	179	2	<	<	X
hjic-299	179	3	/qfactor	/qfactor	NOUN
hjic-299	179	4	0.15	0.15	NUM
hjic-299	179	5	/hsamples	/hsample	NOUN
hjic-299	180	1	[	[	X
hjic-299	180	2	1	1	NUM
hjic-299	180	3	1	1	NUM
hjic-299	180	4	1	1	NUM
hjic-299	180	5	1	1	NUM
hjic-299	180	6	]	]	PUNCT
hjic-299	180	7	/vsamples	/vsample	NOUN
hjic-299	181	1	[	[	X
hjic-299	181	2	1	1	NUM
hjic-299	181	3	1	1	NUM
hjic-299	181	4	1	1	NUM
hjic-299	181	5	1	1	NUM
hjic-299	181	6	]	]	PUNCT
hjic-299	181	7	>	>	PUNCT
hjic-299	181	8	>	>	X
hjic-299	181	9	/grayimagedict	/grayimagedict	PUNCT
hjic-299	182	1	<	<	X
hjic-299	182	2	<	<	X
hjic-299	182	3	/qfactor	/qfactor	NOUN
hjic-299	182	4	0.15	0.15	NUM
hjic-299	182	5	/hsamples	/hsample	NOUN
hjic-299	183	1	[	[	X
hjic-299	183	2	1	1	NUM
hjic-299	183	3	1	1	NUM
hjic-299	183	4	1	1	NUM
hjic-299	183	5	1	1	NUM
hjic-299	183	6	]	]	PUNCT
hjic-299	183	7	/vsamples	/vsample	NOUN
hjic-299	184	1	[	[	X
hjic-299	184	2	1	1	NUM
hjic-299	184	3	1	1	NUM
hjic-299	184	4	1	1	NUM
hjic-299	184	5	1	1	NUM
hjic-299	184	6	]	]	PUNCT
hjic-299	184	7	>	>	X
hjic-299	184	8	>	>	X
hjic-299	184	9	/jpeg2000grayacsimagedict	/jpeg2000grayacsimagedict	PUNCT
hjic-299	185	1	<	<	X
hjic-299	185	2	<	<	X
hjic-299	185	3	/tilewidth	/tilewidth	PUNCT
hjic-299	185	4	256	256	NUM
hjic-299	185	5	/tileheight	/tileheight	NUM
hjic-299	185	6	256	256	NUM
hjic-299	185	7	/quality	/quality	NOUN
hjic-299	185	8	30	30	NUM
hjic-299	185	9	>	>	PUNCT
hjic-299	185	10	>	>	X
hjic-299	185	11	/jpeg2000grayimagedict	/jpeg2000grayimagedict	PUNCT
hjic-299	185	12	<	<	X
hjic-299	185	13	<	<	X
hjic-299	185	14	/tilewidth	/tilewidth	PUNCT
hjic-299	185	15	256	256	NUM
hjic-299	185	16	/tileheight	/tileheight	NUM
hjic-299	185	17	256	256	NUM
hjic-299	185	18	/quality	/quality	NOUN
hjic-299	185	19	30	30	NUM
hjic-299	185	20	>	>	PUNCT
hjic-299	185	21	>	>	X
hjic-299	185	22	/antialiasmonoimages	/antialiasmonoimage	NOUN
hjic-299	185	23	false	false	ADJ
hjic-299	185	24	/cropmonoimages	/cropmonoimage	NOUN
hjic-299	185	25	true	true	ADJ
hjic-299	185	26	/monoimageminresolution	/monoimageminresolution	NUM
hjic-299	185	27	1200	1200	NUM
hjic-299	185	28	/monoimageminresolutionpolicy	/monoimageminresolutionpolicy	PUNCT
hjic-299	186	1	/ok	/ok	PROPN
hjic-299	186	2	/downsamplemonoimages	/downsamplemonoimage	VERB
hjic-299	187	1	true	true	ADJ
hjic-299	187	2	/monoimagedownsampletype	/monoimagedownsampletype	PUNCT
hjic-299	187	3	/bicubic	/bicubic	NOUN
hjic-299	187	4	/monoimageresolution	/monoimageresolution	NOUN
hjic-299	187	5	1200	1200	NUM
hjic-299	187	6	/monoimagedepth	/monoimagedepth	PRON
hjic-299	187	7	-1	-1	PUNCT
hjic-299	188	1	/monoimagedownsamplethreshold	/monoimagedownsamplethreshold	PUNCT
hjic-299	188	2	1.50000	1.50000	NUM
hjic-299	188	3	/encodemonoimages	/encodemonoimage	NOUN
hjic-299	188	4	true	true	ADJ
hjic-299	188	5	/monoimagefilter	/monoimagefilter	ADP
hjic-299	188	6	/ccittfaxencode	/ccittfaxencode	INTJ
hjic-299	188	7	/monoimagedict	/monoimagedict	PUNCT
hjic-299	189	1	<	<	X
hjic-299	189	2	<	<	X
hjic-299	189	3	/k	/k	PUNCT
hjic-299	189	4	-1	-1	INTJ
hjic-299	189	5	>	>	PUNCT
hjic-299	189	6	>	>	X
hjic-299	189	7	/allowpsxobjects	/allowpsxobjects	PROPN
hjic-299	189	8	false	false	ADJ
hjic-299	189	9	/checkcompliance	/checkcompliance	NOUN
hjic-299	189	10	[	[	PUNCT
hjic-299	189	11	/none	/none	X
hjic-299	189	12	]	]	PUNCT
hjic-299	189	13	/pdfx1acheck	/pdfx1acheck	PUNCT
hjic-299	189	14	false	false	ADJ
hjic-299	189	15	/pdfx3check	/pdfx3check	PUNCT
hjic-299	189	16	false	false	ADJ
hjic-299	189	17	/pdfxcompliantpdfonly	/pdfxcompliantpdfonly	ADV
hjic-299	189	18	false	false	ADJ
hjic-299	189	19	/pdfxnotrimboxerror	/pdfxnotrimboxerror	NOUN
hjic-299	189	20	true	true	ADJ
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hjic-299	201	4	/gre	/gre	PUNCT
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hjic-299	201	7	>	>	X
hjic-299	201	8	/heb	/heb	X
hjic-299	201	9	<	<	X
hjic-299	201	10	feff05d405e905ea05de05e905d5002005d105d405d205d305e805d505ea002005d005dc05d4002005db05d305d9002005dc05d905e605d505e8002005de05e105de05db05d9002000410064006f006200650020005000440046002005d405de05d505ea05d005de05d905dd002005dc05d405d305e405e105ea002005e705d305dd002d05d305e405d505e1002005d005d905db05d505ea05d905ea002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e05d005de05d905dd002005dc002d005000440046002f0058002d0033002c002005e205d905d905e005d5002005d105de05d305e805d905da002005dc05de05e905ea05de05e9002005e905dc0020004100630072006f006200610074002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e	feff05d405e905ea05de05e905d5002005d105d405d205d305e805d505ea002005d005dc05d4002005db05d305d9002005dc05d905e605d505e8002005de05e105de05db05d9002000410064006f006200650020005000440046002005d405de05d505ea05d005de05d905dd002005dc05d405d305e405e105ea002005e705d305dd002d05d305e405d505e1002005d005d905db05d505ea05d905ea002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e05d005de05d905dd002005dc002d005000440046002f0058002d0033002c002005e205d905d905e005d5002005d105de05d305e805d905da002005dc05de05e905ea05de05e9002005e905dc0020004100630072006f006200610074002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e	X
hjic-299	201	11	>	>	X
hjic-299	201	12	/hrv	/hrv	PROPN
hjic-299	202	1	(	(	PUNCT
hjic-299	202	2	za	za	PROPN
hjic-299	202	3	stvaranje	stvaranje	PROPN
hjic-299	202	4	adobe	adobe	PROPN
hjic-299	202	5	pdf	pdf	PROPN
hjic-299	202	6	dokumenata	dokumenata	PROPN
hjic-299	202	7	najpogodnijih	najpogodnijih	PROPN
hjic-299	202	8	za	za	PROPN
hjic-299	202	9	visokokvalitetni	visokokvalitetni	VERB
hjic-299	202	10	ispis	ispis	ADJ
hjic-299	202	11	prije	prije	NOUN
hjic-299	202	12	tiskanja	tiskanja	PROPN
hjic-299	202	13	koristite	koristite	PROPN
hjic-299	202	14	ove	ove	NOUN
hjic-299	202	15	postavke	postavke	NOUN
hjic-299	202	16	.	.	PUNCT
hjic-299	203	1	stvoreni	stvoreni	ADJ
hjic-299	203	2	pdf	pdf	NOUN
hjic-299	203	3	dokumenti	dokumenti	PROPN
hjic-299	203	4	mogu	mogu	PROPN
hjic-299	203	5	se	se	X
hjic-299	203	6	otvoriti	otvoriti	PROPN
hjic-299	203	7	acrobat	acrobat	PROPN
hjic-299	204	1	i	i	PRON
hjic-299	204	2	adobe	adobe	PROPN
hjic-299	204	3	reader	reader	PROPN
hjic-299	204	4	5.0	5.0	NUM
hjic-299	204	5	i	i	PRON
hjic-299	204	6	kasnijim	kasnijim	VERB
hjic-299	204	7	verzijama	verzijama	NOUN
hjic-299	204	8	.	.	PUNCT
hjic-299	204	9	)	)	PUNCT
hjic-299	205	1	/hun	/hun	PUNCT
hjic-299	206	1	<	<	X
hjic-299	206	2	feff004b0069007600e1006c00f30020006d0069006e0151007300e9006701710020006e0079006f006d00640061006900200065006c0151006b00e90073007a00ed007401510020006e0079006f006d00740061007400e100730068006f007a0020006c006500670069006e006b00e1006200620020006d0065006700660065006c0065006c0151002000410064006f00620065002000500044004600200064006f006b0075006d0065006e00740075006d006f006b0061007400200065007a0065006b006b0065006c0020006100200062006500e1006c006c00ed007400e10073006f006b006b0061006c0020006b00e90073007a00ed0074006800650074002e0020002000410020006c00e90074007200650068006f007a006f00740074002000500044004600200064006f006b0075006d0065006e00740075006d006f006b00200061007a0020004100630072006f006200610074002000e9007300200061007a002000410064006f00620065002000520065006100640065007200200035002e0030002c0020007600610067007900200061007a002000610074007400f3006c0020006b00e9007301510062006200690020007600650072007a006900f3006b006b0061006c0020006e00790069007400680061007400f3006b0020006d00650067002e	feff004b0069007600e1006c00f30020006d0069006e0151007300e9006701710020006e0079006f006d00640061006900200065006c0151006b00e90073007a00ed007401510020006e0079006f006d00740061007400e100730068006f007a0020006c006500670069006e006b00e1006200620020006d0065006700660065006c0065006c0151002000410064006f00620065002000500044004600200064006f006b0075006d0065006e00740075006d006f006b0061007400200065007a0065006b006b0065006c0020006100200062006500e1006c006c00ed007400e10073006f006b006b0061006c0020006b00e90073007a00ed0074006800650074002e0020002000410020006c00e90074007200650068006f007a006f00740074002000500044004600200064006f006b0075006d0065006e00740075006d006f006b00200061007a0020004100630072006f006200610074002000e9007300200061007a002000410064006f00620065002000520065006100640065007200200035002e0030002c0020007600610067007900200061007a002000610074007400f3006c0020006b00e9007301510062006200690020007600650072007a006900f3006b006b0061006c0020006e00790069007400680061007400f3006b0020006d00650067002e	X
hjic-299	206	3	>	>	X
hjic-299	206	4	/ita	/ita	PUNCT
hjic-299	207	1	<	<	X
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hjic-299	207	3	>	>	X
hjic-299	207	4	/jpn	/jpn	PROPN
hjic-299	208	1	<	<	X
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hjic-299	208	3	>	>	X
hjic-299	208	4	/kor	/kor	PUNCT
hjic-299	209	1	<	<	X
hjic-299	209	2	feffc7740020c124c815c7440020c0acc6a9d558c5ec0020ace0d488c9c80020c2dcd5d80020c778c1c4c5d00020ac00c7a50020c801d569d55c002000410064006f0062006500200050004400460020bb38c11cb97c0020c791c131d569b2c8b2e4002e0020c774b807ac8c0020c791c131b41c00200050004400460020bb38c11cb2940020004100630072006f0062006100740020bc0f002000410064006f00620065002000520065006100640065007200200035002e00300020c774c0c1c5d0c11c0020c5f40020c2180020c788c2b5b2c8b2e4002e	feffc7740020c124c815c7440020c0acc6a9d558c5ec0020ace0d488c9c80020c2dcd5d80020c778c1c4c5d00020ac00c7a50020c801d569d55c002000410064006f0062006500200050004400460020bb38c11cb97c0020c791c131d569b2c8b2e4002e0020c774b807ac8c0020c791c131b41c00200050004400460020bb38c11cb2940020004100630072006f0062006100740020bc0f002000410064006f00620065002000520065006100640065007200200035002e00300020c774c0c1c5d0c11c0020c5f40020c2180020c788c2b5b2c8b2e4002e	X
hjic-299	209	3	>	>	X
hjic-299	209	4	/lth	/lth	PUNCT
hjic-299	210	1	<	<	X
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hjic-299	210	3	>	>	X
hjic-299	210	4	/lvi	/lvi	PUNCT
hjic-299	211	1	<	<	X
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hjic-299	211	3	>	>	X
hjic-299	211	4	/nld	/nld	PUNCT
hjic-299	212	1	(	(	PUNCT
hjic-299	212	2	gebruik	gebruik	NOUN
hjic-299	212	3	deze	deze	PROPN
hjic-299	212	4	instellingen	instellingen	PROPN
hjic-299	212	5	om	om	PROPN
hjic-299	212	6	adobe	adobe	PROPN
hjic-299	212	7	pdf	pdf	PROPN
hjic-299	212	8	-	-	PUNCT
hjic-299	212	9	documenten	documenten	NOUN
hjic-299	212	10	te	te	ADP
hjic-299	212	11	maken	maken	PROPN
hjic-299	212	12	die	die	PROPN
hjic-299	212	13	zijn	zijn	PROPN
hjic-299	212	14	geoptimaliseerd	geoptimaliseerd	PROPN
hjic-299	212	15	voor	voor	NOUN
hjic-299	212	16	prepress	prepress	NOUN
hjic-299	212	17	-	-	PUNCT
hjic-299	212	18	afdrukken	afdrukken	VERB
hjic-299	212	19	van	van	PROPN
hjic-299	212	20	hoge	hoge	PROPN
hjic-299	212	21	kwaliteit	kwaliteit	PROPN
hjic-299	212	22	.	.	PUNCT
hjic-299	213	1	de	de	PROPN
hjic-299	213	2	gemaakte	gemaakte	PROPN
hjic-299	213	3	pdf	pdf	NOUN
hjic-299	213	4	-	-	PUNCT
hjic-299	213	5	documenten	documenten	NOUN
hjic-299	213	6	kunnen	kunnen	PROPN
hjic-299	213	7	worden	worden	PROPN
hjic-299	213	8	geopend	geopend	PROPN
hjic-299	213	9	met	meet	VERB
hjic-299	213	10	acrobat	acrobat	PROPN
hjic-299	213	11	en	en	PROPN
hjic-299	213	12	adobe	adobe	PROPN
hjic-299	213	13	reader	reader	PROPN
hjic-299	213	14	5.0	5.0	NUM
hjic-299	213	15	en	en	ADP
hjic-299	213	16	hoger	hoger	NOUN
hjic-299	213	17	.	.	PUNCT
hjic-299	213	18	)	)	PUNCT
hjic-299	214	1	/nor	/nor	PUNCT
hjic-299	215	1	<	<	X
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hjic-299	215	3	>	>	X
hjic-299	215	4	/pol	/pol	PUNCT
hjic-299	216	1	<	<	X
hjic-299	216	2	feff0055007300740061007700690065006e0069006100200064006f002000740077006f0072007a0065006e0069006100200064006f006b0075006d0065006e007400f300770020005000440046002000700072007a0065007a006e00610063007a006f006e00790063006800200064006f002000770079006400720075006b00f30077002000770020007700790073006f006b00690065006a0020006a0061006b006f015b00630069002e002000200044006f006b0075006d0065006e0074007900200050004400460020006d006f017c006e00610020006f007400770069006500720061010700200077002000700072006f006700720061006d006900650020004100630072006f00620061007400200069002000410064006f00620065002000520065006100640065007200200035002e0030002000690020006e006f00770073007a0079006d002e	feff0055007300740061007700690065006e0069006100200064006f002000740077006f0072007a0065006e0069006100200064006f006b0075006d0065006e007400f300770020005000440046002000700072007a0065007a006e00610063007a006f006e00790063006800200064006f002000770079006400720075006b00f30077002000770020007700790073006f006b00690065006a0020006a0061006b006f015b00630069002e002000200044006f006b0075006d0065006e0074007900200050004400460020006d006f017c006e00610020006f007400770069006500720061010700200077002000700072006f006700720061006d006900650020004100630072006f00620061007400200069002000410064006f00620065002000520065006100640065007200200035002e0030002000690020006e006f00770073007a0079006d002e	X
hjic-299	216	3	>	>	X
hjic-299	216	4	/ptb	/ptb	PROPN
hjic-299	216	5	<	<	X
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hjic-299	216	7	>	>	X
hjic-299	216	8	/rum	/rum	X
hjic-299	216	9	<	<	X
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hjic-299	216	11	>	>	X
hjic-299	216	12	/rus	/rus	PUNCT
hjic-299	216	13	<	<	X
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hjic-299	216	15	>	>	X
hjic-299	216	16	/sky	/sky	PUNCT
hjic-299	217	1	<	<	X
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hjic-299	217	3	>	>	X
hjic-299	217	4	/slv	/slv	X
hjic-299	217	5	<	<	X
hjic-299	217	6	feff005400650020006e006100730074006100760069007400760065002000750070006f0072006100620069007400650020007a00610020007500730074007600610072006a0061006e006a006500200064006f006b0075006d0065006e0074006f0076002000410064006f006200650020005000440046002c0020006b006900200073006f0020006e0061006a007000720069006d00650072006e0065006a016100690020007a00610020006b0061006b006f0076006f00730074006e006f0020007400690073006b0061006e006a00650020007300200070007200690070007200610076006f0020006e00610020007400690073006b002e00200020005500730074007600610072006a0065006e006500200064006f006b0075006d0065006e0074006500200050004400460020006a00650020006d006f0067006f010d00650020006f0064007000720065007400690020007a0020004100630072006f00620061007400200069006e002000410064006f00620065002000520065006100640065007200200035002e003000200069006e0020006e006f00760065006a01610069006d002e	feff005400650020006e006100730074006100760069007400760065002000750070006f0072006100620069007400650020007a00610020007500730074007600610072006a0061006e006a006500200064006f006b0075006d0065006e0074006f0076002000410064006f006200650020005000440046002c0020006b006900200073006f0020006e0061006a007000720069006d00650072006e0065006a016100690020007a00610020006b0061006b006f0076006f00730074006e006f0020007400690073006b0061006e006a00650020007300200070007200690070007200610076006f0020006e00610020007400690073006b002e00200020005500730074007600610072006a0065006e006500200064006f006b0075006d0065006e0074006500200050004400460020006a00650020006d006f0067006f010d00650020006f0064007000720065007400690020007a0020004100630072006f00620061007400200069006e002000410064006f00620065002000520065006100640065007200200035002e003000200069006e0020006e006f00760065006a01610069006d002e	X
hjic-299	217	7	>	>	X
hjic-299	217	8	/suo	/suo	PROPN
hjic-299	218	1	<	<	AUX
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hjic-299	218	3	>	>	X
hjic-299	218	4	/sve	/sve	PROPN
hjic-299	218	5	<	<	X
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hjic-299	218	7	>	>	X
hjic-299	218	8	/tur	/tur	X
hjic-299	218	9	<	<	X
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hjic-299	218	11	>	>	X
hjic-299	218	12	/ukr	/ukr	X
hjic-299	218	13	<	<	X
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hjic-299	218	15	>	>	X
hjic-299	218	16	/enu	/enu	PUNCT
hjic-299	218	17	(	(	PUNCT
hjic-299	218	18	use	use	VERB
hjic-299	218	19	these	these	DET
hjic-299	218	20	settings	setting	NOUN
hjic-299	218	21	to	to	PART
hjic-299	218	22	create	create	VERB
hjic-299	218	23	adobe	adobe	PROPN
hjic-299	218	24	pdf	pdf	PROPN
hjic-299	218	25	documents	document	NOUN
hjic-299	218	26	best	well	ADV
hjic-299	218	27	suited	suit	VERB
hjic-299	218	28	for	for	ADP
hjic-299	218	29	high	high	ADJ
hjic-299	218	30	-	-	PUNCT
hjic-299	218	31	quality	quality	NOUN
hjic-299	218	32	prepress	prepress	NOUN
hjic-299	218	33	printing	printing	NOUN
hjic-299	218	34	.	.	PUNCT
hjic-299	219	1	created	create	VERB
hjic-299	219	2	pdf	pdf	NOUN
hjic-299	219	3	documents	document	NOUN
hjic-299	219	4	can	can	AUX
hjic-299	219	5	be	be	AUX
hjic-299	219	6	opened	open	VERB
hjic-299	219	7	with	with	ADP
hjic-299	219	8	acrobat	acrobat	PROPN
hjic-299	219	9	and	and	CCONJ
hjic-299	219	10	adobe	adobe	PROPN
hjic-299	219	11	reader	reader	PROPN
hjic-299	219	12	5.0	5.0	NUM
hjic-299	219	13	and	and	CCONJ
hjic-299	219	14	later	later	ADV
hjic-299	219	15	.	.	PUNCT
hjic-299	219	16	)	)	PUNCT
hjic-299	220	1	>	>	PUNCT
hjic-299	220	2	>	>	X
hjic-299	220	3	/namespace	/namespace	PUNCT
hjic-299	221	1	[	[	PUNCT
hjic-299	221	2	(	(	PUNCT
hjic-299	221	3	adobe	adobe	PROPN
hjic-299	221	4	)	)	PUNCT
hjic-299	221	5	(	(	PUNCT
hjic-299	221	6	common	common	ADJ
hjic-299	221	7	)	)	PUNCT
hjic-299	221	8	(	(	PUNCT
hjic-299	221	9	1.0	1.0	NUM
hjic-299	221	10	)	)	PUNCT
hjic-299	221	11	]	]	PUNCT
hjic-299	222	1	/othernamespaces	/othernamespace	VERB
hjic-299	222	2	[	[	PUNCT
hjic-299	222	3	<	<	X
hjic-299	222	4	<	<	X
hjic-299	222	5	/asreaderspreads	/asreaderspreads	X
hjic-299	222	6	false	false	ADJ
hjic-299	222	7	/cropimagestoframes	/cropimagestoframe	NOUN
hjic-299	222	8	true	true	ADJ
hjic-299	222	9	/errorcontrol	/errorcontrol	NOUN
hjic-299	223	1	/warnandcontinue	/warnandcontinue	PUNCT
hjic-299	223	2	/flattenerignorespreadoverrides	/flattenerignorespreadoverride	NOUN
hjic-299	223	3	false	false	ADJ
hjic-299	223	4	/includeguidesgrids	/includeguidesgrid	NOUN
hjic-299	223	5	false	false	ADJ
hjic-299	223	6	/includenonprinting	/includenonprinting	NOUN
hjic-299	223	7	false	false	ADJ
hjic-299	223	8	/includeslug	/includeslug	INTJ
hjic-299	223	9	false	false	ADJ
hjic-299	223	10	/namespace	/namespace	NOUN
hjic-299	224	1	[	[	PUNCT
hjic-299	224	2	(	(	PUNCT
hjic-299	224	3	adobe	adobe	PROPN
hjic-299	224	4	)	)	PUNCT
hjic-299	224	5	(	(	PUNCT
hjic-299	224	6	indesign	indesign	NOUN
hjic-299	224	7	)	)	PUNCT
hjic-299	224	8	(	(	PUNCT
hjic-299	224	9	4.0	4.0	NUM
hjic-299	224	10	)	)	PUNCT
hjic-299	224	11	]	]	PUNCT
hjic-299	224	12	/omitplacedbitmaps	/omitplacedbitmaps	PUNCT
hjic-299	225	1	false	false	ADJ
hjic-299	225	2	/omitplacedeps	/omitplacedeps	INTJ
hjic-299	225	3	false	false	ADJ
hjic-299	225	4	/omitplacedpdf	/omitplacedpdf	PUNCT
hjic-299	225	5	false	false	ADJ
hjic-299	225	6	/simulateoverprint	/simulateoverprint	NOUN
hjic-299	225	7	/legacy	/legacy	PUNCT
hjic-299	226	1	>	>	PUNCT
hjic-299	226	2	>	>	X
hjic-299	227	1	<	<	X
hjic-299	227	2	<	<	X
hjic-299	227	3	/addbleedmarks	/addbleedmarks	X
hjic-299	227	4	false	false	ADJ
hjic-299	227	5	/addcolorbars	/addcolorbars	INTJ
hjic-299	227	6	false	false	ADJ
hjic-299	227	7	/addcropmarks	/addcropmarks	PUNCT
hjic-299	227	8	false	false	ADJ
hjic-299	227	9	/addpageinfo	/addpageinfo	INTJ
hjic-299	227	10	false	false	ADJ
hjic-299	227	11	/addregmarks	/addregmark	NOUN
hjic-299	227	12	false	false	ADJ
hjic-299	227	13	/convertcolors	/convertcolor	NOUN
hjic-299	227	14	/converttocmyk	/converttocmyk	INTJ
hjic-299	227	15	/destinationprofilename	/destinationprofilename	PUNCT
hjic-299	227	16	(	(	PUNCT
hjic-299	227	17	)	)	PUNCT
hjic-299	227	18	/destinationprofileselector	/destinationprofileselector	NOUN
hjic-299	227	19	/documentcmyk	/documentcmyk	PUNCT
hjic-299	227	20	/downsample16bitimages	/downsample16bitimage	NOUN
hjic-299	227	21	true	true	ADJ
hjic-299	227	22	/flattenerpreset	/flattenerpreset	PUNCT
hjic-299	228	1	<	<	X
hjic-299	228	2	<	<	X
hjic-299	228	3	/presetselector	/presetselector	X
hjic-299	228	4	/mediumresolution	/mediumresolution	NOUN
hjic-299	228	5	>	>	PUNCT
hjic-299	228	6	>	>	X
hjic-299	228	7	/formelements	/formelement	NOUN
hjic-299	229	1	false	false	ADJ
hjic-299	229	2	/generatestructure	/generatestructure	PUNCT
hjic-299	229	3	false	false	ADJ
hjic-299	229	4	/includebookmarks	/includebookmark	NOUN
hjic-299	229	5	false	false	ADJ
hjic-299	229	6	/includehyperlinks	/includehyperlinks	INTJ
hjic-299	229	7	false	false	ADJ
hjic-299	229	8	/includeinteractive	/includeinteractive	ADJ
hjic-299	229	9	false	false	ADJ
hjic-299	229	10	/includelayers	/includelayer	NOUN
hjic-299	229	11	false	false	ADJ
hjic-299	229	12	/includeprofiles	/includeprofiles	INTJ
hjic-299	229	13	false	false	ADJ
hjic-299	229	14	/multimediahandling	/multimediahandling	NOUN
hjic-299	230	1	/useobjectsettings	/useobjectsettings	PRON
hjic-299	231	1	/namespace	/namespace	PUNCT
hjic-299	232	1	[	[	PUNCT
hjic-299	232	2	(	(	PUNCT
hjic-299	232	3	adobe	adobe	PROPN
hjic-299	232	4	)	)	PUNCT
hjic-299	232	5	(	(	PUNCT
hjic-299	232	6	creativesuite	creativesuite	NOUN
hjic-299	232	7	)	)	PUNCT
hjic-299	232	8	(	(	PUNCT
hjic-299	232	9	2.0	2.0	NUM
hjic-299	232	10	)	)	PUNCT
hjic-299	232	11	]	]	PUNCT
hjic-299	233	1	/pdfxoutputintentprofileselector	/pdfxoutputintentprofileselector	INTJ
hjic-299	233	2	/documentcmyk	/documentcmyk	PUNCT
hjic-299	234	1	/preserveediting	/preserveedite	VERB
hjic-299	234	2	true	true	ADJ
hjic-299	234	3	/untaggedcmykhandling	/untaggedcmykhandling	NOUN
hjic-299	234	4	/leaveuntagged	/leaveuntagge	VERB
hjic-299	234	5	/untaggedrgbhandling	/untaggedrgbhandling	NOUN
hjic-299	234	6	/usedocumentprofile	/usedocumentprofile	INTJ
hjic-299	234	7	/usedocumentbleed	/usedocumentbleed	NOUN
hjic-299	235	1	false	false	ADJ
hjic-299	235	2	>	>	PUNCT
hjic-299	235	3	>	>	X
hjic-299	235	4	]	]	PUNCT
hjic-299	235	5	>	>	PUNCT
hjic-299	235	6	>	>	X
hjic-299	235	7	setdistillerparams	setdistillerparam	NOUN
hjic-299	236	1	<	<	X
hjic-299	236	2	<	<	X
hjic-299	236	3	/hwresolution	/hwresolution	NOUN
hjic-299	237	1	[	[	X
hjic-299	237	2	2400	2400	NUM
hjic-299	237	3	2400	2400	NUM
hjic-299	237	4	]	]	PUNCT
hjic-299	237	5	/pagesize	/pagesize	X
hjic-299	238	1	[	[	X
hjic-299	238	2	612.000	612.000	NUM
hjic-299	238	3	792.000	792.000	NUM
hjic-299	238	4	]	]	PUNCT
hjic-299	238	5	>	>	PUNCT
hjic-299	238	6	>	>	X
hjic-299	238	7	setpagedevice	setpagedevice	PROPN