id	sid	tid	token	lemma	pos
hjic-913	1	1	hungarian	hungarian	ADJ
hjic-913	1	2	journal	journal	NOUN
hjic-913	1	3	of	of	ADP
hjic-913	1	4	industry	industry	NOUN
hjic-913	1	5	and	and	CCONJ
hjic-913	1	6	chemistry	chemistry	NOUN
hjic-913	1	7	vol	vol	NOUN
hjic-913	1	8	.	.	PUNCT
hjic-913	2	1	48(1	48(1	NOUN
hjic-913	2	2	)	)	PUNCT
hjic-913	2	3	pp	pp	ADV
hjic-913	2	4	.	.	PUNCT
hjic-913	3	1	3–10	3–10	NOUN
hjic-913	3	2	(	(	PUNCT
hjic-913	3	3	2020	2020	NUM
hjic-913	3	4	)	)	PUNCT
hjic-913	3	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-913	3	6	doi	doi	NOUN
hjic-913	3	7	:	:	PUNCT
hjic-913	3	8	10.33927	10.33927	NUM
hjic-913	3	9	/	/	SYM
hjic-913	3	10	hjic-2020	hjic-2020	NOUN
hjic-913	3	11	-	-	PUNCT
hjic-913	3	12	02	02	NUM
hjic-913	3	13	improving	improve	VERB
hjic-913	3	14	the	the	DET
hjic-913	3	15	efficiency	efficiency	NOUN
hjic-913	3	16	of	of	ADP
hjic-913	3	17	neural	neural	ADJ
hjic-913	3	18	networks	network	NOUN
hjic-913	3	19	with	with	ADP
hjic-913	3	20	virtual	virtual	ADJ
hjic-913	3	21	training	training	NOUN
hjic-913	3	22	data	datum	NOUN
hjic-913	3	23	jános	jáno	VERB
hjic-913	3	24	hollósi*1,2	hollósi*1,2	ADV
hjic-913	3	25	,	,	PUNCT
hjic-913	3	26	rudolf	rudolf	PROPN
hjic-913	3	27	krecht2	krecht2	PROPN
hjic-913	3	28	,	,	PUNCT
hjic-913	3	29	norbert	norbert	PROPN
hjic-913	3	30	markó2	markó2	PROPN
hjic-913	3	31	,	,	PUNCT
hjic-913	3	32	and	and	CCONJ
hjic-913	3	33	áron	áron	NOUN
hjic-913	3	34	ballagi2,3	ballagi2,3	PROPN
hjic-913	3	35	1department	1department	NUM
hjic-913	3	36	of	of	ADP
hjic-913	3	37	information	information	NOUN
hjic-913	3	38	technology	technology	NOUN
hjic-913	3	39	,	,	PUNCT
hjic-913	3	40	széchenyi	széchenyi	PROPN
hjic-913	3	41	istván	istván	PROPN
hjic-913	3	42	university	university	PROPN
hjic-913	3	43	,	,	PUNCT
hjic-913	3	44	egyetem	egyetem	NOUN
hjic-913	3	45	tér	tér	PROPN
hjic-913	3	46	1	1	NUM
hjic-913	3	47	,	,	PUNCT
hjic-913	3	48	győr	győr	NOUN
hjic-913	3	49	,	,	PUNCT
hjic-913	3	50	9026	9026	NUM
hjic-913	3	51	,	,	PUNCT
hjic-913	3	52	hungary	hungary	PROPN
hjic-913	3	53	2research	2research	NUM
hjic-913	3	54	center	center	NOUN
hjic-913	3	55	of	of	ADP
hjic-913	3	56	vehicle	vehicle	NOUN
hjic-913	3	57	industry	industry	NOUN
hjic-913	3	58	,	,	PUNCT
hjic-913	3	59	széchenyi	széchenyi	PROPN
hjic-913	3	60	istván	istván	PROPN
hjic-913	3	61	university	university	PROPN
hjic-913	3	62	,	,	PUNCT
hjic-913	3	63	egyetem	egyetem	NOUN
hjic-913	3	64	tér	tér	PROPN
hjic-913	3	65	1	1	NUM
hjic-913	3	66	,	,	PUNCT
hjic-913	3	67	győr	győr	NOUN
hjic-913	3	68	,	,	PUNCT
hjic-913	3	69	9026	9026	NUM
hjic-913	3	70	,	,	PUNCT
hjic-913	3	71	hungary	hungary	PROPN
hjic-913	3	72	3department	3department	NUM
hjic-913	3	73	of	of	ADP
hjic-913	3	74	automation	automation	NOUN
hjic-913	3	75	,	,	PUNCT
hjic-913	3	76	széchenyi	széchenyi	PROPN
hjic-913	3	77	istván	istván	PROPN
hjic-913	3	78	university	university	PROPN
hjic-913	3	79	,	,	PUNCT
hjic-913	3	80	egyetem	egyetem	NOUN
hjic-913	3	81	tér	tér	PROPN
hjic-913	3	82	1	1	NUM
hjic-913	3	83	,	,	PUNCT
hjic-913	3	84	győr	győr	NOUN
hjic-913	3	85	,	,	PUNCT
hjic-913	3	86	9026	9026	NUM
hjic-913	3	87	,	,	PUNCT
hjic-913	3	88	hungary	hungary	NOUN
hjic-913	3	89	at	at	ADP
hjic-913	3	90	széchenyi	széchenyi	PROPN
hjic-913	3	91	istván	istván	PROPN
hjic-913	3	92	university	university	PROPN
hjic-913	3	93	,	,	PUNCT
hjic-913	3	94	an	an	DET
hjic-913	3	95	autonomous	autonomous	ADJ
hjic-913	3	96	racing	racing	NOUN
hjic-913	3	97	car	car	NOUN
hjic-913	3	98	for	for	ADP
hjic-913	3	99	the	the	DET
hjic-913	3	100	shell	shell	PROPN
hjic-913	3	101	eco	eco	PROPN
hjic-913	3	102	-	-	PUNCT
hjic-913	3	103	marathon	marathon	NOUN
hjic-913	3	104	is	be	AUX
hjic-913	3	105	being	be	AUX
hjic-913	3	106	developed	develop	VERB
hjic-913	3	107	.	.	PUNCT
hjic-913	4	1	one	one	NUM
hjic-913	4	2	of	of	ADP
hjic-913	4	3	the	the	DET
hjic-913	4	4	main	main	ADJ
hjic-913	4	5	tasks	task	NOUN
hjic-913	4	6	is	be	AUX
hjic-913	4	7	to	to	PART
hjic-913	4	8	create	create	VERB
hjic-913	4	9	a	a	DET
hjic-913	4	10	neural	neural	ADJ
hjic-913	4	11	network	network	NOUN
hjic-913	4	12	which	which	PRON
hjic-913	4	13	segments	segment	VERB
hjic-913	4	14	the	the	DET
hjic-913	4	15	road	road	NOUN
hjic-913	4	16	surface	surface	NOUN
hjic-913	4	17	,	,	PUNCT
hjic-913	4	18	protective	protective	ADJ
hjic-913	4	19	barriers	barrier	NOUN
hjic-913	4	20	and	and	CCONJ
hjic-913	4	21	other	other	ADJ
hjic-913	4	22	components	component	NOUN
hjic-913	4	23	of	of	ADP
hjic-913	4	24	the	the	DET
hjic-913	4	25	racing	racing	NOUN
hjic-913	4	26	track	track	NOUN
hjic-913	4	27	.	.	PUNCT
hjic-913	5	1	the	the	DET
hjic-913	5	2	difficulty	difficulty	NOUN
hjic-913	5	3	with	with	ADP
hjic-913	5	4	this	this	DET
hjic-913	5	5	task	task	NOUN
hjic-913	5	6	is	be	AUX
hjic-913	5	7	that	that	SCONJ
hjic-913	5	8	no	no	DET
hjic-913	5	9	suitable	suitable	ADJ
hjic-913	5	10	dataset	dataset	NOUN
hjic-913	5	11	for	for	ADP
hjic-913	5	12	special	special	ADJ
hjic-913	5	13	objects	object	NOUN
hjic-913	5	14	,	,	PUNCT
hjic-913	5	15	e.g.	e.g.	ADV
hjic-913	5	16	protective	protective	ADJ
hjic-913	5	17	barriers	barrier	NOUN
hjic-913	5	18	,	,	PUNCT
hjic-913	5	19	exists	exist	VERB
hjic-913	5	20	.	.	PUNCT
hjic-913	6	1	only	only	ADV
hjic-913	6	2	a	a	DET
hjic-913	6	3	dataset	dataset	NOUN
hjic-913	6	4	limited	limit	VERB
hjic-913	6	5	in	in	ADP
hjic-913	6	6	terms	term	NOUN
hjic-913	6	7	of	of	ADP
hjic-913	6	8	its	its	PRON
hjic-913	6	9	size	size	NOUN
hjic-913	6	10	is	be	AUX
hjic-913	6	11	available	available	ADJ
hjic-913	6	12	,	,	PUNCT
hjic-913	6	13	therefore	therefore	ADV
hjic-913	6	14	,	,	PUNCT
hjic-913	6	15	computer	computer	NOUN
hjic-913	6	16	-	-	PUNCT
hjic-913	6	17	generated	generate	VERB
hjic-913	6	18	virtual	virtual	ADJ
hjic-913	6	19	images	image	NOUN
hjic-913	6	20	from	from	ADP
hjic-913	6	21	a	a	DET
hjic-913	6	22	virtual	virtual	ADJ
hjic-913	6	23	city	city	NOUN
hjic-913	6	24	environment	environment	NOUN
hjic-913	6	25	are	be	AUX
hjic-913	6	26	used	use	VERB
hjic-913	6	27	to	to	PART
hjic-913	6	28	expand	expand	VERB
hjic-913	6	29	this	this	DET
hjic-913	6	30	dataset	dataset	NOUN
hjic-913	6	31	.	.	PUNCT
hjic-913	7	1	in	in	ADP
hjic-913	7	2	this	this	DET
hjic-913	7	3	work	work	NOUN
hjic-913	7	4	,	,	PUNCT
hjic-913	7	5	the	the	DET
hjic-913	7	6	effect	effect	NOUN
hjic-913	7	7	of	of	ADP
hjic-913	7	8	computer	computer	NOUN
hjic-913	7	9	-	-	PUNCT
hjic-913	7	10	generated	generate	VERB
hjic-913	7	11	virtual	virtual	ADJ
hjic-913	7	12	images	image	NOUN
hjic-913	7	13	on	on	ADP
hjic-913	7	14	the	the	DET
hjic-913	7	15	efficiency	efficiency	NOUN
hjic-913	7	16	of	of	ADP
hjic-913	7	17	different	different	ADJ
hjic-913	7	18	neural	neural	ADJ
hjic-913	7	19	network	network	NOUN
hjic-913	7	20	architectures	architecture	NOUN
hjic-913	7	21	is	be	AUX
hjic-913	7	22	examined	examine	VERB
hjic-913	7	23	.	.	PUNCT
hjic-913	8	1	in	in	ADP
hjic-913	8	2	the	the	DET
hjic-913	8	3	training	training	NOUN
hjic-913	8	4	process	process	NOUN
hjic-913	8	5	,	,	PUNCT
hjic-913	8	6	real	real	ADJ
hjic-913	8	7	images	image	NOUN
hjic-913	8	8	and	and	CCONJ
hjic-913	8	9	computer	computer	NOUN
hjic-913	8	10	-	-	PUNCT
hjic-913	8	11	generated	generate	VERB
hjic-913	8	12	virtual	virtual	ADJ
hjic-913	8	13	images	image	NOUN
hjic-913	8	14	are	be	AUX
hjic-913	8	15	mixed	mix	VERB
hjic-913	8	16	in	in	ADP
hjic-913	8	17	several	several	ADJ
hjic-913	8	18	ways	way	NOUN
hjic-913	8	19	.	.	PUNCT
hjic-913	9	1	subsequently	subsequently	ADV
hjic-913	9	2	,	,	PUNCT
hjic-913	9	3	three	three	NUM
hjic-913	9	4	different	different	ADJ
hjic-913	9	5	neural	neural	ADJ
hjic-913	9	6	network	network	NOUN
hjic-913	9	7	architectures	architecture	NOUN
hjic-913	9	8	for	for	ADP
hjic-913	9	9	road	road	NOUN
hjic-913	9	10	surfaces	surface	NOUN
hjic-913	9	11	and	and	CCONJ
hjic-913	9	12	the	the	DET
hjic-913	9	13	detection	detection	NOUN
hjic-913	9	14	of	of	ADP
hjic-913	9	15	protective	protective	ADJ
hjic-913	9	16	barriers	barrier	NOUN
hjic-913	9	17	are	be	AUX
hjic-913	9	18	trained	train	VERB
hjic-913	9	19	.	.	PUNCT
hjic-913	10	1	past	past	ADJ
hjic-913	10	2	experiences	experience	NOUN
hjic-913	10	3	determine	determine	VERB
hjic-913	10	4	how	how	SCONJ
hjic-913	10	5	to	to	PART
hjic-913	10	6	mix	mix	VERB
hjic-913	10	7	datasets	dataset	NOUN
hjic-913	10	8	and	and	CCONJ
hjic-913	10	9	how	how	SCONJ
hjic-913	10	10	they	they	PRON
hjic-913	10	11	can	can	AUX
hjic-913	10	12	improve	improve	VERB
hjic-913	10	13	efficiency	efficiency	NOUN
hjic-913	10	14	.	.	PUNCT
hjic-913	11	1	keywords	keyword	NOUN
hjic-913	11	2	:	:	PUNCT
hjic-913	11	3	neural	neural	ADJ
hjic-913	11	4	network	network	NOUN
hjic-913	11	5	,	,	PUNCT
hjic-913	11	6	virtual	virtual	ADJ
hjic-913	11	7	training	training	NOUN
hjic-913	11	8	data	datum	NOUN
hjic-913	11	9	,	,	PUNCT
hjic-913	11	10	autonomous	autonomous	ADJ
hjic-913	11	11	vehicle	vehicle	NOUN
hjic-913	11	12	1	1	NUM
hjic-913	11	13	.	.	PUNCT
hjic-913	12	1	introduction	introduction	NOUN
hjic-913	12	2	shell	shell	PROPN
hjic-913	12	3	eco	eco	PROPN
hjic-913	12	4	-	-	PUNCT
hjic-913	12	5	marathon	marathon	NOUN
hjic-913	12	6	is	be	AUX
hjic-913	12	7	a	a	DET
hjic-913	12	8	unique	unique	ADJ
hjic-913	12	9	international	international	ADJ
hjic-913	12	10	competition	competition	NOUN
hjic-913	12	11	held	hold	VERB
hjic-913	12	12	by	by	ADP
hjic-913	12	13	royal	royal	PROPN
hjic-913	12	14	dutch	dutch	PROPN
hjic-913	12	15	shell	shell	PROPN
hjic-913	12	16	plc	plc	PROPN
hjic-913	12	17	.	.	PUNCT
hjic-913	13	1	this	this	DET
hjic-913	13	2	event	event	NOUN
hjic-913	13	3	challenges	challenge	VERB
hjic-913	13	4	university	university	NOUN
hjic-913	13	5	students	student	NOUN
hjic-913	13	6	to	to	PART
hjic-913	13	7	design	design	VERB
hjic-913	13	8	,	,	PUNCT
hjic-913	13	9	develop	develop	VERB
hjic-913	13	10	,	,	PUNCT
hjic-913	13	11	build	build	VERB
hjic-913	13	12	and	and	CCONJ
hjic-913	13	13	drive	drive	VERB
hjic-913	13	14	the	the	DET
hjic-913	13	15	most	most	ADV
hjic-913	13	16	energy	energy	NOUN
hjic-913	13	17	-	-	PUNCT
hjic-913	13	18	efficient	efficient	ADJ
hjic-913	13	19	racing	racing	NOUN
hjic-913	13	20	cars	car	NOUN
hjic-913	13	21	.	.	PUNCT
hjic-913	14	1	our	our	PRON
hjic-913	14	2	university	university	NOUN
hjic-913	14	3	’s	’s	PART
hjic-913	14	4	racing	racing	NOUN
hjic-913	14	5	team	team	NOUN
hjic-913	14	6	,	,	PUNCT
hjic-913	14	7	the	the	DET
hjic-913	14	8	szenergy	szenergy	NOUN
hjic-913	14	9	team	team	NOUN
hjic-913	14	10	,	,	PUNCT
hjic-913	14	11	has	have	AUX
hjic-913	14	12	been	be	AUX
hjic-913	14	13	a	a	DET
hjic-913	14	14	successful	successful	ADJ
hjic-913	14	15	participant	participant	NOUN
hjic-913	14	16	in	in	ADP
hjic-913	14	17	the	the	DET
hjic-913	14	18	shell	shell	NOUN
hjic-913	14	19	eco	eco	PROPN
hjic-913	14	20	-	-	PUNCT
hjic-913	14	21	marathon	marathon	NOUN
hjic-913	14	22	for	for	ADP
hjic-913	14	23	over	over	ADP
hjic-913	14	24	10	10	NUM
hjic-913	14	25	years	year	NOUN
hjic-913	14	26	.	.	PUNCT
hjic-913	15	1	two	two	NUM
hjic-913	15	2	years	year	NOUN
hjic-913	15	3	ago	ago	ADV
hjic-913	15	4	,	,	PUNCT
hjic-913	15	5	shell	shell	PROPN
hjic-913	15	6	introduced	introduce	VERB
hjic-913	15	7	the	the	DET
hjic-913	15	8	autonomous	autonomous	ADJ
hjic-913	15	9	urbanconcept	urbanconcept	ADJ
hjic-913	15	10	(	(	PUNCT
hjic-913	15	11	auc	auc	NOUN
hjic-913	15	12	)	)	PUNCT
hjic-913	15	13	challenge	challenge	NOUN
hjic-913	15	14	,	,	PUNCT
hjic-913	15	15	which	which	PRON
hjic-913	15	16	is	be	AUX
hjic-913	15	17	a	a	DET
hjic-913	15	18	separate	separate	ADJ
hjic-913	15	19	competition	competition	NOUN
hjic-913	15	20	for	for	ADP
hjic-913	15	21	self	self	NOUN
hjic-913	15	22	-	-	PUNCT
hjic-913	15	23	driving	drive	VERB
hjic-913	15	24	vehicles	vehicle	NOUN
hjic-913	15	25	that	that	PRON
hjic-913	15	26	participate	participate	VERB
hjic-913	15	27	in	in	ADP
hjic-913	15	28	the	the	DET
hjic-913	15	29	shell	shell	NOUN
hjic-913	15	30	eco	eco	PROPN
hjic-913	15	31	-	-	PUNCT
hjic-913	15	32	marathon	marathon	NOUN
hjic-913	15	33	.	.	PUNCT
hjic-913	16	1	participants	participant	NOUN
hjic-913	16	2	in	in	ADP
hjic-913	16	3	the	the	DET
hjic-913	16	4	auc	auc	NOUN
hjic-913	16	5	challenge	challenge	NOUN
hjic-913	16	6	have	have	VERB
hjic-913	16	7	to	to	PART
hjic-913	16	8	complete	complete	VERB
hjic-913	16	9	five	five	NUM
hjic-913	16	10	different	different	ADJ
hjic-913	16	11	tasks	task	NOUN
hjic-913	16	12	,	,	PUNCT
hjic-913	16	13	e.g.	e.g.	ADV
hjic-913	16	14	parking	parking	NOUN
hjic-913	16	15	in	in	ADP
hjic-913	16	16	a	a	DET
hjic-913	16	17	dedicated	dedicated	ADJ
hjic-913	16	18	parking	parking	NOUN
hjic-913	16	19	rectangle	rectangle	NOUN
hjic-913	16	20	,	,	PUNCT
hjic-913	16	21	obstacle	obstacle	NOUN
hjic-913	16	22	avoidance	avoidance	NOUN
hjic-913	16	23	on	on	ADP
hjic-913	16	24	a	a	DET
hjic-913	16	25	straight	straight	ADJ
hjic-913	16	26	track	track	NOUN
hjic-913	16	27	,	,	PUNCT
hjic-913	16	28	drive	drive	VERB
hjic-913	16	29	one	one	NUM
hjic-913	16	30	lap	lap	NOUN
hjic-913	16	31	of	of	ADP
hjic-913	16	32	the	the	DET
hjic-913	16	33	track	track	NOUN
hjic-913	16	34	autonomously	autonomously	ADV
hjic-913	16	35	,	,	PUNCT
hjic-913	16	36	etc	etc	X
hjic-913	16	37	.	.	X
hjic-913	17	1	our	our	PRON
hjic-913	17	2	long	long	ADJ
hjic-913	17	3	-	-	PUNCT
hjic-913	17	4	term	term	NOUN
hjic-913	17	5	goal	goal	NOUN
hjic-913	17	6	is	be	AUX
hjic-913	17	7	to	to	PART
hjic-913	17	8	prepare	prepare	VERB
hjic-913	17	9	for	for	ADP
hjic-913	17	10	the	the	DET
hjic-913	17	11	auc	auc	NOUN
hjic-913	17	12	challenge	challenge	NOUN
hjic-913	17	13	.	.	PUNCT
hjic-913	18	1	one	one	NUM
hjic-913	18	2	of	of	ADP
hjic-913	18	3	the	the	DET
hjic-913	18	4	main	main	ADJ
hjic-913	18	5	tasks	task	NOUN
hjic-913	18	6	is	be	AUX
hjic-913	18	7	to	to	PART
hjic-913	18	8	create	create	VERB
hjic-913	18	9	an	an	DET
hjic-913	18	10	intelligent	intelligent	ADJ
hjic-913	18	11	system	system	NOUN
hjic-913	18	12	,	,	PUNCT
hjic-913	18	13	which	which	PRON
hjic-913	18	14	perceives	perceive	VERB
hjic-913	18	15	the	the	DET
hjic-913	18	16	environment	environment	NOUN
hjic-913	18	17	of	of	ADP
hjic-913	18	18	our	our	PRON
hjic-913	18	19	racing	racing	NOUN
hjic-913	18	20	car	car	NOUN
hjic-913	18	21	,	,	PUNCT
hjic-913	18	22	e.g.	e.g.	ADV
hjic-913	18	23	other	other	ADJ
hjic-913	18	24	vehicles	vehicle	NOUN
hjic-913	18	25	,	,	PUNCT
hjic-913	18	26	the	the	DET
hjic-913	18	27	road	road	NOUN
hjic-913	18	28	surface	surface	NOUN
hjic-913	18	29	,	,	PUNCT
hjic-913	18	30	other	other	ADJ
hjic-913	18	31	components	component	NOUN
hjic-913	18	32	of	of	ADP
hjic-913	18	33	the	the	DET
hjic-913	18	34	racing	racing	NOUN
hjic-913	18	35	track	track	NOUN
hjic-913	18	36	,	,	PUNCT
hjic-913	18	37	etc	etc	X
hjic-913	18	38	.	.	X
hjic-913	19	1	in	in	ADP
hjic-913	19	2	this	this	DET
hjic-913	19	3	paper	paper	NOUN
hjic-913	19	4	,	,	PUNCT
hjic-913	19	5	only	only	ADV
hjic-913	19	6	the	the	DET
hjic-913	19	7	segmentation	segmentation	NOUN
hjic-913	19	8	of	of	ADP
hjic-913	19	9	the	the	DET
hjic-913	19	10	road	road	NOUN
hjic-913	19	11	surface	surface	NOUN
hjic-913	19	12	and	and	CCONJ
hjic-913	19	13	of	of	ADP
hjic-913	19	14	the	the	DET
hjic-913	19	15	protective	protective	ADJ
hjic-913	19	16	barriers	barrier	NOUN
hjic-913	19	17	is	be	AUX
hjic-913	19	18	taken	take	VERB
hjic-913	19	19	into	into	ADP
hjic-913	19	20	consideration	consideration	NOUN
hjic-913	19	21	.	.	PUNCT
hjic-913	20	1	an	an	DET
hjic-913	20	2	approach	approach	NOUN
hjic-913	20	3	based	base	VERB
hjic-913	20	4	on	on	ADP
hjic-913	20	5	neural	neural	ADJ
hjic-913	20	6	networks	network	NOUN
hjic-913	20	7	will	will	AUX
hjic-913	20	8	determine	determine	VERB
hjic-913	20	9	the	the	DET
hjic-913	20	10	segmentation	segmentation	NOUN
hjic-913	20	11	,	,	PUNCT
hjic-913	20	12	because	because	SCONJ
hjic-913	20	13	such	such	ADJ
hjic-913	20	14	networks	network	NOUN
hjic-913	20	15	are	be	AUX
hjic-913	20	16	one	one	NUM
hjic-913	20	17	of	of	ADP
hjic-913	20	18	the	the	DET
hjic-913	20	19	best	good	ADJ
hjic-913	20	20	tools	tool	NOUN
hjic-913	20	21	to	to	PART
hjic-913	20	22	solve	solve	VERB
hjic-913	20	23	problems	problem	NOUN
hjic-913	20	24	concerning	concern	VERB
hjic-913	20	25	visual	visual	ADJ
hjic-913	20	26	information	information	NOUN
hjic-913	20	27	-	-	PUNCT
hjic-913	20	28	based	base	VERB
hjic-913	20	29	detection	detection	NOUN
hjic-913	20	30	and	and	CCONJ
hjic-913	20	31	segmentation	segmentation	NOUN
hjic-913	20	32	,	,	PUNCT
hjic-913	20	33	e.g.	e.g.	ADV
hjic-913	20	34	image	image	NOUN
hjic-913	20	35	segmentation	segmentation	NOUN
hjic-913	20	36	.	.	PUNCT
hjic-913	21	1	many	many	ADJ
hjic-913	21	2	high	high	ADJ
hjic-913	21	3	-	-	PUNCT
hjic-913	21	4	performance	performance	NOUN
hjic-913	21	5	neural	neural	ADJ
hjic-913	21	6	network	network	NOUN
hjic-913	21	7	architectures	architecture	NOUN
hjic-913	21	8	are	be	AUX
hjic-913	21	9	available	available	ADJ
hjic-913	21	10	such	such	ADJ
hjic-913	21	11	as	as	ADP
hjic-913	21	12	alexnet	alexnet	NOUN
hjic-913	21	13	by	by	ADP
hjic-913	21	14	krizhevsky	krizhevsky	PROPN
hjic-913	21	15	et	et	PROPN
hjic-913	21	16	al	al	PROPN
hjic-913	21	17	.	.	PUNCT
hjic-913	22	1	[	[	X
hjic-913	22	2	1	1	NUM
hjic-913	22	3	]	]	PUNCT
hjic-913	22	4	,	,	PUNCT
hjic-913	22	5	vggnet	vggnet	NOUN
hjic-913	22	6	by	by	ADP
hjic-913	22	7	simonyan	simonyan	ADJ
hjic-913	22	8	and	and	CCONJ
hjic-913	22	9	zisser*correspondence	zisser*correspondence	NOUN
hjic-913	22	10	:	:	PUNCT
hjic-913	22	11	hollosi.janos@sze.hu	hollosi.janos@sze.hu	PROPN
hjic-913	22	12	man	man	NOUN
hjic-913	22	13	[	[	X
hjic-913	22	14	2	2	NUM
hjic-913	22	15	]	]	PUNCT
hjic-913	22	16	,	,	PUNCT
hjic-913	22	17	googlenet	googlenet	NOUN
hjic-913	22	18	by	by	ADP
hjic-913	22	19	szegedy	szegedy	NOUN
hjic-913	22	20	et	et	PROPN
hjic-913	22	21	al	al	PROPN
hjic-913	22	22	.	.	PUNCT
hjic-913	23	1	[	[	X
hjic-913	23	2	3	3	NUM
hjic-913	23	3	]	]	PUNCT
hjic-913	23	4	,	,	PUNCT
hjic-913	23	5	fully	fully	ADV
hjic-913	23	6	convolutional	convolutional	ADJ
hjic-913	23	7	networks	network	NOUN
hjic-913	23	8	by	by	ADP
hjic-913	23	9	shelhamer	shelhamer	PROPN
hjic-913	23	10	et	et	PROPN
hjic-913	23	11	al	al	PROPN
hjic-913	23	12	.	.	PUNCT
hjic-913	24	1	[	[	X
hjic-913	24	2	4	4	NUM
hjic-913	24	3	]	]	PUNCT
hjic-913	24	4	,	,	PUNCT
hjic-913	24	5	u	u	NOUN
hjic-913	24	6	-	-	NOUN
hjic-913	24	7	net	net	ADJ
hjic-913	24	8	by	by	ADP
hjic-913	24	9	ronneberger	ronneberger	NOUN
hjic-913	24	10	et	et	PROPN
hjic-913	24	11	al	al	PROPN
hjic-913	24	12	.	.	PUNCT
hjic-913	25	1	[	[	X
hjic-913	25	2	5	5	NUM
hjic-913	25	3	]	]	PUNCT
hjic-913	25	4	,	,	PUNCT
hjic-913	25	5	resnet	resnet	NOUN
hjic-913	25	6	by	by	ADP
hjic-913	25	7	he	he	PRON
hjic-913	25	8	et	et	PROPN
hjic-913	25	9	al	al	PROPN
hjic-913	25	10	.	.	PUNCT
hjic-913	26	1	[	[	X
hjic-913	26	2	6	6	NUM
hjic-913	26	3	]	]	PUNCT
hjic-913	26	4	and	and	CCONJ
hjic-913	26	5	pyramid	pyramid	NOUN
hjic-913	26	6	scene	scene	NOUN
hjic-913	26	7	parsing	parse	VERB
hjic-913	26	8	network	network	NOUN
hjic-913	26	9	by	by	ADP
hjic-913	26	10	zhao	zhao	PROPN
hjic-913	26	11	et	et	PROPN
hjic-913	26	12	al	al	PROPN
hjic-913	26	13	.	.	PUNCT
hjic-913	27	1	[	[	X
hjic-913	27	2	7	7	NUM
hjic-913	27	3	]	]	PUNCT
hjic-913	27	4	.	.	PUNCT
hjic-913	28	1	training	train	VERB
hjic-913	28	2	neural	neural	ADJ
hjic-913	28	3	networks	network	NOUN
hjic-913	28	4	requires	require	VERB
hjic-913	28	5	a	a	DET
hjic-913	28	6	large	large	ADJ
hjic-913	28	7	amount	amount	NOUN
hjic-913	28	8	of	of	ADP
hjic-913	28	9	training	training	NOUN
hjic-913	28	10	data	datum	NOUN
hjic-913	28	11	.	.	PUNCT
hjic-913	29	1	however	however	ADV
hjic-913	29	2	,	,	PUNCT
hjic-913	29	3	in	in	ADP
hjic-913	29	4	this	this	DET
hjic-913	29	5	case	case	NOUN
hjic-913	29	6	,	,	PUNCT
hjic-913	29	7	the	the	DET
hjic-913	29	8	number	number	NOUN
hjic-913	29	9	of	of	ADP
hjic-913	29	10	training	training	NOUN
hjic-913	29	11	samples	sample	NOUN
hjic-913	29	12	is	be	AUX
hjic-913	29	13	insufficient	insufficient	ADJ
hjic-913	29	14	,	,	PUNCT
hjic-913	29	15	e.g.	e.g.	ADV
hjic-913	29	16	no	no	DET
hjic-913	29	17	training	training	NOUN
hjic-913	29	18	images	image	NOUN
hjic-913	29	19	of	of	ADP
hjic-913	29	20	protective	protective	ADJ
hjic-913	29	21	barriers	barrier	NOUN
hjic-913	29	22	are	be	AUX
hjic-913	29	23	available	available	ADJ
hjic-913	29	24	and	and	CCONJ
hjic-913	29	25	the	the	DET
hjic-913	29	26	generation	generation	NOUN
hjic-913	29	27	and	and	CCONJ
hjic-913	29	28	annotation	annotation	NOUN
hjic-913	29	29	of	of	ADP
hjic-913	29	30	real	real	ADJ
hjic-913	29	31	world	world	NOUN
hjic-913	29	32	data	datum	NOUN
hjic-913	29	33	is	be	AUX
hjic-913	29	34	labour	labour	NOUN
hjic-913	29	35	-	-	PUNCT
hjic-913	29	36	intensive	intensive	ADJ
hjic-913	29	37	and	and	CCONJ
hjic-913	29	38	time	time	NOUN
hjic-913	29	39	-	-	PUNCT
hjic-913	29	40	consuming	consume	VERB
hjic-913	29	41	.	.	PUNCT
hjic-913	30	1	computer	computer	NOUN
hjic-913	30	2	simulation	simulation	NOUN
hjic-913	30	3	environments	environment	NOUN
hjic-913	30	4	will	will	AUX
hjic-913	30	5	be	be	AUX
hjic-913	30	6	used	use	VERB
hjic-913	30	7	to	to	PART
hjic-913	30	8	generate	generate	VERB
hjic-913	30	9	training	training	NOUN
hjic-913	30	10	data	datum	NOUN
hjic-913	30	11	for	for	ADP
hjic-913	30	12	this	this	DET
hjic-913	30	13	task	task	NOUN
hjic-913	30	14	.	.	PUNCT
hjic-913	31	1	some	some	DET
hjic-913	31	2	attempts	attempt	NOUN
hjic-913	31	3	that	that	PRON
hjic-913	31	4	apply	apply	VERB
hjic-913	31	5	virtually	virtually	ADV
hjic-913	31	6	generated	generate	VERB
hjic-913	31	7	data	datum	NOUN
hjic-913	31	8	to	to	PART
hjic-913	31	9	train	train	VERB
hjic-913	31	10	neural	neural	ADJ
hjic-913	31	11	networks	network	NOUN
hjic-913	31	12	have	have	AUX
hjic-913	31	13	been	be	AUX
hjic-913	31	14	made	make	VERB
hjic-913	31	15	.	.	PUNCT
hjic-913	32	1	peng	peng	PROPN
hjic-913	32	2	et	et	PROPN
hjic-913	32	3	al	al	PROPN
hjic-913	32	4	.	.	PUNCT
hjic-913	33	1	[	[	X
hjic-913	33	2	8	8	NUM
hjic-913	33	3	]	]	PUNCT
hjic-913	33	4	demonstrated	demonstrate	VERB
hjic-913	33	5	cad	cad	PROPN
hjic-913	33	6	model	model	NOUN
hjic-913	33	7	-	-	PUNCT
hjic-913	33	8	based	base	VERB
hjic-913	33	9	convolutional	convolutional	ADJ
hjic-913	33	10	neural	neural	ADJ
hjic-913	33	11	network	network	NOUN
hjic-913	33	12	training	training	NOUN
hjic-913	33	13	for	for	ADP
hjic-913	33	14	joint	joint	ADJ
hjic-913	33	15	object	object	NOUN
hjic-913	33	16	detection	detection	NOUN
hjic-913	33	17	.	.	PUNCT
hjic-913	34	1	tian	tian	PROPN
hjic-913	34	2	et	et	PROPN
hjic-913	34	3	al	al	PROPN
hjic-913	34	4	.	.	PUNCT
hjic-913	35	1	[	[	X
hjic-913	35	2	9	9	NUM
hjic-913	35	3	]	]	PUNCT
hjic-913	35	4	presented	present	VERB
hjic-913	35	5	a	a	DET
hjic-913	35	6	pipeline	pipeline	NOUN
hjic-913	35	7	to	to	PART
hjic-913	35	8	construct	construct	VERB
hjic-913	35	9	virtual	virtual	ADJ
hjic-913	35	10	scenes	scene	NOUN
hjic-913	35	11	and	and	CCONJ
hjic-913	35	12	virtual	virtual	ADJ
hjic-913	35	13	datasets	dataset	NOUN
hjic-913	35	14	for	for	ADP
hjic-913	35	15	neural	neural	ADJ
hjic-913	35	16	networks	network	NOUN
hjic-913	35	17	.	.	PUNCT
hjic-913	36	1	they	they	PRON
hjic-913	36	2	proved	prove	VERB
hjic-913	36	3	that	that	SCONJ
hjic-913	36	4	mixing	mix	VERB
hjic-913	36	5	virtual	virtual	ADJ
hjic-913	36	6	and	and	CCONJ
hjic-913	36	7	real	real	ADJ
hjic-913	36	8	data	datum	NOUN
hjic-913	36	9	to	to	PART
hjic-913	36	10	train	train	VERB
hjic-913	36	11	neural	neural	ADJ
hjic-913	36	12	networks	network	NOUN
hjic-913	36	13	for	for	ADP
hjic-913	36	14	joint	joint	ADJ
hjic-913	36	15	object	object	NOUN
hjic-913	36	16	detection	detection	NOUN
hjic-913	36	17	helps	help	VERB
hjic-913	36	18	to	to	PART
hjic-913	36	19	improve	improve	VERB
hjic-913	36	20	performance	performance	NOUN
hjic-913	36	21	.	.	PUNCT
hjic-913	37	1	židek	židek	PROPN
hjic-913	37	2	et	et	PROPN
hjic-913	37	3	al	al	PROPN
hjic-913	37	4	.	.	PUNCT
hjic-913	38	1	[	[	X
hjic-913	38	2	10	10	NUM
hjic-913	38	3	]	]	PUNCT
hjic-913	38	4	presented	present	VERB
hjic-913	38	5	a	a	DET
hjic-913	38	6	new	new	ADJ
hjic-913	38	7	approach	approach	NOUN
hjic-913	38	8	to	to	ADP
hjic-913	38	9	joint	joint	ADJ
hjic-913	38	10	object	object	NOUN
hjic-913	38	11	detection	detection	NOUN
hjic-913	38	12	using	use	VERB
hjic-913	38	13	neural	neural	ADJ
hjic-913	38	14	networks	network	NOUN
hjic-913	38	15	trained	train	VERB
hjic-913	38	16	by	by	ADP
hjic-913	38	17	virtual	virtual	ADJ
hjic-913	38	18	model	model	NOUN
hjic-913	38	19	-	-	PUNCT
hjic-913	38	20	based	base	VERB
hjic-913	38	21	datasets	dataset	NOUN
hjic-913	38	22	.	.	PUNCT
hjic-913	39	1	in	in	ADP
hjic-913	39	2	this	this	DET
hjic-913	39	3	paper	paper	NOUN
hjic-913	39	4	,	,	PUNCT
hjic-913	39	5	an	an	DET
hjic-913	39	6	attempt	attempt	NOUN
hjic-913	39	7	is	be	AUX
hjic-913	39	8	made	make	VERB
hjic-913	39	9	to	to	PART
hjic-913	39	10	show	show	VERB
hjic-913	39	11	the	the	DET
hjic-913	39	12	effects	effect	NOUN
hjic-913	39	13	of	of	ADP
hjic-913	39	14	computer	computer	NOUN
hjic-913	39	15	-	-	PUNCT
hjic-913	39	16	generated	generate	VERB
hjic-913	39	17	training	training	NOUN
hjic-913	39	18	data	datum	NOUN
hjic-913	39	19	on	on	ADP
hjic-913	39	20	the	the	DET
hjic-913	39	21	learning	learning	NOUN
hjic-913	39	22	process	process	NOUN
hjic-913	39	23	of	of	ADP
hjic-913	39	24	different	different	ADJ
hjic-913	39	25	network	network	NOUN
hjic-913	39	26	architectures	architecture	NOUN
hjic-913	39	27	.	.	PUNCT
hjic-913	40	1	the	the	DET
hjic-913	40	2	paper	paper	NOUN
hjic-913	40	3	is	be	AUX
hjic-913	40	4	structured	structure	VERB
hjic-913	40	5	as	as	SCONJ
hjic-913	40	6	follows	follow	VERB
hjic-913	40	7	:	:	PUNCT
hjic-913	40	8	in	in	ADP
hjic-913	40	9	section	section	NOUN
hjic-913	40	10	2	2	NUM
hjic-913	40	11	,	,	PUNCT
hjic-913	40	12	the	the	DET
hjic-913	40	13	virtual	virtual	ADJ
hjic-913	40	14	simulation	simulation	NOUN
hjic-913	40	15	environment	environment	NOUN
hjic-913	40	16	that	that	PRON
hjic-913	40	17	is	be	AUX
hjic-913	40	18	used	use	VERB
hjic-913	40	19	for	for	ADP
hjic-913	40	20	generating	generate	VERB
hjic-913	40	21	training	training	NOUN
hjic-913	40	22	data	datum	NOUN
hjic-913	40	23	is	be	AUX
hjic-913	40	24	described	describe	VERB
hjic-913	40	25	;	;	PUNCT
hjic-913	40	26	in	in	ADP
hjic-913	40	27	section	section	NOUN
hjic-913	40	28	3	3	NUM
hjic-913	40	29	,	,	PUNCT
hjic-913	40	30	our	our	PRON
hjic-913	40	31	neural	neural	ADJ
hjic-913	40	32	network	network	NOUN
hjic-913	40	33	architectures	architecture	NOUN
hjic-913	40	34	are	be	AUX
hjic-913	40	35	presented	present	VERB
hjic-913	40	36	;	;	PUNCT
hjic-913	40	37	in	in	ADP
hjic-913	40	38	section	section	NOUN
hjic-913	40	39	4	4	NUM
hjic-913	40	40	,	,	PUNCT
hjic-913	40	41	the	the	DET
hjic-913	40	42	training	training	NOUN
hjic-913	40	43	process	process	NOUN
hjic-913	40	44	of	of	ADP
hjic-913	40	45	the	the	DET
hjic-913	40	46	networks	network	NOUN
hjic-913	40	47	is	be	AUX
hjic-913	40	48	outlined	outline	VERB
hjic-913	40	49	;	;	PUNCT
hjic-913	40	50	in	in	ADP
hjic-913	40	51	section	section	NOUN
hjic-913	40	52	5	5	NUM
hjic-913	40	53	,	,	PUNCT
hjic-913	40	54	our	our	PRON
hjic-913	40	55	https://doi.org/10.33927/hjic-2020-02	https://doi.org/10.33927/hjic-2020-02	PROPN
hjic-913	40	56	mailto:hollosi.janos@sze.hu	mailto:hollosi.janos@sze.hu	PROPN
hjic-913	40	57	4	4	NUM
hjic-913	40	58	hollósi	hollósi	ADJ
hjic-913	40	59	,	,	PUNCT
hjic-913	40	60	krecht	krecht	NOUN
hjic-913	40	61	,	,	PUNCT
hjic-913	40	62	markó	markó	NOUN
hjic-913	40	63	,	,	PUNCT
hjic-913	40	64	and	and	CCONJ
hjic-913	40	65	ballagi	ballagi	NOUN
hjic-913	40	66	results	result	NOUN
hjic-913	40	67	and	and	CCONJ
hjic-913	40	68	experiences	experience	NOUN
hjic-913	40	69	are	be	AUX
hjic-913	40	70	shared	share	VERB
hjic-913	40	71	;	;	PUNCT
hjic-913	40	72	finally	finally	ADV
hjic-913	40	73	,	,	PUNCT
hjic-913	40	74	in	in	ADP
hjic-913	40	75	section	section	NOUN
hjic-913	40	76	6	6	NUM
hjic-913	40	77	,	,	PUNCT
hjic-913	40	78	our	our	PRON
hjic-913	40	79	conclusions	conclusion	NOUN
hjic-913	40	80	are	be	AUX
hjic-913	40	81	stated	state	VERB
hjic-913	40	82	.	.	PUNCT
hjic-913	41	1	2	2	X
hjic-913	41	2	.	.	X
hjic-913	41	3	our	our	PRON
hjic-913	41	4	virtual	virtual	ADJ
hjic-913	41	5	environment	environment	NOUN
hjic-913	41	6	our	our	PRON
hjic-913	41	7	aim	aim	NOUN
hjic-913	41	8	is	be	AUX
hjic-913	41	9	to	to	PART
hjic-913	41	10	create	create	VERB
hjic-913	41	11	highly	highly	ADV
hjic-913	41	12	realistic	realistic	ADJ
hjic-913	41	13	image	image	NOUN
hjic-913	41	14	sets	set	NOUN
hjic-913	41	15	that	that	PRON
hjic-913	41	16	depict	depict	VERB
hjic-913	41	17	racing	racing	NOUN
hjic-913	41	18	tracks	track	NOUN
hjic-913	41	19	which	which	PRON
hjic-913	41	20	follow	follow	VERB
hjic-913	41	21	the	the	DET
hjic-913	41	22	rulebook	rulebook	NOUN
hjic-913	41	23	of	of	ADP
hjic-913	41	24	the	the	DET
hjic-913	41	25	shell	shell	NOUN
hjic-913	41	26	ecomarathon	ecomarathon	PROPN
hjic-913	41	27	autonomous	autonomous	ADJ
hjic-913	41	28	urbanconcept	urbanconcept	NOUN
hjic-913	41	29	.	.	PUNCT
hjic-913	42	1	in	in	ADP
hjic-913	42	2	order	order	NOUN
hjic-913	42	3	to	to	PART
hjic-913	42	4	ensure	ensure	VERB
hjic-913	42	5	repeatability	repeatability	NOUN
hjic-913	42	6	and	and	CCONJ
hjic-913	42	7	simple	simple	ADJ
hjic-913	42	8	parameter	parameter	NOUN
hjic-913	42	9	setup	setup	NOUN
hjic-913	42	10	,	,	PUNCT
hjic-913	42	11	the	the	DET
hjic-913	42	12	creation	creation	NOUN
hjic-913	42	13	of	of	ADP
hjic-913	42	14	complete	complete	ADJ
hjic-913	42	15	,	,	PUNCT
hjic-913	42	16	textured	textured	ADJ
hjic-913	42	17	3d	3d	NUM
hjic-913	42	18	-	-	PUNCT
hjic-913	42	19	models	model	NOUN
hjic-913	42	20	of	of	ADP
hjic-913	42	21	the	the	DET
hjic-913	42	22	racing	racing	NOUN
hjic-913	42	23	tracks	track	NOUN
hjic-913	42	24	is	be	AUX
hjic-913	42	25	advised	advise	VERB
hjic-913	42	26	.	.	PUNCT
hjic-913	43	1	these	these	DET
hjic-913	43	2	simulated	simulated	ADJ
hjic-913	43	3	environments	environment	NOUN
hjic-913	43	4	can	can	AUX
hjic-913	43	5	be	be	AUX
hjic-913	43	6	used	use	VERB
hjic-913	43	7	to	to	PART
hjic-913	43	8	create	create	VERB
hjic-913	43	9	images	image	NOUN
hjic-913	43	10	with	with	ADP
hjic-913	43	11	desired	desire	VERB
hjic-913	43	12	weather	weather	NOUN
hjic-913	43	13	and	and	CCONJ
hjic-913	43	14	lighting	lighting	NOUN
hjic-913	43	15	conditions	condition	NOUN
hjic-913	43	16	by	by	ADP
hjic-913	43	17	scanning	scan	VERB
hjic-913	43	18	the	the	DET
hjic-913	43	19	track	track	NOUN
hjic-913	43	20	environment	environment	NOUN
hjic-913	43	21	using	use	VERB
hjic-913	43	22	a	a	DET
hjic-913	43	23	camera	camera	NOUN
hjic-913	43	24	moving	move	VERB
hjic-913	43	25	at	at	ADP
hjic-913	43	26	a	a	DET
hjic-913	43	27	predefined	predefine	VERB
hjic-913	43	28	constant	constant	ADJ
hjic-913	43	29	speed	speed	NOUN
hjic-913	43	30	.	.	PUNCT
hjic-913	44	1	the	the	DET
hjic-913	44	2	images	image	NOUN
hjic-913	44	3	created	create	VERB
hjic-913	44	4	using	use	VERB
hjic-913	44	5	this	this	DET
hjic-913	44	6	method	method	NOUN
hjic-913	44	7	can	can	AUX
hjic-913	44	8	be	be	AUX
hjic-913	44	9	processed	process	VERB
hjic-913	44	10	further	far	ADV
hjic-913	44	11	,	,	PUNCT
hjic-913	44	12	e.g.	e.g.	ADV
hjic-913	44	13	segmentation	segmentation	NOUN
hjic-913	44	14	and	and	CCONJ
hjic-913	44	15	clustering	clustering	NOUN
hjic-913	44	16	of	of	ADP
hjic-913	44	17	different	different	ADJ
hjic-913	44	18	types	type	NOUN
hjic-913	44	19	of	of	ADP
hjic-913	44	20	objects	object	NOUN
hjic-913	44	21	such	such	ADJ
hjic-913	44	22	as	as	ADP
hjic-913	44	23	the	the	DET
hjic-913	44	24	road	road	NOUN
hjic-913	44	25	surface	surface	NOUN
hjic-913	44	26	,	,	PUNCT
hjic-913	44	27	protective	protective	ADJ
hjic-913	44	28	barriers	barrier	NOUN
hjic-913	44	29	and	and	CCONJ
hjic-913	44	30	vegetation	vegetation	NOUN
hjic-913	44	31	.	.	PUNCT
hjic-913	45	1	based	base	VERB
hjic-913	45	2	on	on	ADP
hjic-913	45	3	the	the	DET
hjic-913	45	4	characteristics	characteristic	NOUN
hjic-913	45	5	of	of	ADP
hjic-913	45	6	the	the	DET
hjic-913	45	7	predefined	predefine	VERB
hjic-913	45	8	task	task	NOUN
hjic-913	45	9	,	,	PUNCT
hjic-913	45	10	the	the	DET
hjic-913	45	11	requirements	requirement	NOUN
hjic-913	45	12	of	of	ADP
hjic-913	45	13	the	the	DET
hjic-913	45	14	simulation	simulation	NOUN
hjic-913	45	15	environment	environment	NOUN
hjic-913	45	16	can	can	AUX
hjic-913	45	17	be	be	AUX
hjic-913	45	18	enumerated	enumerate	VERB
hjic-913	45	19	:	:	PUNCT
hjic-913	45	20	•	•	ADP
hjic-913	45	21	highly	highly	ADV
hjic-913	45	22	realistic	realistic	ADJ
hjic-913	45	23	appearance	appearance	NOUN
hjic-913	45	24	,	,	PUNCT
hjic-913	45	25	•	•	NOUN
hjic-913	45	26	easy	easy	ADJ
hjic-913	45	27	use	use	NOUN
hjic-913	45	28	of	of	ADP
hjic-913	45	29	textures	texture	NOUN
hjic-913	45	30	,	,	PUNCT
hjic-913	45	31	•	•	ADP
hjic-913	45	32	fast	fast	ADJ
hjic-913	45	33	workflow	workflow	NOUN
hjic-913	45	34	,	,	PUNCT
hjic-913	45	35	•	•	NUM
hjic-913	45	36	characteristics	characteristic	NOUN
hjic-913	45	37	definable	definable	ADJ
hjic-913	45	38	by	by	ADP
hjic-913	45	39	parameters	parameter	NOUN
hjic-913	45	40	(	(	PUNCT
hjic-913	45	41	parametric	parametric	ADJ
hjic-913	45	42	lights	light	NOUN
hjic-913	45	43	,	,	PUNCT
hjic-913	45	44	weather	weather	NOUN
hjic-913	45	45	conditions	condition	NOUN
hjic-913	45	46	)	)	PUNCT
hjic-913	45	47	,	,	PUNCT
hjic-913	45	48	•	•	NUM
hjic-913	45	49	modular	modular	ADJ
hjic-913	45	50	environment	environment	NOUN
hjic-913	45	51	construction	construction	NOUN
hjic-913	45	52	,	,	PUNCT
hjic-913	45	53	•	•	NUM
hjic-913	45	54	importability	importability	NOUN
hjic-913	45	55	of	of	ADP
hjic-913	45	56	external	external	ADJ
hjic-913	45	57	cad	cad	NOUN
hjic-913	45	58	models	model	NOUN
hjic-913	45	59	.	.	PUNCT
hjic-913	46	1	unreal	unreal	ADJ
hjic-913	46	2	engine	engine	NOUN
hjic-913	46	3	4	4	NUM
hjic-913	46	4	[	[	SYM
hjic-913	46	5	11	11	NUM
hjic-913	46	6	]	]	PUNCT
hjic-913	46	7	is	be	AUX
hjic-913	46	8	a	a	DET
hjic-913	46	9	games	game	NOUN
hjic-913	46	10	engine	engine	NOUN
hjic-913	46	11	designed	design	VERB
hjic-913	46	12	for	for	ADP
hjic-913	46	13	the	the	DET
hjic-913	46	14	fast	fast	ADJ
hjic-913	46	15	creation	creation	NOUN
hjic-913	46	16	of	of	ADP
hjic-913	46	17	modular	modular	ADJ
hjic-913	46	18	simulated	simulate	VERB
hjic-913	46	19	environments	environment	NOUN
hjic-913	46	20	by	by	ADP
hjic-913	46	21	the	the	DET
hjic-913	46	22	use	use	NOUN
hjic-913	46	23	of	of	ADP
hjic-913	46	24	modular	modular	ADJ
hjic-913	46	25	relief	relief	NOUN
hjic-913	46	26	,	,	PUNCT
hjic-913	46	27	vegetation	vegetation	NOUN
hjic-913	46	28	and	and	CCONJ
hjic-913	46	29	building	building	NOUN
hjic-913	46	30	elements	element	NOUN
hjic-913	46	31	.	.	PUNCT
hjic-913	47	1	in	in	ADP
hjic-913	47	2	these	these	DET
hjic-913	47	3	environments	environment	NOUN
hjic-913	47	4	,	,	PUNCT
hjic-913	47	5	actors	actor	NOUN
hjic-913	47	6	based	base	VERB
hjic-913	47	7	on	on	ADP
hjic-913	47	8	external	external	ADJ
hjic-913	47	9	cad	cad	NOUN
hjic-913	47	10	models	model	NOUN
hjic-913	47	11	could	could	AUX
hjic-913	47	12	be	be	AUX
hjic-913	47	13	used	use	VERB
hjic-913	47	14	.	.	PUNCT
hjic-913	48	1	fields	field	NOUN
hjic-913	48	2	of	of	ADP
hjic-913	48	3	engineering	engineering	NOUN
hjic-913	48	4	that	that	PRON
hjic-913	48	5	apply	apply	VERB
hjic-913	48	6	different	different	ADJ
hjic-913	48	7	visual	visual	ADJ
hjic-913	48	8	sensors	sensor	NOUN
hjic-913	48	9	and	and	CCONJ
hjic-913	48	10	cameras	camera	NOUN
hjic-913	48	11	require	require	VERB
hjic-913	48	12	very	very	ADV
hjic-913	48	13	similar	similar	ADJ
hjic-913	48	14	computer	computer	NOUN
hjic-913	48	15	simulation	simulation	NOUN
hjic-913	48	16	technologies	technology	NOUN
hjic-913	48	17	to	to	ADP
hjic-913	48	18	the	the	DET
hjic-913	48	19	video	video	NOUN
hjic-913	48	20	game	game	NOUN
hjic-913	48	21	industry	industry	NOUN
hjic-913	48	22	.	.	PUNCT
hjic-913	49	1	video	video	NOUN
hjic-913	49	2	games	game	NOUN
hjic-913	49	3	need	need	VERB
hjic-913	49	4	to	to	PART
hjic-913	49	5	be	be	AUX
hjic-913	49	6	highly	highly	ADV
hjic-913	49	7	realistic	realistic	ADJ
hjic-913	49	8	as	as	ADV
hjic-913	49	9	well	well	ADV
hjic-913	49	10	as	as	ADP
hjic-913	49	11	efficient	efficient	ADJ
hjic-913	49	12	due	due	ADJ
hjic-913	49	13	to	to	ADP
hjic-913	49	14	limited	limited	ADJ
hjic-913	49	15	computational	computational	ADJ
hjic-913	49	16	capacity	capacity	NOUN
hjic-913	49	17	.	.	PUNCT
hjic-913	50	1	the	the	DET
hjic-913	50	2	requirements	requirement	NOUN
hjic-913	50	3	are	be	AUX
hjic-913	50	4	the	the	DET
hjic-913	50	5	same	same	ADJ
hjic-913	50	6	for	for	ADP
hjic-913	50	7	the	the	DET
hjic-913	50	8	simulation	simulation	NOUN
hjic-913	50	9	of	of	ADP
hjic-913	50	10	vehicles	vehicle	NOUN
hjic-913	50	11	mounted	mount	VERB
hjic-913	50	12	with	with	ADP
hjic-913	50	13	cameras	camera	NOUN
hjic-913	50	14	.	.	PUNCT
hjic-913	51	1	highly	highly	ADV
hjic-913	51	2	realistic	realistic	ADJ
hjic-913	51	3	computer	computer	NOUN
hjic-913	51	4	simulations	simulation	NOUN
hjic-913	51	5	reduce	reduce	VERB
hjic-913	51	6	the	the	DET
hjic-913	51	7	cost	cost	NOUN
hjic-913	51	8	and	and	CCONJ
hjic-913	51	9	duration	duration	NOUN
hjic-913	51	10	of	of	ADP
hjic-913	51	11	real	real	ADJ
hjic-913	51	12	-	-	PUNCT
hjic-913	51	13	life	life	NOUN
hjic-913	51	14	tests	test	NOUN
hjic-913	51	15	and	and	CCONJ
hjic-913	51	16	camera	camera	NOUN
hjic-913	51	17	calibrations	calibration	NOUN
hjic-913	51	18	.	.	PUNCT
hjic-913	52	1	it	it	PRON
hjic-913	52	2	is	be	AUX
hjic-913	52	3	also	also	ADV
hjic-913	52	4	important	important	ADJ
hjic-913	52	5	to	to	PART
hjic-913	52	6	mention	mention	VERB
hjic-913	52	7	that	that	SCONJ
hjic-913	52	8	by	by	ADP
hjic-913	52	9	using	use	VERB
hjic-913	52	10	technology	technology	NOUN
hjic-913	52	11	implemented	implement	VERB
hjic-913	52	12	and/or	and/or	CCONJ
hjic-913	52	13	developed	develop	VERB
hjic-913	52	14	by	by	ADP
hjic-913	52	15	the	the	DET
hjic-913	52	16	video	video	NOUN
hjic-913	52	17	game	game	NOUN
hjic-913	52	18	industry	industry	NOUN
hjic-913	52	19	,	,	PUNCT
hjic-913	52	20	the	the	DET
hjic-913	52	21	support	support	NOUN
hjic-913	52	22	of	of	ADP
hjic-913	52	23	a	a	DET
hjic-913	52	24	vast	vast	ADJ
hjic-913	52	25	developer	developer	NOUN
hjic-913	52	26	community	community	NOUN
hjic-913	52	27	is	be	AUX
hjic-913	52	28	available	available	ADJ
hjic-913	52	29	.	.	PUNCT
hjic-913	53	1	since	since	SCONJ
hjic-913	53	2	our	our	PRON
hjic-913	53	3	goal	goal	NOUN
hjic-913	53	4	is	be	AUX
hjic-913	53	5	to	to	PART
hjic-913	53	6	develop	develop	VERB
hjic-913	53	7	image	image	NOUN
hjic-913	53	8	-	-	PUNCT
hjic-913	53	9	perceiving	perceive	VERB
hjic-913	53	10	solutions	solution	NOUN
hjic-913	53	11	for	for	ADP
hjic-913	53	12	the	the	DET
hjic-913	53	13	shell	shell	ADJ
hjic-913	53	14	eco	eco	PROPN
hjic-913	53	15	-	-	PUNCT
hjic-913	53	16	marathon	marathon	NOUN
hjic-913	53	17	autonomous	autonomous	ADJ
hjic-913	53	18	urbanconcept	urbanconcept	ADJ
hjic-913	53	19	challenge	challenge	NOUN
hjic-913	53	20	,	,	PUNCT
hjic-913	53	21	it	it	PRON
hjic-913	53	22	is	be	AUX
hjic-913	53	23	important	important	ADJ
hjic-913	53	24	to	to	PART
hjic-913	53	25	carefully	carefully	ADV
hjic-913	53	26	follow	follow	VERB
hjic-913	53	27	the	the	DET
hjic-913	53	28	rules	rule	NOUN
hjic-913	53	29	of	of	ADP
hjic-913	53	30	this	this	DET
hjic-913	53	31	competition	competition	NOUN
hjic-913	53	32	with	with	ADP
hjic-913	53	33	regard	regard	NOUN
hjic-913	53	34	to	to	ADP
hjic-913	53	35	the	the	DET
hjic-913	53	36	racing	racing	NOUN
hjic-913	53	37	tracks	track	NOUN
hjic-913	53	38	.	.	PUNCT
hjic-913	54	1	the	the	DET
hjic-913	54	2	simulated	simulate	VERB
hjic-913	54	3	environments	environment	NOUN
hjic-913	54	4	and	and	CCONJ
hjic-913	54	5	racing	race	VERB
hjic-913	54	6	tracks	track	NOUN
hjic-913	54	7	created	create	VERB
hjic-913	54	8	by	by	ADP
hjic-913	54	9	unreal	unreal	ADJ
hjic-913	54	10	engine	engine	NOUN
hjic-913	54	11	strictly	strictly	ADV
hjic-913	54	12	follow	follow	VERB
hjic-913	54	13	the	the	DET
hjic-913	54	14	rules	rule	NOUN
hjic-913	54	15	defined	define	VERB
hjic-913	54	16	by	by	ADP
hjic-913	54	17	the	the	DET
hjic-913	54	18	aforementioned	aforementioned	ADJ
hjic-913	54	19	rulebook	rulebook	NOUN
hjic-913	54	20	.	.	PUNCT
hjic-913	55	1	these	these	DET
hjic-913	55	2	rules	rule	NOUN
hjic-913	55	3	define	define	VERB
hjic-913	55	4	that	that	SCONJ
hjic-913	55	5	the	the	DET
hjic-913	55	6	self	self	NOUN
hjic-913	55	7	-	-	PUNCT
hjic-913	55	8	driving	drive	VERB
hjic-913	55	9	vehicles	vehicle	NOUN
hjic-913	55	10	have	have	VERB
hjic-913	55	11	to	to	PART
hjic-913	55	12	compete	compete	VERB
hjic-913	55	13	on	on	ADP
hjic-913	55	14	racing	race	VERB
hjic-913	55	15	tracks	track	NOUN
hjic-913	55	16	equipped	equip	VERB
hjic-913	55	17	with	with	ADP
hjic-913	55	18	protective	protective	ADJ
hjic-913	55	19	barriers	barrier	NOUN
hjic-913	55	20	of	of	ADP
hjic-913	55	21	a	a	DET
hjic-913	55	22	known	know	VERB
hjic-913	55	23	height	height	NOUN
hjic-913	55	24	painted	paint	VERB
hjic-913	55	25	in	in	ADP
hjic-913	55	26	alternating	alternate	VERB
hjic-913	55	27	red	red	ADJ
hjic-913	55	28	and	and	CCONJ
hjic-913	55	29	white	white	ADJ
hjic-913	55	30	segments	segment	NOUN
hjic-913	55	31	.	.	PUNCT
hjic-913	56	1	it	it	PRON
hjic-913	56	2	is	be	AUX
hjic-913	56	3	also	also	ADV
hjic-913	56	4	defined	define	VERB
hjic-913	56	5	that	that	SCONJ
hjic-913	56	6	every	every	DET
hjic-913	56	7	racing	racing	NOUN
hjic-913	56	8	track	track	NOUN
hjic-913	56	9	consists	consist	VERB
hjic-913	56	10	of	of	ADP
hjic-913	56	11	three	three	NUM
hjic-913	56	12	figure	figure	NOUN
hjic-913	56	13	1	1	NUM
hjic-913	56	14	:	:	PUNCT
hjic-913	56	15	example	example	NOUN
hjic-913	56	16	images	image	NOUN
hjic-913	56	17	from	from	ADP
hjic-913	56	18	the	the	DET
hjic-913	56	19	training	training	NOUN
hjic-913	56	20	set	set	NOUN
hjic-913	56	21	.	.	PUNCT
hjic-913	57	1	painted	paint	VERB
hjic-913	57	2	line	line	NOUN
hjic-913	57	3	markings	marking	NOUN
hjic-913	57	4	,	,	PUNCT
hjic-913	57	5	one	one	NUM
hjic-913	57	6	that	that	PRON
hjic-913	57	7	is	be	AUX
hjic-913	57	8	green	green	ADJ
hjic-913	57	9	to	to	PART
hjic-913	57	10	denote	denote	VERB
hjic-913	57	11	the	the	DET
hjic-913	57	12	starting	starting	NOUN
hjic-913	57	13	position	position	NOUN
hjic-913	57	14	,	,	PUNCT
hjic-913	57	15	a	a	DET
hjic-913	57	16	yellow	yellow	ADJ
hjic-913	57	17	one	one	NOUN
hjic-913	57	18	to	to	PART
hjic-913	57	19	trigger	trigger	VERB
hjic-913	57	20	the	the	DET
hjic-913	57	21	self	self	NOUN
hjic-913	57	22	-	-	PUNCT
hjic-913	57	23	driving	drive	VERB
hjic-913	57	24	mode	mode	NOUN
hjic-913	57	25	,	,	PUNCT
hjic-913	57	26	and	and	CCONJ
hjic-913	57	27	another	another	PRON
hjic-913	57	28	that	that	PRON
hjic-913	57	29	is	be	AUX
hjic-913	57	30	red	red	ADJ
hjic-913	57	31	to	to	PART
hjic-913	57	32	mark	mark	VERB
hjic-913	57	33	the	the	DET
hjic-913	57	34	finish	finish	NOUN
hjic-913	57	35	line	line	NOUN
hjic-913	57	36	.	.	PUNCT
hjic-913	58	1	because	because	SCONJ
hjic-913	58	2	the	the	DET
hjic-913	58	3	racing	racing	NOUN
hjic-913	58	4	tracks	track	NOUN
hjic-913	58	5	and	and	CCONJ
hjic-913	58	6	tasks	task	NOUN
hjic-913	58	7	are	be	AUX
hjic-913	58	8	well	well	ADV
hjic-913	58	9	defined	define	VERB
hjic-913	58	10	,	,	PUNCT
hjic-913	58	11	it	it	PRON
hjic-913	58	12	is	be	AUX
hjic-913	58	13	crucial	crucial	ADJ
hjic-913	58	14	to	to	PART
hjic-913	58	15	create	create	VERB
hjic-913	58	16	accurate	accurate	ADJ
hjic-913	58	17	models	model	NOUN
hjic-913	58	18	of	of	ADP
hjic-913	58	19	the	the	DET
hjic-913	58	20	expected	expect	VERB
hjic-913	58	21	environments	environment	NOUN
hjic-913	58	22	.	.	PUNCT
hjic-913	59	1	differences	difference	NOUN
hjic-913	59	2	between	between	ADP
hjic-913	59	3	real	real	ADJ
hjic-913	59	4	and	and	CCONJ
hjic-913	59	5	simulated	simulated	ADJ
hjic-913	59	6	environments	environment	NOUN
hjic-913	59	7	might	might	AUX
hjic-913	59	8	lead	lead	VERB
hjic-913	59	9	to	to	ADP
hjic-913	59	10	further	further	ADJ
hjic-913	59	11	developments	development	NOUN
hjic-913	59	12	in	in	ADP
hjic-913	59	13	the	the	DET
hjic-913	59	14	wrong	wrong	ADJ
hjic-913	59	15	direction	direction	NOUN
hjic-913	59	16	.	.	PUNCT
hjic-913	60	1	two	two	NUM
hjic-913	60	2	simulated	simulated	ADJ
hjic-913	60	3	test	test	NOUN
hjic-913	60	4	environments	environment	NOUN
hjic-913	60	5	were	be	AUX
hjic-913	60	6	created	create	VERB
hjic-913	60	7	.	.	PUNCT
hjic-913	61	1	the	the	DET
hjic-913	61	2	first	first	ADJ
hjic-913	61	3	one	one	NUM
hjic-913	61	4	was	be	AUX
hjic-913	61	5	based	base	VERB
hjic-913	61	6	on	on	ADP
hjic-913	61	7	a	a	DET
hjic-913	61	8	readily	readily	ADV
hjic-913	61	9	available	available	ADJ
hjic-913	61	10	city	city	NOUN
hjic-913	61	11	model	model	NOUN
hjic-913	61	12	with	with	ADP
hjic-913	61	13	streets	street	NOUN
hjic-913	61	14	corresponding	correspond	VERB
hjic-913	61	15	to	to	ADP
hjic-913	61	16	a	a	DET
hjic-913	61	17	typical	typical	ADJ
hjic-913	61	18	racing	racing	NOUN
hjic-913	61	19	track	track	NOUN
hjic-913	61	20	.	.	PUNCT
hjic-913	62	1	barrier	barrier	NOUN
hjic-913	62	2	elements	element	NOUN
hjic-913	62	3	were	be	AUX
hjic-913	62	4	added	add	VERB
hjic-913	62	5	to	to	ADP
hjic-913	62	6	the	the	DET
hjic-913	62	7	roads	road	NOUN
hjic-913	62	8	to	to	PART
hjic-913	62	9	ensure	ensure	VERB
hjic-913	62	10	that	that	SCONJ
hjic-913	62	11	the	the	DET
hjic-913	62	12	racing	racing	NOUN
hjic-913	62	13	track	track	NOUN
hjic-913	62	14	complies	complie	NOUN
hjic-913	62	15	with	with	ADP
hjic-913	62	16	the	the	DET
hjic-913	62	17	requirements	requirement	NOUN
hjic-913	62	18	outlined	outline	VERB
hjic-913	62	19	in	in	ADP
hjic-913	62	20	the	the	DET
hjic-913	62	21	rulebook	rulebook	NOUN
hjic-913	62	22	.	.	PUNCT
hjic-913	63	1	this	this	DET
hjic-913	63	2	model	model	NOUN
hjic-913	63	3	includes	include	VERB
hjic-913	63	4	defects	defect	NOUN
hjic-913	63	5	in	in	ADP
hjic-913	63	6	and	and	CCONJ
hjic-913	63	7	textures	texture	NOUN
hjic-913	63	8	of	of	ADP
hjic-913	63	9	the	the	DET
hjic-913	63	10	road	road	NOUN
hjic-913	63	11	surface	surface	NOUN
hjic-913	63	12	to	to	PART
hjic-913	63	13	ensure	ensure	VERB
hjic-913	63	14	detection	detection	NOUN
hjic-913	63	15	of	of	ADP
hjic-913	63	16	the	the	DET
hjic-913	63	17	road	road	NOUN
hjic-913	63	18	surface	surface	NOUN
hjic-913	63	19	is	be	AUX
hjic-913	63	20	robust	robust	ADJ
hjic-913	63	21	.	.	PUNCT
hjic-913	64	1	in	in	ADP
hjic-913	64	2	order	order	NOUN
hjic-913	64	3	to	to	PART
hjic-913	64	4	create	create	VERB
hjic-913	64	5	image	image	NOUN
hjic-913	64	6	sets	set	NOUN
hjic-913	64	7	based	base	VERB
hjic-913	64	8	on	on	ADP
hjic-913	64	9	this	this	DET
hjic-913	64	10	environment	environment	NOUN
hjic-913	64	11	model	model	NOUN
hjic-913	64	12	,	,	PUNCT
hjic-913	64	13	a	a	DET
hjic-913	64	14	vehicle	vehicle	NOUN
hjic-913	64	15	model	model	NOUN
hjic-913	64	16	equipped	equip	VERB
hjic-913	64	17	with	with	ADP
hjic-913	64	18	a	a	DET
hjic-913	64	19	camera	camera	NOUN
hjic-913	64	20	travelled	travel	VERB
hjic-913	64	21	around	around	ADP
hjic-913	64	22	the	the	DET
hjic-913	64	23	racetrack	racetrack	NOUN
hjic-913	64	24	on	on	ADP
hjic-913	64	25	a	a	DET
hjic-913	64	26	pre	pre	ADJ
hjic-913	64	27	-	-	ADJ
hjic-913	64	28	defined	define	VERB
hjic-913	64	29	path	path	NOUN
hjic-913	64	30	.	.	PUNCT
hjic-913	65	1	the	the	DET
hjic-913	65	2	camera	camera	NOUN
hjic-913	65	3	was	be	AUX
hjic-913	65	4	set	set	VERB
hjic-913	65	5	to	to	PART
hjic-913	65	6	take	take	VERB
hjic-913	65	7	pictures	picture	NOUN
hjic-913	65	8	at	at	ADP
hjic-913	65	9	pre	pre	ADJ
hjic-913	65	10	-	-	ADJ
hjic-913	65	11	defined	define	VERB
hjic-913	65	12	time	time	NOUN
hjic-913	65	13	intervals	interval	NOUN
hjic-913	65	14	.	.	PUNCT
hjic-913	66	1	the	the	DET
hjic-913	66	2	image	image	NOUN
hjic-913	66	3	set	set	NOUN
hjic-913	66	4	was	be	AUX
hjic-913	66	5	annotated	annotate	VERB
hjic-913	66	6	by	by	ADP
hjic-913	66	7	using	use	VERB
hjic-913	66	8	a	a	DET
hjic-913	66	9	module	module	NOUN
hjic-913	66	10	called	call	VERB
hjic-913	66	11	airsim	airsim	NOUN
hjic-913	66	12	.	.	PUNCT
hjic-913	67	1	airsim	airsim	PROPN
hjic-913	67	2	is	be	AUX
hjic-913	67	3	an	an	DET
hjic-913	67	4	open	open	ADJ
hjic-913	67	5	-	-	PUNCT
hjic-913	67	6	source	source	NOUN
hjic-913	67	7	,	,	PUNCT
hjic-913	67	8	cross	cross	ADJ
hjic-913	67	9	-	-	ADJ
hjic-913	67	10	platform	platform	ADJ
hjic-913	67	11	simulator	simulator	NOUN
hjic-913	67	12	simulation	simulation	NOUN
hjic-913	67	13	platform	platform	NOUN
hjic-913	67	14	built	build	VERB
hjic-913	67	15	on	on	ADP
hjic-913	67	16	unreal	unreal	ADJ
hjic-913	67	17	engine	engine	NOUN
hjic-913	67	18	,	,	PUNCT
hjic-913	67	19	but	but	CCONJ
hjic-913	67	20	it	it	PRON
hjic-913	67	21	also	also	ADV
hjic-913	67	22	has	have	VERB
hjic-913	67	23	a	a	DET
hjic-913	67	24	unity	unity	NOUN
hjic-913	67	25	release	release	NOUN
hjic-913	67	26	.	.	PUNCT
hjic-913	68	1	this	this	DET
hjic-913	68	2	simulator	simulator	NOUN
hjic-913	68	3	module	module	NOUN
hjic-913	68	4	consists	consist	VERB
hjic-913	68	5	of	of	ADP
hjic-913	68	6	a	a	DET
hjic-913	68	7	built	build	VERB
hjic-913	68	8	-	-	PUNCT
hjic-913	68	9	in	in	ADP
hjic-913	68	10	python	python	NOUN
hjic-913	68	11	-	-	PUNCT
hjic-913	68	12	based	base	VERB
hjic-913	68	13	api	api	NOUN
hjic-913	68	14	(	(	PUNCT
hjic-913	68	15	application	application	NOUN
hjic-913	68	16	programming	programming	NOUN
hjic-913	68	17	interface	interface	NOUN
hjic-913	68	18	)	)	PUNCT
hjic-913	68	19	which	which	PRON
hjic-913	68	20	was	be	AUX
hjic-913	68	21	developed	develop	VERB
hjic-913	68	22	for	for	ADP
hjic-913	68	23	image	image	NOUN
hjic-913	68	24	segmentation	segmentation	NOUN
hjic-913	68	25	.	.	PUNCT
hjic-913	69	1	by	by	ADP
hjic-913	69	2	using	use	VERB
hjic-913	69	3	this	this	DET
hjic-913	69	4	api	api	NOUN
hjic-913	69	5	,	,	PUNCT
hjic-913	69	6	the	the	DET
hjic-913	69	7	necessary	necessary	ADJ
hjic-913	69	8	realistic	realistic	ADJ
hjic-913	69	9	and	and	CCONJ
hjic-913	69	10	segmented	segment	VERB
hjic-913	69	11	image	image	NOUN
hjic-913	69	12	datasets	dataset	NOUN
hjic-913	69	13	were	be	AUX
hjic-913	69	14	created	create	VERB
hjic-913	69	15	.	.	PUNCT
hjic-913	70	1	some	some	DET
hjic-913	70	2	example	example	NOUN
hjic-913	70	3	pairs	pair	NOUN
hjic-913	70	4	of	of	ADP
hjic-913	70	5	images	image	NOUN
hjic-913	70	6	from	from	ADP
hjic-913	70	7	our	our	PRON
hjic-913	70	8	virtual	virtual	ADJ
hjic-913	70	9	dataset	dataset	NOUN
hjic-913	70	10	are	be	AUX
hjic-913	70	11	presented	present	VERB
hjic-913	70	12	in	in	ADP
hjic-913	70	13	fig	fig	NOUN
hjic-913	70	14	.	.	PUNCT
hjic-913	71	1	1	1	X
hjic-913	71	2	.	.	X
hjic-913	72	1	in	in	ADP
hjic-913	72	2	order	order	NOUN
hjic-913	72	3	to	to	PART
hjic-913	72	4	prepare	prepare	VERB
hjic-913	72	5	for	for	ADP
hjic-913	72	6	all	all	DET
hjic-913	72	7	the	the	DET
hjic-913	72	8	tasks	task	NOUN
hjic-913	72	9	defined	define	VERB
hjic-913	72	10	in	in	ADP
hjic-913	72	11	the	the	DET
hjic-913	72	12	rulebook	rulebook	NOUN
hjic-913	72	13	,	,	PUNCT
hjic-913	72	14	multiple	multiple	ADJ
hjic-913	72	15	models	model	NOUN
hjic-913	72	16	of	of	ADP
hjic-913	72	17	racing	race	VERB
hjic-913	72	18	tracks	track	NOUN
hjic-913	72	19	were	be	AUX
hjic-913	72	20	created	create	VERB
hjic-913	72	21	.	.	PUNCT
hjic-913	73	1	all	all	DET
hjic-913	73	2	such	such	ADJ
hjic-913	73	3	models	model	NOUN
hjic-913	73	4	are	be	AUX
hjic-913	73	5	based	base	VERB
hjic-913	73	6	on	on	ADP
hjic-913	73	7	the	the	DET
hjic-913	73	8	same	same	ADJ
hjic-913	73	9	environment	environment	NOUN
hjic-913	73	10	model	model	NOUN
hjic-913	73	11	,	,	PUNCT
hjic-913	73	12	which	which	PRON
hjic-913	73	13	includes	include	VERB
hjic-913	73	14	vegetation	vegetation	NOUN
hjic-913	73	15	and	and	CCONJ
hjic-913	73	16	the	the	DET
hjic-913	73	17	sky	sky	NOUN
hjic-913	73	18	as	as	SCONJ
hjic-913	73	19	shown	show	VERB
hjic-913	73	20	in	in	ADP
hjic-913	73	21	fig	fig	NOUN
hjic-913	73	22	.	.	PUNCT
hjic-913	74	1	2	2	X
hjic-913	74	2	.	.	X
hjic-913	74	3	the	the	DET
hjic-913	74	4	models	model	NOUN
hjic-913	74	5	of	of	ADP
hjic-913	74	6	sections	section	NOUN
hjic-913	74	7	of	of	ADP
hjic-913	74	8	racing	race	VERB
hjic-913	74	9	track	track	NOUN
hjic-913	74	10	were	be	AUX
hjic-913	74	11	realized	realize	VERB
hjic-913	74	12	according	accord	VERB
hjic-913	74	13	to	to	ADP
hjic-913	74	14	the	the	DET
hjic-913	74	15	challenges	challenge	NOUN
hjic-913	74	16	defined	define	VERB
hjic-913	74	17	in	in	ADP
hjic-913	74	18	the	the	DET
hjic-913	74	19	rulebook	rulebook	NOUN
hjic-913	74	20	.	.	PUNCT
hjic-913	75	1	the	the	DET
hjic-913	75	2	cad	cad	PROPN
hjic-913	75	3	models	model	NOUN
hjic-913	75	4	representing	represent	VERB
hjic-913	75	5	elements	element	NOUN
hjic-913	75	6	of	of	ADP
hjic-913	75	7	the	the	DET
hjic-913	75	8	racing	racing	NOUN
hjic-913	75	9	track	track	NOUN
hjic-913	75	10	were	be	AUX
hjic-913	75	11	custom	custom	ADV
hjic-913	75	12	-	-	PUNCT
hjic-913	75	13	made	make	VERB
hjic-913	75	14	to	to	PART
hjic-913	75	15	comply	comply	VERB
hjic-913	75	16	with	with	ADP
hjic-913	75	17	the	the	DET
hjic-913	75	18	shapes	shape	NOUN
hjic-913	75	19	,	,	PUNCT
hjic-913	75	20	sizes	size	NOUN
hjic-913	75	21	and	and	CCONJ
hjic-913	75	22	colors	color	NOUN
hjic-913	75	23	outlined	outline	VERB
hjic-913	75	24	in	in	ADP
hjic-913	75	25	the	the	DET
hjic-913	75	26	rulebook	rulebook	NOUN
hjic-913	75	27	.	.	PUNCT
hjic-913	76	1	the	the	DET
hjic-913	76	2	sections	section	NOUN
hjic-913	76	3	of	of	ADP
hjic-913	76	4	racing	race	VERB
hjic-913	76	5	track	track	NOUN
hjic-913	76	6	generated	generate	VERB
hjic-913	76	7	can	can	AUX
hjic-913	76	8	be	be	AUX
hjic-913	76	9	used	use	VERB
hjic-913	76	10	to	to	PART
hjic-913	76	11	simulate	simulate	VERB
hjic-913	76	12	handling	handle	VERB
hjic-913	76	13	hungarian	hungarian	ADJ
hjic-913	76	14	journal	journal	NOUN
hjic-913	76	15	of	of	ADP
hjic-913	76	16	industry	industry	NOUN
hjic-913	76	17	and	and	CCONJ
hjic-913	76	18	chemistry	chemistry	NOUN
hjic-913	76	19	improving	improve	VERB
hjic-913	76	20	the	the	DET
hjic-913	76	21	efficiency	efficiency	NOUN
hjic-913	76	22	of	of	ADP
hjic-913	76	23	neural	neural	ADJ
hjic-913	76	24	networks	network	NOUN
hjic-913	76	25	with	with	ADP
hjic-913	76	26	virtual	virtual	ADJ
hjic-913	76	27	training	training	NOUN
hjic-913	76	28	data	datum	NOUN
hjic-913	76	29	5	5	NUM
hjic-913	76	30	figure	figure	NOUN
hjic-913	76	31	2	2	NUM
hjic-913	76	32	:	:	PUNCT
hjic-913	76	33	basic	basic	ADJ
hjic-913	76	34	environment	environment	NOUN
hjic-913	76	35	of	of	ADP
hjic-913	76	36	racing	racing	NOUN
hjic-913	76	37	tracks	track	NOUN
hjic-913	76	38	.	.	PUNCT
hjic-913	77	1	figure	figure	VERB
hjic-913	77	2	3	3	NUM
hjic-913	77	3	:	:	PUNCT
hjic-913	77	4	parking	parking	NOUN
hjic-913	77	5	place	place	NOUN
hjic-913	77	6	and	and	CCONJ
hjic-913	77	7	slalom	slalom	NOUN
hjic-913	77	8	course	course	NOUN
hjic-913	77	9	.	.	PUNCT
hjic-913	78	1	(	(	PUNCT
hjic-913	78	2	slaloming	slaloming	NOUN
hjic-913	78	3	)	)	PUNCT
hjic-913	78	4	and	and	CCONJ
hjic-913	78	5	parking	parking	NOUN
hjic-913	78	6	tasks	task	NOUN
hjic-913	78	7	.	.	PUNCT
hjic-913	79	1	this	this	DET
hjic-913	79	2	virtual	virtual	ADJ
hjic-913	79	3	racing	racing	NOUN
hjic-913	79	4	track	track	NOUN
hjic-913	79	5	is	be	AUX
hjic-913	79	6	shown	show	VERB
hjic-913	79	7	in	in	ADP
hjic-913	79	8	fig	fig	NOUN
hjic-913	79	9	.	.	PUNCT
hjic-913	80	1	3	3	X
hjic-913	80	2	.	.	X
hjic-913	80	3	the	the	DET
hjic-913	80	4	image	image	NOUN
hjic-913	80	5	sets	set	NOUN
hjic-913	80	6	were	be	AUX
hjic-913	80	7	created	create	VERB
hjic-913	80	8	by	by	ADP
hjic-913	80	9	a	a	DET
hjic-913	80	10	moving	move	VERB
hjic-913	80	11	camera	camera	NOUN
hjic-913	80	12	in	in	ADP
hjic-913	80	13	the	the	DET
hjic-913	80	14	environment	environment	NOUN
hjic-913	80	15	and	and	CCONJ
hjic-913	80	16	segmentation	segmentation	NOUN
hjic-913	80	17	was	be	AUX
hjic-913	80	18	carried	carry	VERB
hjic-913	80	19	out	out	ADP
hjic-913	80	20	by	by	ADP
hjic-913	80	21	changing	change	VERB
hjic-913	80	22	the	the	DET
hjic-913	80	23	textures	texture	NOUN
hjic-913	80	24	.	.	PUNCT
hjic-913	81	1	3	3	X
hjic-913	81	2	.	.	X
hjic-913	81	3	neural	neural	ADJ
hjic-913	81	4	network	network	PROPN
hjic-913	81	5	architectures	architecture	VERB
hjic-913	81	6	three	three	NUM
hjic-913	81	7	different	different	ADJ
hjic-913	81	8	neural	neural	ADJ
hjic-913	81	9	network	network	NOUN
hjic-913	81	10	architectures	architecture	NOUN
hjic-913	81	11	are	be	AUX
hjic-913	81	12	implemented	implement	VERB
hjic-913	81	13	in	in	ADP
hjic-913	81	14	this	this	DET
hjic-913	81	15	work	work	NOUN
hjic-913	81	16	:	:	PUNCT
hjic-913	81	17	fcn	fcn	NOUN
hjic-913	81	18	,	,	PUNCT
hjic-913	81	19	u	u	NOUN
hjic-913	81	20	-	-	NOUN
hjic-913	81	21	net	net	NOUN
hjic-913	81	22	and	and	CCONJ
hjic-913	81	23	pspnet	pspnet	NOUN
hjic-913	81	24	.	.	PUNCT
hjic-913	82	1	all	all	DET
hjic-913	82	2	neural	neural	ADJ
hjic-913	82	3	networks	network	NOUN
hjic-913	82	4	are	be	AUX
hjic-913	82	5	designed	design	VERB
hjic-913	82	6	for	for	ADP
hjic-913	82	7	image	image	NOUN
hjic-913	82	8	segmentation	segmentation	NOUN
hjic-913	82	9	,	,	PUNCT
hjic-913	82	10	where	where	SCONJ
hjic-913	82	11	the	the	DET
hjic-913	82	12	size	size	NOUN
hjic-913	82	13	of	of	ADP
hjic-913	82	14	input	input	NOUN
hjic-913	82	15	images	image	NOUN
hjic-913	82	16	is	be	AUX
hjic-913	82	17	256×512×3	256×512×3	NUM
hjic-913	82	18	,	,	PUNCT
hjic-913	82	19	and	and	CCONJ
hjic-913	82	20	the	the	DET
hjic-913	82	21	size	size	NOUN
hjic-913	82	22	of	of	ADP
hjic-913	82	23	output	output	NOUN
hjic-913	82	24	ones	one	NOUN
hjic-913	82	25	is	be	AUX
hjic-913	82	26	256×512×1	256×512×1	NUM
hjic-913	82	27	.	.	PUNCT
hjic-913	83	1	every	every	DET
hjic-913	83	2	network	network	NOUN
hjic-913	83	3	is	be	AUX
hjic-913	83	4	trained	train	VERB
hjic-913	83	5	for	for	ADP
hjic-913	83	6	the	the	DET
hjic-913	83	7	segmentation	segmentation	NOUN
hjic-913	83	8	of	of	ADP
hjic-913	83	9	the	the	DET
hjic-913	83	10	road	road	NOUN
hjic-913	83	11	surface	surface	NOUN
hjic-913	83	12	and	and	CCONJ
hjic-913	83	13	protective	protective	ADJ
hjic-913	83	14	barriers	barrier	NOUN
hjic-913	83	15	.	.	PUNCT
hjic-913	84	1	3.1	3.1	NUM
hjic-913	84	2	fcn	fcn	NOUN
hjic-913	84	3	the	the	DET
hjic-913	84	4	fully	fully	ADV
hjic-913	84	5	convolutional	convolutional	ADJ
hjic-913	84	6	network	network	NOUN
hjic-913	84	7	(	(	PUNCT
hjic-913	84	8	fcn	fcn	PROPN
hjic-913	84	9	)	)	PUNCT
hjic-913	84	10	[	[	X
hjic-913	84	11	4	4	NUM
hjic-913	84	12	]	]	ADJ
hjic-913	84	13	architecture	architecture	NOUN
hjic-913	84	14	is	be	AUX
hjic-913	84	15	based	base	VERB
hjic-913	84	16	on	on	ADP
hjic-913	84	17	fully	fully	ADV
hjic-913	84	18	convolutional	convolutional	ADJ
hjic-913	84	19	layers	layer	NOUN
hjic-913	84	20	,	,	PUNCT
hjic-913	84	21	where	where	SCONJ
hjic-913	84	22	the	the	DET
hjic-913	84	23	basic	basic	ADJ
hjic-913	84	24	idea	idea	NOUN
hjic-913	84	25	is	be	AUX
hjic-913	84	26	to	to	PART
hjic-913	84	27	extend	extend	VERB
hjic-913	84	28	effective	effective	ADJ
hjic-913	84	29	classification	classification	NOUN
hjic-913	84	30	neural	neural	ADJ
hjic-913	84	31	networks	network	NOUN
hjic-913	84	32	to	to	PART
hjic-913	84	33	conduct	conduct	VERB
hjic-913	84	34	segmentation	segmentation	NOUN
hjic-913	84	35	tasks	task	NOUN
hjic-913	84	36	.	.	PUNCT
hjic-913	85	1	our	our	PRON
hjic-913	85	2	fcn	fcn	PROPN
hjic-913	85	3	architectures	architecture	NOUN
hjic-913	85	4	are	be	AUX
hjic-913	85	5	shown	show	VERB
hjic-913	85	6	in	in	ADP
hjic-913	85	7	fig	fig	NOUN
hjic-913	85	8	.	.	PUNCT
hjic-913	86	1	4	4	X
hjic-913	86	2	.	.	X
hjic-913	86	3	let	let	VERB
hjic-913	86	4	:	:	PUNCT
hjic-913	86	5	γ	γ	X
hjic-913	86	6	=	=	SYM
hjic-913	86	7	(	(	PUNCT
hjic-913	86	8	conv	conv	ADJ
hjic-913	86	9	,	,	PUNCT
hjic-913	86	10	bn	bn	NOUN
hjic-913	86	11	,	,	PUNCT
hjic-913	86	12	relu	relu	NOUN
hjic-913	86	13	)	)	PUNCT
hjic-913	86	14	(	(	PUNCT
hjic-913	86	15	1	1	X
hjic-913	86	16	)	)	PUNCT
hjic-913	86	17	b1	b1	NOUN
hjic-913	86	18	=	=	SYM
hjic-913	86	19	(	(	PUNCT
hjic-913	86	20	γ	γ	X
hjic-913	86	21	,	,	PUNCT
hjic-913	86	22	γ	γ	PROPN
hjic-913	86	23	,	,	PUNCT
hjic-913	86	24	mp	mp	PROPN
hjic-913	86	25	)	)	PUNCT
hjic-913	86	26	(	(	PUNCT
hjic-913	86	27	2	2	X
hjic-913	86	28	)	)	PUNCT
hjic-913	86	29	b2	b2	NOUN
hjic-913	86	30	=	=	SYM
hjic-913	86	31	(	(	PUNCT
hjic-913	86	32	γ	γ	X
hjic-913	86	33	,	,	PUNCT
hjic-913	86	34	γ	γ	PROPN
hjic-913	86	35	,	,	PUNCT
hjic-913	86	36	γ	γ	PROPN
hjic-913	86	37	,	,	PUNCT
hjic-913	86	38	mp	mp	PROPN
hjic-913	86	39	)	)	PUNCT
hjic-913	86	40	(	(	PUNCT
hjic-913	86	41	3	3	X
hjic-913	86	42	)	)	PUNCT
hjic-913	86	43	figure	figure	NOUN
hjic-913	86	44	4	4	NUM
hjic-913	86	45	:	:	PUNCT
hjic-913	86	46	fcn	fcn	NOUN
hjic-913	86	47	architecture	architecture	NOUN
hjic-913	86	48	.	.	PUNCT
hjic-913	87	1	48(1	48(1	NOUN
hjic-913	87	2	)	)	PUNCT
hjic-913	87	3	pp	pp	ADV
hjic-913	87	4	.	.	PUNCT
hjic-913	88	1	3–10	3–10	NOUN
hjic-913	88	2	(	(	PUNCT
hjic-913	88	3	2020	2020	NUM
hjic-913	88	4	)	)	PUNCT
hjic-913	88	5	6	6	NUM
hjic-913	88	6	hollósi	hollósi	ADJ
hjic-913	88	7	,	,	PUNCT
hjic-913	88	8	krecht	krecht	NOUN
hjic-913	88	9	,	,	PUNCT
hjic-913	88	10	markó	markó	NOUN
hjic-913	88	11	,	,	PUNCT
hjic-913	88	12	and	and	CCONJ
hjic-913	88	13	ballagi	ballagi	NOUN
hjic-913	88	14	figure	figure	NOUN
hjic-913	88	15	5	5	NUM
hjic-913	88	16	:	:	PUNCT
hjic-913	88	17	u	u	ADJ
hjic-913	88	18	-	-	ADJ
hjic-913	88	19	net	net	ADJ
hjic-913	88	20	architecture	architecture	NOUN
hjic-913	88	21	.	.	PUNCT
hjic-913	89	1	where	where	SCONJ
hjic-913	89	2	conv	conv	ADJ
hjic-913	89	3	denotes	denote	VERB
hjic-913	89	4	a	a	DET
hjic-913	89	5	convolutional	convolutional	ADJ
hjic-913	89	6	layer	layer	NOUN
hjic-913	89	7	,	,	PUNCT
hjic-913	89	8	bn	bn	X
hjic-913	89	9	represents	represent	VERB
hjic-913	89	10	a	a	DET
hjic-913	89	11	batch	batch	NOUN
hjic-913	89	12	normalization	normalization	NOUN
hjic-913	89	13	layer	layer	NOUN
hjic-913	89	14	,	,	PUNCT
hjic-913	89	15	relu	relu	NOUN
hjic-913	89	16	stands	stand	VERB
hjic-913	89	17	for	for	ADP
hjic-913	89	18	a	a	DET
hjic-913	89	19	rectified	rectified	ADJ
hjic-913	89	20	linear	linear	NOUN
hjic-913	89	21	activation	activation	NOUN
hjic-913	89	22	unit	unit	NOUN
hjic-913	89	23	and	and	CCONJ
hjic-913	89	24	mp	mp	PROPN
hjic-913	89	25	is	be	AUX
hjic-913	89	26	a	a	DET
hjic-913	89	27	max	max	PROPN
hjic-913	89	28	pooling	pool	VERB
hjic-913	89	29	layer	layer	NOUN
hjic-913	89	30	.	.	PUNCT
hjic-913	90	1	let	let	VERB
hjic-913	90	2	:	:	PUNCT
hjic-913	90	3	b1	b1	VERB
hjic-913	90	4	=	=	SYM
hjic-913	90	5	(	(	PUNCT
hjic-913	90	6	b1	b1	PROPN
hjic-913	90	7	,	,	PUNCT
hjic-913	90	8	b1	b1	NOUN
hjic-913	90	9	,	,	PUNCT
hjic-913	90	10	b2	b2	NOUN
hjic-913	90	11	)	)	PUNCT
hjic-913	90	12	(	(	PUNCT
hjic-913	90	13	4	4	X
hjic-913	90	14	)	)	PUNCT
hjic-913	90	15	b2	b2	NOUN
hjic-913	90	16	=	=	SYM
hjic-913	90	17	(	(	PUNCT
hjic-913	90	18	b2	b2	NOUN
hjic-913	90	19	)	)	PUNCT
hjic-913	90	20	(	(	PUNCT
hjic-913	90	21	5	5	X
hjic-913	90	22	)	)	PUNCT
hjic-913	90	23	b3	b3	NOUN
hjic-913	90	24	=	=	SYM
hjic-913	90	25	(	(	PUNCT
hjic-913	90	26	b2	b2	PROPN
hjic-913	90	27	,	,	PUNCT
hjic-913	90	28	γ	γ	PROPN
hjic-913	90	29	,	,	PUNCT
hjic-913	90	30	γ	γ	PROPN
hjic-913	90	31	,	,	PUNCT
hjic-913	90	32	γ	γ	NOUN
hjic-913	90	33	)	)	PUNCT
hjic-913	90	34	(	(	PUNCT
hjic-913	90	35	6	6	NUM
hjic-913	90	36	)	)	PUNCT
hjic-913	90	37	x	x	X
hjic-913	91	1	=	=	PRON
hjic-913	91	2	(	(	PUNCT
hjic-913	91	3	conv	conv	ADJ
hjic-913	91	4	,	,	PUNCT
hjic-913	91	5	bn	bn	NOUN
hjic-913	91	6	)	)	PUNCT
hjic-913	91	7	(	(	PUNCT
hjic-913	91	8	7	7	X
hjic-913	91	9	)	)	PUNCT
hjic-913	91	10	y	y	NOUN
hjic-913	91	11	=	=	SYM
hjic-913	91	12	(	(	PUNCT
hjic-913	91	13	relu	relu	NOUN
hjic-913	91	14	,	,	PUNCT
hjic-913	91	15	softmax	softmax	NOUN
hjic-913	91	16	)	)	PUNCT
hjic-913	91	17	(	(	PUNCT
hjic-913	91	18	8)	8)	NUM
hjic-913	91	19	z	z	NOUN
hjic-913	91	20	=	=	SYM
hjic-913	91	21	(	(	PUNCT
hjic-913	91	22	relu	relu	NOUN
hjic-913	91	23	,	,	PUNCT
hjic-913	91	24	softmax	softmax	NOUN
hjic-913	91	25	)	)	PUNCT
hjic-913	91	26	(	(	PUNCT
hjic-913	91	27	9	9	X
hjic-913	91	28	)	)	PUNCT
hjic-913	91	29	where	where	SCONJ
hjic-913	91	30	softmax	softmax	NOUN
hjic-913	91	31	denotes	denote	VERB
hjic-913	91	32	a	a	DET
hjic-913	91	33	softmax	softmax	NOUN
hjic-913	91	34	layer	layer	NOUN
hjic-913	91	35	.	.	PUNCT
hjic-913	92	1	in	in	ADP
hjic-913	92	2	this	this	DET
hjic-913	92	3	implementation	implementation	NOUN
hjic-913	92	4	,	,	PUNCT
hjic-913	92	5	the	the	DET
hjic-913	92	6	dimensions	dimension	NOUN
hjic-913	92	7	of	of	ADP
hjic-913	92	8	all	all	DET
hjic-913	92	9	convolutional	convolutional	ADJ
hjic-913	92	10	layers	layer	NOUN
hjic-913	92	11	are	be	AUX
hjic-913	92	12	3×	3×	NUM
hjic-913	92	13	3	3	NUM
hjic-913	92	14	,	,	PUNCT
hjic-913	92	15	except	except	SCONJ
hjic-913	92	16	for	for	ADP
hjic-913	92	17	the	the	DET
hjic-913	92	18	three	three	NUM
hjic-913	92	19	fully	fully	ADV
hjic-913	92	20	connected	connected	ADJ
hjic-913	92	21	layers	layer	NOUN
hjic-913	92	22	in	in	ADP
hjic-913	92	23	block	block	NOUN
hjic-913	92	24	b3	b3	PROPN
hjic-913	92	25	.	.	PUNCT
hjic-913	93	1	the	the	DET
hjic-913	93	2	dimensions	dimension	NOUN
hjic-913	93	3	of	of	ADP
hjic-913	93	4	these	these	DET
hjic-913	93	5	convolutional	convolutional	ADJ
hjic-913	93	6	layers	layer	NOUN
hjic-913	93	7	are	be	AUX
hjic-913	93	8	7×7	7×7	NOUN
hjic-913	93	9	.	.	PUNCT
hjic-913	94	1	in	in	ADP
hjic-913	94	2	block	block	NOUN
hjic-913	94	3	b1	b1	NOUN
hjic-913	94	4	,	,	PUNCT
hjic-913	94	5	the	the	DET
hjic-913	94	6	first	first	ADJ
hjic-913	94	7	two	two	NUM
hjic-913	94	8	convolutional	convolutional	ADJ
hjic-913	94	9	layers	layer	NOUN
hjic-913	94	10	both	both	PRON
hjic-913	94	11	contain	contain	VERB
hjic-913	94	12	64	64	NUM
hjic-913	94	13	filters	filter	NOUN
hjic-913	94	14	,	,	PUNCT
hjic-913	94	15	the	the	DET
hjic-913	94	16	third	third	ADJ
hjic-913	94	17	and	and	CCONJ
hjic-913	94	18	fourth	fourth	ADJ
hjic-913	94	19	both	both	PRON
hjic-913	94	20	contain	contain	VERB
hjic-913	94	21	128	128	NUM
hjic-913	94	22	filters	filter	NOUN
hjic-913	94	23	,	,	PUNCT
hjic-913	94	24	and	and	CCONJ
hjic-913	94	25	the	the	DET
hjic-913	94	26	last	last	ADJ
hjic-913	94	27	three	three	NUM
hjic-913	94	28	convolution	convolution	NOUN
hjic-913	94	29	blocks	block	NOUN
hjic-913	94	30	each	each	PRON
hjic-913	94	31	contain	contain	VERB
hjic-913	94	32	256	256	NUM
hjic-913	94	33	filters	filter	NOUN
hjic-913	94	34	.	.	PUNCT
hjic-913	95	1	the	the	DET
hjic-913	95	2	convolutional	convolutional	ADJ
hjic-913	95	3	layers	layer	NOUN
hjic-913	95	4	in	in	ADP
hjic-913	95	5	block	block	NOUN
hjic-913	95	6	b2	b2	NOUN
hjic-913	95	7	contain	contain	VERB
hjic-913	95	8	512	512	NUM
hjic-913	95	9	filters	filter	NOUN
hjic-913	95	10	in	in	ADP
hjic-913	95	11	total	total	NOUN
hjic-913	95	12	.	.	PUNCT
hjic-913	96	1	the	the	DET
hjic-913	96	2	first	first	ADJ
hjic-913	96	3	three	three	NUM
hjic-913	96	4	convolutional	convolutional	ADJ
hjic-913	96	5	layers	layer	NOUN
hjic-913	96	6	in	in	ADP
hjic-913	96	7	block	block	NOUN
hjic-913	96	8	b3	b3	PROPN
hjic-913	96	9	contain	contain	VERB
hjic-913	96	10	512	512	NUM
hjic-913	96	11	filters	filter	NOUN
hjic-913	96	12	in	in	ADP
hjic-913	96	13	total	total	NOUN
hjic-913	96	14	,	,	PUNCT
hjic-913	96	15	and	and	CCONJ
hjic-913	96	16	the	the	DET
hjic-913	96	17	fully	fully	ADV
hjic-913	96	18	connected	connected	ADJ
hjic-913	96	19	layers	layer	NOUN
hjic-913	96	20	are	be	AUX
hjic-913	96	21	based	base	VERB
hjic-913	96	22	on	on	ADP
hjic-913	96	23	4096	4096	NUM
hjic-913	96	24	filters	filter	NOUN
hjic-913	96	25	in	in	ADP
hjic-913	96	26	total	total	NOUN
hjic-913	96	27	.	.	PUNCT
hjic-913	97	1	3.2	3.2	NUM
hjic-913	97	2	u	u	NOUN
hjic-913	97	3	-	-	NOUN
hjic-913	97	4	net	net	ADJ
hjic-913	97	5	the	the	DET
hjic-913	97	6	u	u	NOUN
hjic-913	97	7	-	-	NOUN
hjic-913	97	8	net	net	ADJ
hjic-913	97	9	[	[	X
hjic-913	97	10	5	5	NUM
hjic-913	97	11	]	]	X
hjic-913	97	12	neural	neural	ADJ
hjic-913	97	13	network	network	NOUN
hjic-913	97	14	architecture	architecture	NOUN
hjic-913	97	15	was	be	AUX
hjic-913	97	16	originally	originally	ADV
hjic-913	97	17	created	create	VERB
hjic-913	97	18	for	for	ADP
hjic-913	97	19	biomedical	biomedical	ADJ
hjic-913	97	20	image	image	NOUN
hjic-913	97	21	segmentation	segmentation	NOUN
hjic-913	97	22	.	.	PUNCT
hjic-913	98	1	it	it	PRON
hjic-913	98	2	is	be	AUX
hjic-913	98	3	based	base	VERB
hjic-913	98	4	on	on	ADP
hjic-913	98	5	fcn	fcn	PROPN
hjic-913	98	6	,	,	PUNCT
hjic-913	98	7	where	where	SCONJ
hjic-913	98	8	the	the	DET
hjic-913	98	9	neural	neural	ADJ
hjic-913	98	10	network	network	NOUN
hjic-913	98	11	can	can	AUX
hjic-913	98	12	be	be	AUX
hjic-913	98	13	divided	divide	VERB
hjic-913	98	14	into	into	ADP
hjic-913	98	15	two	two	NUM
hjic-913	98	16	main	main	ADJ
hjic-913	98	17	blocks	block	NOUN
hjic-913	98	18	,	,	PUNCT
hjic-913	98	19	namely	namely	ADV
hjic-913	98	20	the	the	DET
hjic-913	98	21	downsampling	downsample	VERB
hjic-913	98	22	and	and	CCONJ
hjic-913	98	23	upsampling	upsample	VERB
hjic-913	98	24	figure	figure	NOUN
hjic-913	98	25	6	6	NUM
hjic-913	98	26	:	:	PUNCT
hjic-913	98	27	psp	psp	NOUN
hjic-913	98	28	net	net	ADJ
hjic-913	98	29	architecture	architecture	NOUN
hjic-913	98	30	.	.	PUNCT
hjic-913	99	1	blocks	block	NOUN
hjic-913	99	2	.	.	PUNCT
hjic-913	100	1	our	our	PRON
hjic-913	100	2	implementations	implementation	NOUN
hjic-913	100	3	are	be	AUX
hjic-913	100	4	shown	show	VERB
hjic-913	100	5	in	in	ADP
hjic-913	100	6	fig	fig	NOUN
hjic-913	100	7	.	.	PUNCT
hjic-913	101	1	5	5	X
hjic-913	101	2	.	.	X
hjic-913	101	3	let	let	VERB
hjic-913	101	4	:	:	PUNCT
hjic-913	101	5	d1	d1	PROPN
hjic-913	101	6	=	=	SYM
hjic-913	101	7	d2	d2	PROPN
hjic-913	101	8	=	=	SYM
hjic-913	101	9	(	(	PUNCT
hjic-913	101	10	γ	γ	X
hjic-913	101	11	,	,	PUNCT
hjic-913	101	12	γ	γ	X
hjic-913	101	13	,	,	PUNCT
hjic-913	101	14	maxpooling	maxpooling	NOUN
hjic-913	101	15	)	)	PUNCT
hjic-913	101	16	(	(	PUNCT
hjic-913	101	17	10	10	NUM
hjic-913	101	18	)	)	PUNCT
hjic-913	101	19	d3	d3	PROPN
hjic-913	101	20	=	=	SYM
hjic-913	101	21	d4	d4	PROPN
hjic-913	101	22	=	=	SYM
hjic-913	101	23	b	b	PROPN
hjic-913	101	24	=	=	SYM
hjic-913	101	25	(	(	PUNCT
hjic-913	101	26	γ	γ	PROPN
hjic-913	101	27	,	,	PUNCT
hjic-913	101	28	γ	γ	PROPN
hjic-913	101	29	,	,	PUNCT
hjic-913	101	30	γ	γ	X
hjic-913	101	31	,	,	PUNCT
hjic-913	101	32	maxpooling	maxpooling	NOUN
hjic-913	101	33	)	)	PUNCT
hjic-913	101	34	(	(	PUNCT
hjic-913	101	35	11	11	NUM
hjic-913	101	36	)	)	PUNCT
hjic-913	101	37	u1	u1	NOUN
hjic-913	101	38	=	=	PROPN
hjic-913	101	39	u2	u2	PROPN
hjic-913	101	40	=	=	NOUN
hjic-913	101	41	u3	u3	NOUN
hjic-913	101	42	=	=	SYM
hjic-913	101	43	(	(	PUNCT
hjic-913	101	44	convt	convt	NOUN
hjic-913	101	45	,	,	PUNCT
hjic-913	101	46	bn	bn	NOUN
hjic-913	101	47	,	,	PUNCT
hjic-913	101	48	relu	relu	NOUN
hjic-913	101	49	,	,	PUNCT
hjic-913	101	50	γ	γ	X
hjic-913	101	51	,	,	PUNCT
hjic-913	101	52	γ	γ	PROPN
hjic-913	101	53	)	)	PUNCT
hjic-913	101	54	(	(	PUNCT
hjic-913	101	55	12	12	NUM
hjic-913	101	56	)	)	PUNCT
hjic-913	101	57	u4	u4	PROPN
hjic-913	101	58	=	=	PUNCT
hjic-913	101	59	(	(	PUNCT
hjic-913	101	60	convt	convt	NOUN
hjic-913	101	61	,	,	PUNCT
hjic-913	101	62	bn	bn	NOUN
hjic-913	101	63	,	,	PUNCT
hjic-913	101	64	relu	relu	NOUN
hjic-913	101	65	,	,	PUNCT
hjic-913	101	66	γ	γ	X
hjic-913	101	67	,	,	PUNCT
hjic-913	101	68	γ	γ	PROPN
hjic-913	101	69	,	,	PUNCT
hjic-913	101	70	conv	conv	ADJ
hjic-913	101	71	,	,	PUNCT
hjic-913	101	72	softmax	softmax	NOUN
hjic-913	101	73	)	)	PUNCT
hjic-913	101	74	(	(	PUNCT
hjic-913	101	75	13	13	NUM
hjic-913	101	76	)	)	PUNCT
hjic-913	101	77	where	where	SCONJ
hjic-913	101	78	convt	convt	NOUN
hjic-913	101	79	is	be	AUX
hjic-913	101	80	a	a	DET
hjic-913	101	81	transposed	transpose	VERB
hjic-913	101	82	convolution	convolution	NOUN
hjic-913	101	83	layer	layer	NOUN
hjic-913	101	84	.	.	PUNCT
hjic-913	102	1	in	in	ADP
hjic-913	102	2	the	the	DET
hjic-913	102	3	unet	unet	NOUN
hjic-913	102	4	neural	neural	ADJ
hjic-913	102	5	network	network	NOUN
hjic-913	102	6	,	,	PUNCT
hjic-913	102	7	the	the	DET
hjic-913	102	8	dimensions	dimension	NOUN
hjic-913	102	9	of	of	ADP
hjic-913	102	10	all	all	DET
hjic-913	102	11	convolutions	convolution	NOUN
hjic-913	102	12	and	and	CCONJ
hjic-913	102	13	transposed	transpose	VERB
hjic-913	102	14	convolutions	convolution	NOUN
hjic-913	102	15	are	be	AUX
hjic-913	102	16	3×	3×	NUM
hjic-913	102	17	3	3	NUM
hjic-913	102	18	,	,	PUNCT
hjic-913	102	19	and	and	CCONJ
hjic-913	102	20	2×	2×	NUM
hjic-913	102	21	2	2	NUM
hjic-913	102	22	,	,	PUNCT
hjic-913	102	23	respectively	respectively	ADV
hjic-913	102	24	.	.	PUNCT
hjic-913	103	1	the	the	DET
hjic-913	103	2	number	number	NOUN
hjic-913	103	3	of	of	ADP
hjic-913	103	4	convolutional	convolutional	ADJ
hjic-913	103	5	filters	filter	NOUN
hjic-913	103	6	are	be	AUX
hjic-913	103	7	as	as	SCONJ
hjic-913	103	8	follows	follow	VERB
hjic-913	103	9	:	:	PUNCT
hjic-913	103	10	each	each	DET
hjic-913	103	11	convolutional	convolutional	ADJ
hjic-913	103	12	layer	layer	NOUN
hjic-913	103	13	in	in	ADP
hjic-913	103	14	d1	d1	PROPN
hjic-913	103	15	consists	consist	VERB
hjic-913	103	16	of	of	ADP
hjic-913	103	17	64	64	NUM
hjic-913	103	18	,	,	PUNCT
hjic-913	103	19	in	in	ADP
hjic-913	103	20	d2	d2	PROPN
hjic-913	103	21	of	of	ADP
hjic-913	103	22	128	128	NUM
hjic-913	103	23	,	,	PUNCT
hjic-913	103	24	in	in	ADP
hjic-913	103	25	d3	d3	PROPN
hjic-913	103	26	of	of	ADP
hjic-913	103	27	256	256	NUM
hjic-913	103	28	and	and	CCONJ
hjic-913	103	29	in	in	ADP
hjic-913	103	30	d4	d4	PROPN
hjic-913	103	31	as	as	ADV
hjic-913	103	32	well	well	ADV
hjic-913	103	33	as	as	ADP
hjic-913	103	34	b	b	NOUN
hjic-913	103	35	of	of	ADP
hjic-913	103	36	512	512	NUM
hjic-913	103	37	filters	filter	NOUN
hjic-913	103	38	.	.	PUNCT
hjic-913	104	1	the	the	DET
hjic-913	104	2	upsampling	upsample	VERB
hjic-913	104	3	block	block	NOUN
hjic-913	104	4	is	be	AUX
hjic-913	104	5	very	very	ADV
hjic-913	104	6	similar	similar	ADJ
hjic-913	104	7	.	.	PUNCT
hjic-913	105	1	u1	u1	NOUN
hjic-913	105	2	consists	consist	VERB
hjic-913	105	3	of	of	ADP
hjic-913	105	4	512	512	NUM
hjic-913	105	5	,	,	PUNCT
hjic-913	105	6	u2	u2	NOUN
hjic-913	105	7	of	of	ADP
hjic-913	105	8	256	256	NUM
hjic-913	105	9	,	,	PUNCT
hjic-913	105	10	u3	u3	NOUN
hjic-913	105	11	of	of	ADP
hjic-913	105	12	128	128	NUM
hjic-913	105	13	and	and	CCONJ
hjic-913	105	14	u4	u4	PROPN
hjic-913	105	15	of	of	ADP
hjic-913	105	16	64	64	NUM
hjic-913	105	17	filters	filter	NOUN
hjic-913	105	18	.	.	PUNCT
hjic-913	106	1	3.3	3.3	NUM
hjic-913	106	2	pspnet	pspnet	NOUN
hjic-913	106	3	the	the	DET
hjic-913	106	4	pyramid	pyramid	NOUN
hjic-913	106	5	scene	scene	NOUN
hjic-913	106	6	parsing	parse	VERB
hjic-913	106	7	network	network	NOUN
hjic-913	106	8	(	(	PUNCT
hjic-913	106	9	pspnet	pspnet	NOUN
hjic-913	106	10	)	)	PUNCT
hjic-913	106	11	[	[	X
hjic-913	106	12	7	7	X
hjic-913	106	13	]	]	PUNCT
hjic-913	106	14	was	be	AUX
hjic-913	106	15	judged	judge	VERB
hjic-913	106	16	to	to	PART
hjic-913	106	17	be	be	AUX
hjic-913	106	18	the	the	DET
hjic-913	106	19	best	good	ADJ
hjic-913	106	20	architecture	architecture	NOUN
hjic-913	106	21	in	in	ADP
hjic-913	106	22	the	the	DET
hjic-913	106	23	imagenet	imagenet	ADJ
hjic-913	106	24	scene	scene	NOUN
hjic-913	106	25	parsing	parse	VERB
hjic-913	106	26	challenge	challenge	NOUN
hjic-913	106	27	in	in	ADP
hjic-913	106	28	2016	2016	NUM
hjic-913	107	1	[	[	X
hjic-913	107	2	12	12	NUM
hjic-913	107	3	]	]	PUNCT
hjic-913	107	4	.	.	PUNCT
hjic-913	108	1	the	the	DET
hjic-913	108	2	main	main	ADJ
hjic-913	108	3	building	building	NOUN
hjic-913	108	4	block	block	NOUN
hjic-913	108	5	of	of	ADP
hjic-913	108	6	the	the	DET
hjic-913	108	7	pspnet	pspnet	NOUN
hjic-913	108	8	is	be	AUX
hjic-913	108	9	a	a	DET
hjic-913	108	10	pyramid	pyramid	NOUN
hjic-913	108	11	pooling	pool	VERB
hjic-913	108	12	module	module	NOUN
hjic-913	108	13	,	,	PUNCT
hjic-913	108	14	where	where	SCONJ
hjic-913	108	15	the	the	DET
hjic-913	108	16	network	network	NOUN
hjic-913	108	17	fuses	fuse	VERB
hjic-913	108	18	features	feature	VERB
hjic-913	108	19	under	under	ADP
hjic-913	108	20	four	four	NUM
hjic-913	108	21	different	different	ADJ
hjic-913	108	22	pyramid	pyramid	NOUN
hjic-913	108	23	scales	scale	NOUN
hjic-913	108	24	.	.	PUNCT
hjic-913	109	1	our	our	PRON
hjic-913	109	2	pspnet	pspnet	NOUN
hjic-913	109	3	-	-	PUNCT
hjic-913	109	4	based	base	VERB
hjic-913	109	5	architecture	architecture	NOUN
hjic-913	109	6	is	be	AUX
hjic-913	109	7	shown	show	VERB
hjic-913	109	8	in	in	ADP
hjic-913	109	9	fig	fig	NOUN
hjic-913	109	10	.	.	PUNCT
hjic-913	110	1	6	6	NUM
hjic-913	110	2	.	.	X
hjic-913	110	3	hungarian	hungarian	ADJ
hjic-913	110	4	journal	journal	NOUN
hjic-913	110	5	of	of	ADP
hjic-913	110	6	industry	industry	NOUN
hjic-913	110	7	and	and	CCONJ
hjic-913	110	8	chemistry	chemistry	NOUN
hjic-913	110	9	improving	improve	VERB
hjic-913	110	10	the	the	DET
hjic-913	110	11	efficiency	efficiency	NOUN
hjic-913	110	12	of	of	ADP
hjic-913	110	13	neural	neural	ADJ
hjic-913	110	14	networks	network	NOUN
hjic-913	110	15	with	with	ADP
hjic-913	110	16	virtual	virtual	ADJ
hjic-913	110	17	training	training	NOUN
hjic-913	110	18	data	datum	NOUN
hjic-913	110	19	7	7	NUM
hjic-913	110	20	let	let	VERB
hjic-913	110	21	:	:	PUNCT
hjic-913	110	22	b1	b1	VERB
hjic-913	110	23	=	=	SYM
hjic-913	110	24	(	(	PUNCT
hjic-913	110	25	γ	γ	X
hjic-913	110	26	,	,	PUNCT
hjic-913	110	27	γ	γ	PROPN
hjic-913	110	28	,	,	PUNCT
hjic-913	110	29	γ	γ	X
hjic-913	110	30	,	,	PUNCT
hjic-913	110	31	maxpooling	maxpooling	NOUN
hjic-913	110	32	)	)	PUNCT
hjic-913	110	33	(	(	PUNCT
hjic-913	110	34	14	14	NUM
hjic-913	110	35	)	)	PUNCT
hjic-913	110	36	c	c	NOUN
hjic-913	111	1	=	=	SYM
hjic-913	111	2	(	(	PUNCT
hjic-913	111	3	γ	γ	X
hjic-913	111	4	,	,	PUNCT
hjic-913	111	5	γ	γ	PROPN
hjic-913	111	6	,	,	PUNCT
hjic-913	111	7	conv	conv	ADJ
hjic-913	111	8	,	,	PUNCT
hjic-913	111	9	bn)+	bn)+	NOUN
hjic-913	111	10	(	(	PUNCT
hjic-913	111	11	conv	conv	ADJ
hjic-913	111	12	,	,	PUNCT
hjic-913	111	13	bn	bn	NOUN
hjic-913	111	14	)	)	PUNCT
hjic-913	111	15	(	(	PUNCT
hjic-913	111	16	15	15	X
hjic-913	111	17	)	)	PUNCT
hjic-913	111	18	i	i	PRON
hjic-913	111	19	=	=	SYM
hjic-913	111	20	(	(	PUNCT
hjic-913	111	21	γ	γ	X
hjic-913	111	22	,	,	PUNCT
hjic-913	111	23	γ	γ	PROPN
hjic-913	111	24	,	,	PUNCT
hjic-913	111	25	conv	conv	ADJ
hjic-913	111	26	,	,	PUNCT
hjic-913	111	27	bn	bn	NOUN
hjic-913	111	28	)	)	PUNCT
hjic-913	111	29	(	(	PUNCT
hjic-913	111	30	16	16	NUM
hjic-913	111	31	)	)	PUNCT
hjic-913	111	32	p	p	NOUN
hjic-913	111	33	=	=	SYM
hjic-913	111	34	(	(	PUNCT
hjic-913	111	35	avg	avg	PROPN
hjic-913	111	36	,	,	PUNCT
hjic-913	111	37	conv	conv	ADJ
hjic-913	111	38	)	)	PUNCT
hjic-913	111	39	(	(	PUNCT
hjic-913	111	40	17	17	NUM
hjic-913	111	41	)	)	PUNCT
hjic-913	111	42	p1	p1	NOUN
hjic-913	111	43	=	=	SYM
hjic-913	111	44	(	(	PUNCT
hjic-913	111	45	p	p	NOUN
hjic-913	111	46	)	)	PUNCT
hjic-913	111	47	(	(	PUNCT
hjic-913	111	48	18	18	NUM
hjic-913	111	49	)	)	PUNCT
hjic-913	111	50	p2	p2	PROPN
hjic-913	111	51	=	=	PUNCT
hjic-913	111	52	(	(	PUNCT
hjic-913	111	53	p	p	X
hjic-913	111	54	,	,	PUNCT
hjic-913	111	55	p	p	NOUN
hjic-913	111	56	)	)	PUNCT
hjic-913	111	57	(	(	PUNCT
hjic-913	111	58	19	19	NUM
hjic-913	111	59	)	)	PUNCT
hjic-913	111	60	p3	p3	NOUN
hjic-913	111	61	=	=	PUNCT
hjic-913	112	1	(	(	PUNCT
hjic-913	112	2	p	p	X
hjic-913	112	3	,	,	PUNCT
hjic-913	112	4	p	p	X
hjic-913	112	5	,	,	PUNCT
hjic-913	112	6	p	p	NOUN
hjic-913	112	7	)	)	PUNCT
hjic-913	112	8	(	(	PUNCT
hjic-913	112	9	20	20	NUM
hjic-913	112	10	)	)	PUNCT
hjic-913	112	11	p4	p4	NOUN
hjic-913	112	12	=	=	SYM
hjic-913	112	13	(	(	PUNCT
hjic-913	112	14	p	p	X
hjic-913	112	15	,	,	PUNCT
hjic-913	112	16	p	p	X
hjic-913	112	17	,	,	PUNCT
hjic-913	112	18	p	p	X
hjic-913	112	19	,	,	PUNCT
hjic-913	112	20	p	p	NOUN
hjic-913	112	21	)	)	PUNCT
hjic-913	112	22	(	(	PUNCT
hjic-913	112	23	21	21	NUM
hjic-913	112	24	)	)	PUNCT
hjic-913	112	25	b2	b2	NOUN
hjic-913	112	26	=	=	SYM
hjic-913	112	27	(	(	PUNCT
hjic-913	112	28	γ	γ	X
hjic-913	112	29	,	,	PUNCT
hjic-913	112	30	dropout	dropout	ADJ
hjic-913	112	31	,	,	PUNCT
hjic-913	112	32	conv	conv	ADJ
hjic-913	112	33	,	,	PUNCT
hjic-913	112	34	convt	convt	NOUN
hjic-913	112	35	,	,	PUNCT
hjic-913	112	36	softmax	softmax	NOUN
hjic-913	112	37	)	)	PUNCT
hjic-913	112	38	(	(	PUNCT
hjic-913	112	39	22	22	NUM
hjic-913	112	40	)	)	PUNCT
hjic-913	112	41	where	where	SCONJ
hjic-913	112	42	avg	avg	PROPN
hjic-913	112	43	denotes	denote	VERB
hjic-913	112	44	an	an	DET
hjic-913	112	45	average	average	ADJ
hjic-913	112	46	pooling	pooling	NOUN
hjic-913	112	47	layer	layer	NOUN
hjic-913	112	48	and	and	CCONJ
hjic-913	112	49	dropout	dropout	NOUN
hjic-913	112	50	represents	represent	VERB
hjic-913	112	51	a	a	DET
hjic-913	112	52	dropping	dropping	NOUN
hjic-913	112	53	out	out	ADP
hjic-913	112	54	unit	unit	NOUN
hjic-913	112	55	.	.	PUNCT
hjic-913	113	1	in	in	ADP
hjic-913	113	2	block	block	NOUN
hjic-913	113	3	b1	b1	NOUN
hjic-913	113	4	,	,	PUNCT
hjic-913	113	5	the	the	DET
hjic-913	113	6	dimensions	dimension	NOUN
hjic-913	113	7	of	of	ADP
hjic-913	113	8	all	all	DET
hjic-913	113	9	convolutions	convolution	NOUN
hjic-913	113	10	are	be	AUX
hjic-913	113	11	3×	3×	NUM
hjic-913	113	12	3	3	NUM
hjic-913	113	13	.	.	PUNCT
hjic-913	114	1	in	in	ADP
hjic-913	114	2	blocks	block	NOUN
hjic-913	114	3	c	c	PROPN
hjic-913	115	1	and	and	CCONJ
hjic-913	115	2	i	i	PRON
hjic-913	115	3	,	,	PUNCT
hjic-913	115	4	the	the	DET
hjic-913	115	5	dimensions	dimension	NOUN
hjic-913	115	6	of	of	ADP
hjic-913	115	7	every	every	DET
hjic-913	115	8	first	first	ADJ
hjic-913	115	9	&	&	CCONJ
hjic-913	115	10	third	third	ADJ
hjic-913	115	11	and	and	CCONJ
hjic-913	115	12	every	every	DET
hjic-913	115	13	second	second	ADJ
hjic-913	115	14	convolution	convolution	NOUN
hjic-913	115	15	are	be	AUX
hjic-913	115	16	3×3	3×3	NUM
hjic-913	115	17	and	and	CCONJ
hjic-913	115	18	1×1	1×1	NUM
hjic-913	115	19	,	,	PUNCT
hjic-913	115	20	respectively	respectively	ADV
hjic-913	115	21	.	.	PUNCT
hjic-913	116	1	in	in	ADP
hjic-913	116	2	blockb2	blockb2	PROPN
hjic-913	116	3	,	,	PUNCT
hjic-913	116	4	the	the	DET
hjic-913	116	5	dimensions	dimension	NOUN
hjic-913	116	6	of	of	ADP
hjic-913	116	7	the	the	DET
hjic-913	116	8	first	first	ADJ
hjic-913	116	9	convolution	convolution	NOUN
hjic-913	116	10	are	be	AUX
hjic-913	116	11	3×	3×	NUM
hjic-913	116	12	3	3	NUM
hjic-913	116	13	and	and	CCONJ
hjic-913	116	14	the	the	DET
hjic-913	116	15	second	second	ADJ
hjic-913	116	16	1×	1×	NUM
hjic-913	116	17	1	1	NUM
hjic-913	116	18	.	.	PUNCT
hjic-913	117	1	the	the	DET
hjic-913	117	2	dimensions	dimension	NOUN
hjic-913	117	3	of	of	ADP
hjic-913	117	4	the	the	DET
hjic-913	117	5	transposed	transpose	VERB
hjic-913	117	6	convolution	convolution	NOUN
hjic-913	117	7	are	be	AUX
hjic-913	117	8	16	16	NUM
hjic-913	117	9	×	×	NOUN
hjic-913	117	10	16	16	NUM
hjic-913	117	11	.	.	PUNCT
hjic-913	118	1	each	each	PRON
hjic-913	118	2	of	of	ADP
hjic-913	118	3	the	the	DET
hjic-913	118	4	first	first	ADJ
hjic-913	118	5	two	two	NUM
hjic-913	118	6	convolutions	convolution	NOUN
hjic-913	118	7	in	in	ADP
hjic-913	118	8	block	block	NOUN
hjic-913	118	9	b1	b1	NOUN
hjic-913	118	10	consist	consist	NOUN
hjic-913	118	11	of	of	ADP
hjic-913	118	12	64	64	NUM
hjic-913	118	13	filters	filter	NOUN
hjic-913	118	14	,	,	PUNCT
hjic-913	118	15	and	and	CCONJ
hjic-913	118	16	the	the	DET
hjic-913	118	17	last	last	ADJ
hjic-913	118	18	one	one	NUM
hjic-913	118	19	of	of	ADP
hjic-913	118	20	128	128	NUM
hjic-913	118	21	.	.	PUNCT
hjic-913	119	1	the	the	DET
hjic-913	119	2	first	first	ADJ
hjic-913	119	3	block	block	NOUN
hjic-913	119	4	c	c	NOUN
hjic-913	119	5	and	and	CCONJ
hjic-913	119	6	first	first	ADJ
hjic-913	119	7	two	two	NUM
hjic-913	119	8	i	i	PRON
hjic-913	119	9	blocks	block	NOUN
hjic-913	119	10	contain	contain	VERB
hjic-913	119	11	64	64	NUM
hjic-913	119	12	,	,	PUNCT
hjic-913	119	13	64	64	NUM
hjic-913	119	14	,	,	PUNCT
hjic-913	119	15	256	256	NUM
hjic-913	119	16	filters	filter	NOUN
hjic-913	119	17	,	,	PUNCT
hjic-913	119	18	respectively	respectively	ADV
hjic-913	119	19	,	,	PUNCT
hjic-913	119	20	while	while	SCONJ
hjic-913	119	21	the	the	DET
hjic-913	119	22	second	second	ADJ
hjic-913	119	23	block	block	NOUN
hjic-913	119	24	c	c	NOUN
hjic-913	119	25	and	and	CCONJ
hjic-913	119	26	the	the	DET
hjic-913	119	27	following	follow	VERB
hjic-913	119	28	three	three	NUM
hjic-913	119	29	i	i	PRON
hjic-913	119	30	blocks	block	NOUN
hjic-913	119	31	consist	consist	VERB
hjic-913	119	32	of	of	ADP
hjic-913	119	33	128	128	NUM
hjic-913	119	34	,	,	PUNCT
hjic-913	119	35	128	128	NUM
hjic-913	119	36	and	and	CCONJ
hjic-913	119	37	512	512	NUM
hjic-913	119	38	filters	filter	NOUN
hjic-913	119	39	,	,	PUNCT
hjic-913	119	40	respectively	respectively	ADV
hjic-913	119	41	.	.	PUNCT
hjic-913	120	1	the	the	DET
hjic-913	120	2	third	third	ADJ
hjic-913	120	3	block	block	NOUN
hjic-913	120	4	c	c	PROPN
hjic-913	120	5	and	and	CCONJ
hjic-913	120	6	the	the	DET
hjic-913	120	7	following	follow	VERB
hjic-913	120	8	five	five	NUM
hjic-913	120	9	i	i	PRON
hjic-913	120	10	blocks	block	NOUN
hjic-913	120	11	contain	contain	VERB
hjic-913	120	12	256	256	NUM
hjic-913	120	13	,	,	PUNCT
hjic-913	120	14	256	256	NUM
hjic-913	120	15	and	and	CCONJ
hjic-913	120	16	1024	1024	NUM
hjic-913	120	17	,	,	PUNCT
hjic-913	120	18	respectively	respectively	ADV
hjic-913	120	19	,	,	PUNCT
hjic-913	120	20	and	and	CCONJ
hjic-913	120	21	the	the	DET
hjic-913	120	22	fourth	fourth	ADJ
hjic-913	120	23	block	block	NOUN
hjic-913	120	24	c	c	NOUN
hjic-913	120	25	along	along	ADP
hjic-913	120	26	with	with	ADP
hjic-913	120	27	the	the	DET
hjic-913	120	28	last	last	ADJ
hjic-913	120	29	two	two	NUM
hjic-913	120	30	i	i	PRON
hjic-913	120	31	blocks	block	VERB
hjic-913	120	32	consist	consist	VERB
hjic-913	120	33	of	of	ADP
hjic-913	120	34	512	512	NUM
hjic-913	120	35	,	,	PUNCT
hjic-913	120	36	512	512	NUM
hjic-913	120	37	and	and	CCONJ
hjic-913	120	38	2048	2048	NUM
hjic-913	120	39	filters	filter	NOUN
hjic-913	120	40	,	,	PUNCT
hjic-913	120	41	respectively	respectively	ADV
hjic-913	120	42	.	.	PUNCT
hjic-913	121	1	4	4	X
hjic-913	121	2	.	.	X
hjic-913	121	3	training	training	NOUN
hjic-913	121	4	with	with	ADP
hjic-913	121	5	virtual	virtual	ADJ
hjic-913	121	6	data	datum	NOUN
hjic-913	121	7	an	an	DET
hjic-913	121	8	attempt	attempt	NOUN
hjic-913	121	9	was	be	AUX
hjic-913	121	10	made	make	VERB
hjic-913	121	11	to	to	PART
hjic-913	121	12	improve	improve	VERB
hjic-913	121	13	the	the	DET
hjic-913	121	14	accuracy	accuracy	NOUN
hjic-913	121	15	of	of	ADP
hjic-913	121	16	neural	neural	ADJ
hjic-913	121	17	networks	network	NOUN
hjic-913	121	18	using	use	VERB
hjic-913	121	19	computer	computer	NOUN
hjic-913	121	20	-	-	PUNCT
hjic-913	121	21	generated	generate	VERB
hjic-913	121	22	virtual	virtual	ADJ
hjic-913	121	23	training	training	NOUN
hjic-913	121	24	data	datum	NOUN
hjic-913	121	25	that	that	PRON
hjic-913	121	26	originates	originate	VERB
hjic-913	121	27	from	from	ADP
hjic-913	121	28	the	the	DET
hjic-913	121	29	virtual	virtual	ADJ
hjic-913	121	30	city	city	NOUN
hjic-913	121	31	environment	environment	NOUN
hjic-913	121	32	.	.	PUNCT
hjic-913	122	1	some	some	DET
hjic-913	122	2	mixed	mixed	ADJ
hjic-913	122	3	datasets	dataset	NOUN
hjic-913	122	4	were	be	AUX
hjic-913	122	5	compiled	compile	VERB
hjic-913	122	6	which	which	PRON
hjic-913	122	7	contain	contain	VERB
hjic-913	122	8	real	real	ADJ
hjic-913	122	9	-	-	PUNCT
hjic-913	122	10	world	world	NOUN
hjic-913	122	11	images	image	NOUN
hjic-913	122	12	and	and	CCONJ
hjic-913	122	13	computer	computer	NOUN
hjic-913	122	14	-	-	PUNCT
hjic-913	122	15	generated	generate	VERB
hjic-913	122	16	virtual	virtual	ADJ
hjic-913	122	17	images	image	NOUN
hjic-913	122	18	.	.	PUNCT
hjic-913	123	1	the	the	DET
hjic-913	123	2	realworld	realworld	PROPN
hjic-913	123	3	images	image	NOUN
hjic-913	123	4	originate	originate	VERB
hjic-913	123	5	from	from	ADP
hjic-913	123	6	the	the	DET
hjic-913	123	7	cityscapes	cityscape	NOUN
hjic-913	123	8	dataset	dataset	VERB
hjic-913	123	9	,	,	PUNCT
hjic-913	123	10	a	a	DET
hjic-913	123	11	large	large	ADJ
hjic-913	123	12	-	-	PUNCT
hjic-913	123	13	scale	scale	NOUN
hjic-913	123	14	dataset	dataset	NOUN
hjic-913	123	15	for	for	ADP
hjic-913	123	16	semantic	semantic	ADJ
hjic-913	123	17	segmentation	segmentation	NOUN
hjic-913	123	18	[	[	X
hjic-913	123	19	13	13	NUM
hjic-913	123	20	]	]	PUNCT
hjic-913	123	21	.	.	PUNCT
hjic-913	124	1	the	the	DET
hjic-913	124	2	dataset	dataset	NOUN
hjic-913	124	3	contains	contain	VERB
hjic-913	124	4	5000	5000	NUM
hjic-913	124	5	annotated	annotate	VERB
hjic-913	124	6	images	image	NOUN
hjic-913	124	7	with	with	ADP
hjic-913	124	8	fine	fine	ADJ
hjic-913	124	9	annotations	annotation	NOUN
hjic-913	124	10	created	create	VERB
hjic-913	124	11	in	in	ADP
hjic-913	124	12	50	50	NUM
hjic-913	124	13	different	different	ADJ
hjic-913	124	14	cities	city	NOUN
hjic-913	124	15	under	under	ADP
hjic-913	124	16	various	various	ADJ
hjic-913	124	17	weather	weather	NOUN
hjic-913	124	18	conditions	condition	NOUN
hjic-913	124	19	.	.	PUNCT
hjic-913	125	1	30	30	NUM
hjic-913	125	2	object	object	NOUN
hjic-913	125	3	classes	class	NOUN
hjic-913	125	4	are	be	AUX
hjic-913	125	5	included	include	VERB
hjic-913	125	6	,	,	PUNCT
hjic-913	125	7	e.g.	e.g.	ADV
hjic-913	125	8	roads	road	NOUN
hjic-913	125	9	,	,	PUNCT
hjic-913	125	10	sidewalks	sidewalk	NOUN
hjic-913	125	11	,	,	PUNCT
hjic-913	125	12	people	people	NOUN
hjic-913	125	13	,	,	PUNCT
hjic-913	125	14	vehicles	vehicle	NOUN
hjic-913	125	15	,	,	PUNCT
hjic-913	125	16	traffic	traffic	NOUN
hjic-913	125	17	lights	light	NOUN
hjic-913	125	18	,	,	PUNCT
hjic-913	125	19	terrain	terrain	NOUN
hjic-913	125	20	,	,	PUNCT
hjic-913	125	21	sky	sky	NOUN
hjic-913	125	22	,	,	PUNCT
hjic-913	125	23	etc	etc	X
hjic-913	125	24	.	.	X
hjic-913	126	1	but	but	CCONJ
hjic-913	126	2	in	in	ADP
hjic-913	126	3	this	this	DET
hjic-913	126	4	research	research	NOUN
hjic-913	126	5	,	,	PUNCT
hjic-913	126	6	only	only	ADV
hjic-913	126	7	road	road	NOUN
hjic-913	126	8	surface	surface	NOUN
hjic-913	126	9	segmentation	segmentation	NOUN
hjic-913	126	10	is	be	AUX
hjic-913	126	11	examined	examine	VERB
hjic-913	126	12	.	.	PUNCT
hjic-913	127	1	the	the	DET
hjic-913	127	2	computer	computer	NOUN
hjic-913	127	3	-	-	PUNCT
hjic-913	127	4	generated	generate	VERB
hjic-913	127	5	images	image	NOUN
hjic-913	127	6	originate	originate	VERB
hjic-913	127	7	from	from	ADP
hjic-913	127	8	the	the	DET
hjic-913	127	9	simulation	simulation	NOUN
hjic-913	127	10	environment	environment	NOUN
hjic-913	127	11	described	describe	VERB
hjic-913	127	12	in	in	ADP
hjic-913	127	13	section	section	NOUN
hjic-913	127	14	2	2	NUM
hjic-913	127	15	.	.	PUNCT
hjic-913	128	1	for	for	ADP
hjic-913	128	2	road	road	NOUN
hjic-913	128	3	surface	surface	NOUN
hjic-913	128	4	segmentation	segmentation	NOUN
hjic-913	128	5	,	,	PUNCT
hjic-913	128	6	five	five	NUM
hjic-913	128	7	different	different	ADJ
hjic-913	128	8	datasets	dataset	NOUN
hjic-913	128	9	are	be	AUX
hjic-913	128	10	created	create	VERB
hjic-913	128	11	from	from	ADP
hjic-913	128	12	the	the	DET
hjic-913	128	13	cityscapes	cityscape	NOUN
hjic-913	128	14	dataset	dataset	VERB
hjic-913	128	15	and	and	CCONJ
hjic-913	128	16	our	our	PRON
hjic-913	128	17	collection	collection	NOUN
hjic-913	128	18	of	of	ADP
hjic-913	128	19	virtual	virtual	ADJ
hjic-913	128	20	images	image	NOUN
hjic-913	128	21	.	.	PUNCT
hjic-913	129	1	table	table	NOUN
hjic-913	129	2	1	1	NUM
hjic-913	129	3	shows	show	VERB
hjic-913	129	4	how	how	SCONJ
hjic-913	129	5	these	these	DET
hjic-913	129	6	two	two	NUM
hjic-913	129	7	collections	collection	NOUN
hjic-913	129	8	were	be	AUX
hjic-913	129	9	mixed	mixed	ADJ
hjic-913	129	10	.	.	PUNCT
hjic-913	130	1	our	our	PRON
hjic-913	130	2	goals	goal	NOUN
hjic-913	130	3	are	be	AUX
hjic-913	130	4	to	to	PART
hjic-913	130	5	use	use	VERB
hjic-913	130	6	a	a	DET
hjic-913	130	7	minimum	minimum	ADJ
hjic-913	130	8	amount	amount	NOUN
hjic-913	130	9	of	of	ADP
hjic-913	130	10	data	datum	NOUN
hjic-913	130	11	from	from	ADP
hjic-913	130	12	a	a	DET
hjic-913	130	13	real	real	ADJ
hjic-913	130	14	-	-	PUNCT
hjic-913	130	15	world	world	NOUN
hjic-913	130	16	dataset	dataset	NOUN
hjic-913	130	17	,	,	PUNCT
hjic-913	130	18	and	and	CCONJ
hjic-913	130	19	when	when	SCONJ
hjic-913	130	20	the	the	DET
hjic-913	130	21	number	number	NOUN
hjic-913	130	22	of	of	ADP
hjic-913	130	23	virtual	virtual	ADJ
hjic-913	130	24	images	image	NOUN
hjic-913	130	25	is	be	AUX
hjic-913	130	26	changed	change	VERB
hjic-913	130	27	,	,	PUNCT
hjic-913	130	28	to	to	PART
hjic-913	130	29	observe	observe	VERB
hjic-913	130	30	how	how	SCONJ
hjic-913	130	31	the	the	DET
hjic-913	130	32	efficiency	efficiency	NOUN
hjic-913	130	33	of	of	ADP
hjic-913	130	34	the	the	DET
hjic-913	130	35	neural	neural	ADJ
hjic-913	130	36	networks	network	NOUN
hjic-913	130	37	is	be	AUX
hjic-913	130	38	affected	affect	VERB
hjic-913	130	39	.	.	PUNCT
hjic-913	131	1	dataset	dataset	VERB
hjic-913	131	2	a	a	PRON
hjic-913	131	3	only	only	ADJ
hjic-913	131	4	contains	contain	VERB
hjic-913	131	5	real	real	ADJ
hjic-913	131	6	-	-	PUNCT
hjic-913	131	7	world	world	NOUN
hjic-913	131	8	images	image	NOUN
hjic-913	131	9	,	,	PUNCT
hjic-913	131	10	therefore	therefore	ADV
hjic-913	131	11	,	,	PUNCT
hjic-913	131	12	this	this	PRON
hjic-913	131	13	is	be	AUX
hjic-913	131	14	regarded	regard	VERB
hjic-913	131	15	as	as	ADP
hjic-913	131	16	the	the	DET
hjic-913	131	17	basic	basic	ADJ
hjic-913	131	18	dataset	dataset	NOUN
hjic-913	131	19	,	,	PUNCT
hjic-913	131	20	while	while	SCONJ
hjic-913	131	21	the	the	DET
hjic-913	131	22	others	other	NOUN
hjic-913	131	23	were	be	AUX
hjic-913	131	24	compared	compare	VERB
hjic-913	131	25	to	to	ADP
hjic-913	131	26	it	it	PRON
hjic-913	131	27	.	.	PUNCT
hjic-913	132	1	dataset	dataset	PROPN
hjic-913	132	2	b	b	PROPN
hjic-913	132	3	already	already	ADV
hjic-913	132	4	contains	contain	VERB
hjic-913	132	5	the	the	DET
hjic-913	132	6	same	same	ADJ
hjic-913	132	7	number	number	NOUN
hjic-913	132	8	of	of	ADP
hjic-913	132	9	virtual	virtual	ADJ
hjic-913	132	10	images	image	NOUN
hjic-913	132	11	as	as	ADP
hjic-913	132	12	real	real	ADJ
hjic-913	132	13	-	-	PUNCT
hjic-913	132	14	world	world	NOUN
hjic-913	132	15	images	image	NOUN
hjic-913	132	16	.	.	PUNCT
hjic-913	133	1	here	here	ADV
hjic-913	133	2	,	,	PUNCT
hjic-913	133	3	observations	observation	NOUN
hjic-913	133	4	of	of	ADP
hjic-913	133	5	how	how	SCONJ
hjic-913	133	6	the	the	DET
hjic-913	133	7	introduction	introduction	NOUN
hjic-913	133	8	of	of	ADP
hjic-913	133	9	virtual	virtual	ADJ
hjic-913	133	10	images	image	NOUN
hjic-913	133	11	changes	change	NOUN
hjic-913	133	12	table	table	NOUN
hjic-913	133	13	1	1	NUM
hjic-913	133	14	:	:	PUNCT
hjic-913	133	15	number	number	NOUN
hjic-913	133	16	of	of	ADP
hjic-913	133	17	images	image	NOUN
hjic-913	133	18	in	in	ADP
hjic-913	133	19	our	our	PRON
hjic-913	133	20	mixed	mixed	ADJ
hjic-913	133	21	datasets	dataset	NOUN
hjic-913	133	22	dataset	dataset	NOUN
hjic-913	133	23	name	name	NOUN
hjic-913	133	24	training	training	NOUN
hjic-913	133	25	set	set	VERB
hjic-913	133	26	validation	validation	NOUN
hjic-913	133	27	set	set	VERB
hjic-913	133	28	virtual	virtual	ADJ
hjic-913	133	29	real	real	ADJ
hjic-913	133	30	-	-	PUNCT
hjic-913	133	31	world	world	NOUN
hjic-913	133	32	virtual	virtual	ADJ
hjic-913	133	33	real	real	ADJ
hjic-913	133	34	-	-	PUNCT
hjic-913	133	35	world	world	NOUN
hjic-913	133	36	a	a	PRON
hjic-913	133	37	0	0	NUM
hjic-913	133	38	500	500	NUM
hjic-913	133	39	0	0	NUM
hjic-913	133	40	125	125	NUM
hjic-913	133	41	b	b	SYM
hjic-913	133	42	500	500	NUM
hjic-913	133	43	500	500	NUM
hjic-913	133	44	0	0	NUM
hjic-913	133	45	250	250	NUM
hjic-913	133	46	c	c	NOUN
hjic-913	133	47	1500	1500	NUM
hjic-913	133	48	500	500	NUM
hjic-913	133	49	0	0	NUM
hjic-913	133	50	500	500	NUM
hjic-913	133	51	d	d	SYM
hjic-913	133	52	1500	1500	NUM
hjic-913	133	53	1000	1000	NUM
hjic-913	133	54	0	0	NUM
hjic-913	133	55	625	625	NUM
hjic-913	133	56	e	e	NOUN
hjic-913	133	57	1500	1500	NUM
hjic-913	133	58	1500	1500	NUM
hjic-913	133	59	0	0	NUM
hjic-913	133	60	750	750	NUM
hjic-913	133	61	the	the	DET
hjic-913	133	62	initial	initial	ADJ
hjic-913	133	63	degree	degree	NOUN
hjic-913	133	64	of	of	ADP
hjic-913	133	65	efficiency	efficiency	NOUN
hjic-913	133	66	are	be	AUX
hjic-913	133	67	sought	seek	VERB
hjic-913	133	68	.	.	PUNCT
hjic-913	134	1	dataset	dataset	PROPN
hjic-913	134	2	c	c	PROPN
hjic-913	134	3	contains	contain	VERB
hjic-913	134	4	three	three	NUM
hjic-913	134	5	times	time	NOUN
hjic-913	134	6	more	more	ADV
hjic-913	134	7	virtual	virtual	ADJ
hjic-913	134	8	images	image	NOUN
hjic-913	134	9	than	than	ADP
hjic-913	134	10	dataset	dataset	VERB
hjic-913	134	11	b.	b.	PROPN
hjic-913	134	12	if	if	SCONJ
hjic-913	134	13	the	the	DET
hjic-913	134	14	number	number	NOUN
hjic-913	134	15	of	of	ADP
hjic-913	134	16	virtual	virtual	ADJ
hjic-913	134	17	images	image	NOUN
hjic-913	134	18	is	be	AUX
hjic-913	134	19	much	much	ADV
hjic-913	134	20	higher	high	ADJ
hjic-913	134	21	than	than	ADP
hjic-913	134	22	the	the	DET
hjic-913	134	23	number	number	NOUN
hjic-913	134	24	of	of	ADP
hjic-913	134	25	real	real	ADJ
hjic-913	134	26	-	-	PUNCT
hjic-913	134	27	world	world	NOUN
hjic-913	134	28	images	image	NOUN
hjic-913	134	29	,	,	PUNCT
hjic-913	134	30	the	the	DET
hjic-913	134	31	efficiency	efficiency	NOUN
hjic-913	134	32	may	may	AUX
hjic-913	134	33	be	be	AUX
hjic-913	134	34	reduced	reduce	VERB
hjic-913	134	35	.	.	PUNCT
hjic-913	135	1	a	a	DET
hjic-913	135	2	future	future	ADJ
hjic-913	135	3	paper	paper	NOUN
hjic-913	135	4	of	of	ADP
hjic-913	135	5	ours	ours	PRON
hjic-913	135	6	will	will	AUX
hjic-913	135	7	investigate	investigate	VERB
hjic-913	135	8	this	this	PRON
hjic-913	135	9	.	.	PUNCT
hjic-913	136	1	in	in	ADP
hjic-913	136	2	datasets	dataset	NOUN
hjic-913	136	3	d	d	NOUN
hjic-913	136	4	and	and	CCONJ
hjic-913	136	5	e	e	X
hjic-913	136	6	the	the	DET
hjic-913	136	7	number	number	NOUN
hjic-913	136	8	of	of	ADP
hjic-913	136	9	real	real	ADJ
hjic-913	136	10	-	-	PUNCT
hjic-913	136	11	world	world	NOUN
hjic-913	136	12	images	image	NOUN
hjic-913	136	13	was	be	AUX
hjic-913	136	14	increased	increase	VERB
hjic-913	136	15	.	.	PUNCT
hjic-913	137	1	for	for	ADP
hjic-913	137	2	the	the	DET
hjic-913	137	3	segmentation	segmentation	NOUN
hjic-913	137	4	of	of	ADP
hjic-913	137	5	protective	protective	ADJ
hjic-913	137	6	barriers	barrier	NOUN
hjic-913	137	7	,	,	PUNCT
hjic-913	137	8	only	only	ADV
hjic-913	137	9	virtual	virtual	ADJ
hjic-913	137	10	training	training	NOUN
hjic-913	137	11	data	datum	NOUN
hjic-913	137	12	were	be	AUX
hjic-913	137	13	used	use	VERB
hjic-913	137	14	.	.	PUNCT
hjic-913	138	1	how	how	SCONJ
hjic-913	138	2	efficiently	efficiently	ADV
hjic-913	138	3	the	the	DET
hjic-913	138	4	neural	neural	ADJ
hjic-913	138	5	network	network	NOUN
hjic-913	138	6	recognizes	recognize	VERB
hjic-913	138	7	real	real	ADJ
hjic-913	138	8	objects	object	NOUN
hjic-913	138	9	,	,	PUNCT
hjic-913	138	10	if	if	SCONJ
hjic-913	138	11	only	only	ADV
hjic-913	138	12	trained	train	VERB
hjic-913	138	13	by	by	ADP
hjic-913	138	14	virtual	virtual	ADJ
hjic-913	138	15	data	datum	NOUN
hjic-913	138	16	,	,	PUNCT
hjic-913	138	17	will	will	AUX
hjic-913	138	18	now	now	ADV
hjic-913	138	19	be	be	AUX
hjic-913	138	20	shown	show	VERB
hjic-913	138	21	.	.	PUNCT
hjic-913	139	1	the	the	DET
hjic-913	139	2	effect	effect	NOUN
hjic-913	139	3	of	of	ADP
hjic-913	139	4	increasing	increase	VERB
hjic-913	139	5	the	the	DET
hjic-913	139	6	number	number	NOUN
hjic-913	139	7	of	of	ADP
hjic-913	139	8	real	real	ADJ
hjic-913	139	9	-	-	PUNCT
hjic-913	139	10	world	world	NOUN
hjic-913	139	11	images	image	NOUN
hjic-913	139	12	on	on	ADP
hjic-913	139	13	efficiency	efficiency	NOUN
hjic-913	139	14	was	be	AUX
hjic-913	139	15	investigated	investigate	VERB
hjic-913	139	16	.	.	PUNCT
hjic-913	140	1	adam	adam	PROPN
hjic-913	140	2	optimization	optimization	NOUN
hjic-913	140	3	was	be	AUX
hjic-913	140	4	used	use	VERB
hjic-913	140	5	for	for	ADP
hjic-913	140	6	training	training	NOUN
hjic-913	140	7	with	with	ADP
hjic-913	140	8	a	a	DET
hjic-913	140	9	learning	learn	VERB
hjic-913	140	10	rate	rate	NOUN
hjic-913	140	11	of	of	ADP
hjic-913	140	12	10−4	10−4	NUM
hjic-913	140	13	and	and	CCONJ
hjic-913	140	14	a	a	DET
hjic-913	140	15	learning	learn	VERB
hjic-913	140	16	rate	rate	NOUN
hjic-913	140	17	decay	decay	NOUN
hjic-913	140	18	of	of	ADP
hjic-913	140	19	5×10−4	5×10−4	NUM
hjic-913	140	20	.	.	PUNCT
hjic-913	141	1	as	as	ADP
hjic-913	141	2	the	the	DET
hjic-913	141	3	objective	objective	ADJ
hjic-913	141	4	function	function	NOUN
hjic-913	141	5	,	,	PUNCT
hjic-913	141	6	categorical	categorical	ADJ
hjic-913	141	7	crossentropy	crossentropy	NOUN
hjic-913	141	8	is	be	AUX
hjic-913	141	9	used	use	VERB
hjic-913	141	10	:	:	PUNCT
hjic-913	142	1	l	l	NOUN
hjic-913	142	2	(	(	PUNCT
hjic-913	142	3	y	y	PROPN
hjic-913	142	4	,	,	PUNCT
hjic-913	142	5	ŷ)=	ŷ)=	ADJ
hjic-913	142	6	−y×log	−y×log	NOUN
hjic-913	142	7	(	(	PUNCT
hjic-913	142	8	ŷ	ŷ	NUM
hjic-913	142	9	)	)	PUNCT
hjic-913	142	10	(	(	PUNCT
hjic-913	142	11	23	23	NUM
hjic-913	142	12	)	)	PUNCT
hjic-913	142	13	and	and	CCONJ
hjic-913	142	14	the	the	DET
hjic-913	142	15	dice	dice	NOUN
hjic-913	142	16	coefficient	coefficient	NOUN
hjic-913	142	17	measured	measure	VERB
hjic-913	142	18	:	:	PUNCT
hjic-913	142	19	dc	dc	PROPN
hjic-913	142	20	(	(	PUNCT
hjic-913	142	21	y	y	PROPN
hjic-913	142	22	,	,	PUNCT
hjic-913	142	23	ŷ)=	ŷ)=	ADJ
hjic-913	142	24	1−2×y×ŷ+1	1−2×y×ŷ+1	NUM
hjic-913	142	25	y+ŷ+1	y+ŷ+1	PROPN
hjic-913	142	26	(	(	PUNCT
hjic-913	142	27	24	24	NUM
hjic-913	142	28	)	)	PUNCT
hjic-913	142	29	where	where	SCONJ
hjic-913	142	30	y	y	PROPN
hjic-913	142	31	∈	∈	PROPN
hjic-913	142	32	{	{	PUNCT
hjic-913	142	33	0	0	NUM
hjic-913	142	34	,	,	PUNCT
hjic-913	142	35	1	1	NUM
hjic-913	142	36	}	}	PUNCT
hjic-913	142	37	is	be	AUX
hjic-913	142	38	the	the	DET
hjic-913	142	39	ground	ground	NOUN
hjic-913	142	40	truth	truth	NOUN
hjic-913	142	41	and	and	CCONJ
hjic-913	142	42	0	0	NUM
hjic-913	142	43	≤	≤	NUM
hjic-913	142	44	ŷ	ŷ	NUM
hjic-913	142	45	≤	≤	NUM
hjic-913	142	46	1	1	NUM
hjic-913	142	47	is	be	AUX
hjic-913	142	48	the	the	DET
hjic-913	142	49	result	result	NOUN
hjic-913	142	50	of	of	ADP
hjic-913	142	51	the	the	DET
hjic-913	142	52	neural	neural	ADJ
hjic-913	142	53	network	network	NOUN
hjic-913	142	54	.	.	PUNCT
hjic-913	143	1	5	5	X
hjic-913	143	2	.	.	NOUN
hjic-913	143	3	results	result	VERB
hjic-913	143	4	an	an	DET
hjic-913	143	5	attempt	attempt	NOUN
hjic-913	143	6	was	be	AUX
hjic-913	143	7	made	make	VERB
hjic-913	143	8	to	to	PART
hjic-913	143	9	examine	examine	VERB
hjic-913	143	10	the	the	DET
hjic-913	143	11	efficiency	efficiency	NOUN
hjic-913	143	12	of	of	ADP
hjic-913	143	13	road	road	NOUN
hjic-913	143	14	surface	surface	NOUN
hjic-913	143	15	detection	detection	NOUN
hjic-913	143	16	,	,	PUNCT
hjic-913	143	17	while	while	SCONJ
hjic-913	143	18	the	the	DET
hjic-913	143	19	composition	composition	NOUN
hjic-913	143	20	of	of	ADP
hjic-913	143	21	the	the	DET
hjic-913	143	22	dataset	dataset	NOUN
hjic-913	143	23	was	be	AUX
hjic-913	143	24	modified	modify	VERB
hjic-913	143	25	.	.	PUNCT
hjic-913	144	1	for	for	ADP
hjic-913	144	2	examining	examine	VERB
hjic-913	144	3	changes	change	NOUN
hjic-913	144	4	in	in	ADP
hjic-913	144	5	efficiency	efficiency	NOUN
hjic-913	144	6	,	,	PUNCT
hjic-913	144	7	the	the	DET
hjic-913	144	8	most	most	ADV
hjic-913	144	9	useful	useful	ADJ
hjic-913	144	10	datasets	dataset	NOUN
hjic-913	144	11	were	be	AUX
hjic-913	144	12	a	a	DET
hjic-913	144	13	,	,	PUNCT
hjic-913	144	14	c	c	PROPN
hjic-913	144	15	and	and	CCONJ
hjic-913	144	16	e.	e.	PROPN
hjic-913	144	17	dataset	dataset	VERB
hjic-913	144	18	a	a	PRON
hjic-913	144	19	is	be	AUX
hjic-913	144	20	the	the	DET
hjic-913	144	21	basic	basic	ADJ
hjic-913	144	22	dataset	dataset	NOUN
hjic-913	144	23	,	,	PUNCT
hjic-913	144	24	which	which	PRON
hjic-913	144	25	only	only	ADV
hjic-913	144	26	contains	contain	VERB
hjic-913	144	27	a	a	DET
hjic-913	144	28	small	small	ADJ
hjic-913	144	29	set	set	NOUN
hjic-913	144	30	of	of	ADP
hjic-913	144	31	real	real	ADJ
hjic-913	144	32	-	-	PUNCT
hjic-913	144	33	world	world	NOUN
hjic-913	144	34	images	image	NOUN
hjic-913	144	35	.	.	PUNCT
hjic-913	145	1	dataset	dataset	PROPN
hjic-913	145	2	c	c	PROPN
hjic-913	145	3	is	be	AUX
hjic-913	145	4	based	base	VERB
hjic-913	145	5	on	on	ADP
hjic-913	145	6	dataset	dataset	NOUN
hjic-913	145	7	a	a	PRON
hjic-913	145	8	,	,	PUNCT
hjic-913	145	9	but	but	CCONJ
hjic-913	145	10	contains	contain	VERB
hjic-913	145	11	three	three	NUM
hjic-913	145	12	times	time	NOUN
hjic-913	145	13	as	as	ADV
hjic-913	145	14	many	many	ADJ
hjic-913	145	15	virtual	virtual	ADJ
hjic-913	145	16	images	image	NOUN
hjic-913	145	17	as	as	ADP
hjic-913	145	18	real	real	ADJ
hjic-913	145	19	-	-	PUNCT
hjic-913	145	20	world	world	NOUN
hjic-913	145	21	images	image	NOUN
hjic-913	145	22	.	.	PUNCT
hjic-913	146	1	dataset	dataset	PROPN
hjic-913	146	2	c	c	PROPN
hjic-913	146	3	shows	show	VERB
hjic-913	146	4	how	how	SCONJ
hjic-913	146	5	performance	performance	NOUN
hjic-913	146	6	changes	change	NOUN
hjic-913	146	7	,	,	PUNCT
hjic-913	146	8	when	when	SCONJ
hjic-913	146	9	virtual	virtual	ADJ
hjic-913	146	10	world	world	NOUN
hjic-913	146	11	images	image	NOUN
hjic-913	146	12	are	be	AUX
hjic-913	146	13	integrated	integrate	VERB
hjic-913	146	14	into	into	ADP
hjic-913	146	15	a	a	DET
hjic-913	146	16	small	small	ADJ
hjic-913	146	17	dataset	dataset	NOUN
hjic-913	146	18	.	.	PUNCT
hjic-913	147	1	in	in	ADP
hjic-913	147	2	dataset	dataset	ADJ
hjic-913	147	3	e	e	NOUN
hjic-913	147	4	,	,	PUNCT
hjic-913	147	5	the	the	DET
hjic-913	147	6	size	size	NOUN
hjic-913	147	7	of	of	ADP
hjic-913	147	8	the	the	DET
hjic-913	147	9	collection	collection	NOUN
hjic-913	147	10	was	be	AUX
hjic-913	147	11	expanded	expand	VERB
hjic-913	147	12	.	.	PUNCT
hjic-913	148	1	this	this	DET
hjic-913	148	2	dataset	dataset	NOUN
hjic-913	148	3	shows	show	VERB
hjic-913	148	4	how	how	SCONJ
hjic-913	148	5	much	much	ADV
hjic-913	148	6	greater	great	ADJ
hjic-913	148	7	the	the	DET
hjic-913	148	8	efficiency	efficiency	NOUN
hjic-913	148	9	of	of	ADP
hjic-913	148	10	a	a	DET
hjic-913	148	11	larger	large	ADJ
hjic-913	148	12	mixed	mixed	ADJ
hjic-913	148	13	dataset	dataset	NOUN
hjic-913	148	14	is	be	AUX
hjic-913	148	15	.	.	PUNCT
hjic-913	149	1	fig	fig	NOUN
hjic-913	149	2	.	.	PUNCT
hjic-913	150	1	7	7	NUM
hjic-913	150	2	shows	show	VERB
hjic-913	150	3	the	the	DET
hjic-913	150	4	validation	validation	NOUN
hjic-913	150	5	accuracy	accuracy	NOUN
hjic-913	150	6	over	over	ADP
hjic-913	150	7	the	the	DET
hjic-913	150	8	training	training	NOUN
hjic-913	150	9	process	process	NOUN
hjic-913	150	10	of	of	ADP
hjic-913	150	11	road	road	NOUN
hjic-913	150	12	surface	surface	NOUN
hjic-913	150	13	detection	detection	NOUN
hjic-913	150	14	,	,	PUNCT
hjic-913	150	15	while	while	SCONJ
hjic-913	150	16	fig	fig	NOUN
hjic-913	150	17	.	.	PUNCT
hjic-913	150	18	8	8	NUM
hjic-913	150	19	shows	show	VERB
hjic-913	150	20	the	the	DET
hjic-913	150	21	best	good	ADJ
hjic-913	150	22	dice	dice	NOUN
hjic-913	150	23	coefficient	coefficient	NOUN
hjic-913	150	24	values	value	NOUN
hjic-913	150	25	for	for	ADP
hjic-913	150	26	road	road	NOUN
hjic-913	150	27	surface	surface	NOUN
hjic-913	150	28	segmentation	segmentation	NOUN
hjic-913	150	29	.	.	PUNCT
hjic-913	151	1	fcn	fcn	PROPN
hjic-913	151	2	is	be	AUX
hjic-913	151	3	much	much	ADV
hjic-913	151	4	simpler	simple	ADJ
hjic-913	151	5	than	than	ADP
hjic-913	151	6	both	both	CCONJ
hjic-913	151	7	u	u	NOUN
hjic-913	151	8	-	-	NOUN
hjic-913	151	9	net	net	ADJ
hjic-913	151	10	and	and	CCONJ
hjic-913	151	11	pspnet	pspnet	NOUN
hjic-913	151	12	neural	neural	ADJ
hjic-913	151	13	network	network	NOUN
hjic-913	151	14	architectures	architecture	NOUN
hjic-913	151	15	.	.	PUNCT
hjic-913	152	1	hence	hence	ADV
hjic-913	152	2	the	the	DET
hjic-913	152	3	efficiency	efficiency	NOUN
hjic-913	152	4	of	of	ADP
hjic-913	152	5	the	the	DET
hjic-913	152	6	fcn	fcn	NOUN
hjic-913	152	7	on	on	ADP
hjic-913	152	8	dataset	dataset	NOUN
hjic-913	152	9	a	a	PRON
hjic-913	152	10	is	be	AUX
hjic-913	152	11	a	a	DET
hjic-913	152	12	little	little	ADJ
hjic-913	152	13	less	less	ADJ
hjic-913	152	14	than	than	ADP
hjic-913	152	15	for	for	ADP
hjic-913	152	16	the	the	DET
hjic-913	152	17	other	other	ADJ
hjic-913	152	18	networks	network	NOUN
hjic-913	152	19	.	.	PUNCT
hjic-913	153	1	u	u	NOUN
hjic-913	153	2	-	-	NOUN
hjic-913	153	3	net	net	NOUN
hjic-913	153	4	and	and	CCONJ
hjic-913	153	5	pspnet	pspnet	NOUN
hjic-913	153	6	are	be	AUX
hjic-913	153	7	very	very	ADV
hjic-913	153	8	robust	robust	ADJ
hjic-913	153	9	and	and	CCONJ
hjic-913	153	10	complex	complex	ADJ
hjic-913	153	11	,	,	PUNCT
hjic-913	153	12	therefore	therefore	ADV
hjic-913	153	13	,	,	PUNCT
hjic-913	153	14	mixed	mixed	ADJ
hjic-913	153	15	datasets	dataset	NOUN
hjic-913	153	16	do	do	AUX
hjic-913	153	17	not	not	PART
hjic-913	153	18	significantly	significantly	ADV
hjic-913	153	19	increase	increase	VERB
hjic-913	153	20	the	the	DET
hjic-913	153	21	efficiency	efficiency	NOUN
hjic-913	153	22	of	of	ADP
hjic-913	153	23	these	these	DET
hjic-913	153	24	architectures	architecture	NOUN
hjic-913	153	25	.	.	PUNCT
hjic-913	154	1	however	however	ADV
hjic-913	154	2	,	,	PUNCT
hjic-913	154	3	for	for	ADP
hjic-913	154	4	simpler	simple	ADJ
hjic-913	154	5	networks	network	NOUN
hjic-913	154	6	like	like	ADP
hjic-913	154	7	fcn	fcn	PROPN
hjic-913	154	8	,	,	PUNCT
hjic-913	154	9	this	this	DET
hjic-913	154	10	method	method	NOUN
hjic-913	154	11	improves	improve	VERB
hjic-913	154	12	the	the	DET
hjic-913	154	13	efficiency	efficiency	NOUN
hjic-913	154	14	.	.	PUNCT
hjic-913	155	1	fig	fig	NOUN
hjic-913	155	2	.	.	PUNCT
hjic-913	156	1	9	9	NUM
hjic-913	156	2	shows	show	VERB
hjic-913	156	3	the	the	DET
hjic-913	156	4	perfor48(1	perfor48(1	NOUN
hjic-913	156	5	)	)	PUNCT
hjic-913	156	6	pp	pp	ADV
hjic-913	156	7	.	.	PUNCT
hjic-913	157	1	3–10	3–10	NOUN
hjic-913	157	2	(	(	PUNCT
hjic-913	157	3	2020	2020	NUM
hjic-913	157	4	)	)	PUNCT
hjic-913	157	5	8	8	NUM
hjic-913	157	6	hollósi	hollósi	ADJ
hjic-913	157	7	,	,	PUNCT
hjic-913	157	8	krecht	krecht	NOUN
hjic-913	157	9	,	,	PUNCT
hjic-913	157	10	markó	markó	NOUN
hjic-913	157	11	,	,	PUNCT
hjic-913	157	12	and	and	CCONJ
hjic-913	157	13	ballagi	ballagi	NOUN
hjic-913	157	14	figure	figure	NOUN
hjic-913	157	15	7	7	NUM
hjic-913	157	16	:	:	PUNCT
hjic-913	157	17	road	road	NOUN
hjic-913	157	18	surface	surface	NOUN
hjic-913	157	19	segmentation	segmentation	NOUN
hjic-913	157	20	performance	performance	NOUN
hjic-913	157	21	mances	mance	NOUN
hjic-913	157	22	with	with	ADP
hjic-913	157	23	regard	regard	NOUN
hjic-913	157	24	to	to	ADP
hjic-913	157	25	the	the	DET
hjic-913	157	26	segmentation	segmentation	NOUN
hjic-913	157	27	of	of	ADP
hjic-913	157	28	protective	protective	ADJ
hjic-913	157	29	barriers	barrier	NOUN
hjic-913	157	30	.	.	PUNCT
hjic-913	158	1	only	only	ADV
hjic-913	158	2	virtual	virtual	ADJ
hjic-913	158	3	images	image	NOUN
hjic-913	158	4	were	be	AUX
hjic-913	158	5	used	use	VERB
hjic-913	158	6	to	to	PART
hjic-913	158	7	train	train	VERB
hjic-913	158	8	the	the	DET
hjic-913	158	9	neural	neural	ADJ
hjic-913	158	10	networks	network	NOUN
hjic-913	158	11	that	that	PRON
hjic-913	158	12	determine	determine	VERB
hjic-913	158	13	the	the	DET
hjic-913	158	14	segmentation	segmentation	NOUN
hjic-913	158	15	of	of	ADP
hjic-913	158	16	protective	protective	ADJ
hjic-913	158	17	barriers	barrier	NOUN
hjic-913	158	18	.	.	PUNCT
hjic-913	159	1	this	this	PRON
hjic-913	159	2	would	would	AUX
hjic-913	159	3	not	not	PART
hjic-913	159	4	have	have	AUX
hjic-913	159	5	been	be	AUX
hjic-913	159	6	possible	possible	ADJ
hjic-913	159	7	in	in	ADP
hjic-913	159	8	the	the	DET
hjic-913	159	9	case	case	NOUN
hjic-913	159	10	of	of	ADP
hjic-913	159	11	road	road	NOUN
hjic-913	159	12	surface	surface	NOUN
hjic-913	159	13	segmentation	segmentation	NOUN
hjic-913	159	14	,	,	PUNCT
hjic-913	159	15	because	because	SCONJ
hjic-913	159	16	the	the	DET
hjic-913	159	17	road	road	NOUN
hjic-913	159	18	surface	surface	NOUN
hjic-913	159	19	is	be	AUX
hjic-913	159	20	too	too	ADV
hjic-913	159	21	complex	complex	ADJ
hjic-913	159	22	.	.	PUNCT
hjic-913	160	1	the	the	DET
hjic-913	160	2	texture	texture	NOUN
hjic-913	160	3	of	of	ADP
hjic-913	160	4	the	the	DET
hjic-913	160	5	protective	protective	ADJ
hjic-913	160	6	barriers	barrier	NOUN
hjic-913	160	7	is	be	AUX
hjic-913	160	8	very	very	ADV
hjic-913	160	9	simple	simple	ADJ
hjic-913	160	10	,	,	PUNCT
hjic-913	160	11	therefore	therefore	ADV
hjic-913	160	12	,	,	PUNCT
hjic-913	160	13	it	it	PRON
hjic-913	160	14	is	be	AUX
hjic-913	160	15	possible	possible	ADJ
hjic-913	160	16	to	to	PART
hjic-913	160	17	recognize	recognize	VERB
hjic-913	160	18	it	it	PRON
hjic-913	160	19	from	from	ADP
hjic-913	160	20	virtual	virtual	ADJ
hjic-913	160	21	images	image	NOUN
hjic-913	160	22	alone	alone	ADV
hjic-913	160	23	.	.	PUNCT
hjic-913	161	1	it	it	PRON
hjic-913	161	2	is	be	AUX
hjic-913	161	3	our	our	PRON
hjic-913	161	4	intention	intention	NOUN
hjic-913	161	5	to	to	PART
hjic-913	161	6	use	use	VERB
hjic-913	161	7	an	an	DET
hjic-913	161	8	environment	environment	NOUN
hjic-913	161	9	detection	detection	NOUN
hjic-913	161	10	system	system	NOUN
hjic-913	161	11	in	in	ADP
hjic-913	161	12	a	a	DET
hjic-913	161	13	low	low	ADJ
hjic-913	161	14	-	-	PUNCT
hjic-913	161	15	budget	budget	NOUN
hjic-913	161	16	racing	racing	NOUN
hjic-913	161	17	car	car	NOUN
hjic-913	161	18	,	,	PUNCT
hjic-913	161	19	where	where	SCONJ
hjic-913	161	20	the	the	DET
hjic-913	161	21	hardware	hardware	NOUN
hjic-913	161	22	resources	resource	NOUN
hjic-913	161	23	available	available	ADJ
hjic-913	161	24	are	be	AUX
hjic-913	161	25	limited	limited	ADJ
hjic-913	161	26	and	and	CCONJ
hjic-913	161	27	detection	detection	NOUN
hjic-913	161	28	must	must	AUX
hjic-913	161	29	occur	occur	VERB
hjic-913	161	30	in	in	ADP
hjic-913	161	31	real	real	ADJ
hjic-913	161	32	time	time	NOUN
hjic-913	161	33	with	with	ADP
hjic-913	161	34	a	a	DET
hjic-913	161	35	high	high	ADJ
hjic-913	161	36	degree	degree	NOUN
hjic-913	161	37	of	of	ADP
hjic-913	161	38	detection	detection	NOUN
hjic-913	161	39	accuracy	accuracy	NOUN
hjic-913	161	40	.	.	PUNCT
hjic-913	162	1	therefore	therefore	ADV
hjic-913	162	2	,	,	PUNCT
hjic-913	162	3	the	the	DET
hjic-913	162	4	neural	neural	ADJ
hjic-913	162	5	network	network	NOUN
hjic-913	162	6	should	should	AUX
hjic-913	162	7	be	be	AUX
hjic-913	162	8	designed	design	VERB
hjic-913	162	9	to	to	PART
hjic-913	162	10	be	be	AUX
hjic-913	162	11	as	as	ADV
hjic-913	162	12	simple	simple	ADJ
hjic-913	162	13	as	as	ADP
hjic-913	162	14	possible	possible	ADJ
hjic-913	162	15	.	.	PUNCT
hjic-913	163	1	if	if	SCONJ
hjic-913	163	2	the	the	DET
hjic-913	163	3	neural	neural	ADJ
hjic-913	163	4	network	network	NOUN
hjic-913	163	5	architecture	architecture	NOUN
hjic-913	163	6	is	be	AUX
hjic-913	163	7	too	too	ADV
hjic-913	163	8	simple	simple	ADJ
hjic-913	163	9	,	,	PUNCT
hjic-913	163	10	it	it	PRON
hjic-913	163	11	is	be	AUX
hjic-913	163	12	more	more	ADV
hjic-913	163	13	difficult	difficult	ADJ
hjic-913	163	14	to	to	PART
hjic-913	163	15	train	train	VERB
hjic-913	163	16	for	for	ADP
hjic-913	163	17	complex	complex	ADJ
hjic-913	163	18	recognition	recognition	NOUN
hjic-913	163	19	tasks	task	NOUN
hjic-913	163	20	.	.	PUNCT
hjic-913	164	1	moreover	moreover	ADV
hjic-913	164	2	,	,	PUNCT
hjic-913	164	3	the	the	DET
hjic-913	164	4	dataset	dataset	NOUN
hjic-913	164	5	concerning	concern	VERB
hjic-913	164	6	the	the	DET
hjic-913	164	7	racing	racing	NOUN
hjic-913	164	8	track	track	NOUN
hjic-913	164	9	,	,	PUNCT
hjic-913	164	10	protective	protective	ADJ
hjic-913	164	11	barriers	barrier	NOUN
hjic-913	164	12	,	,	PUNCT
hjic-913	164	13	etc	etc	X
hjic-913	164	14	.	.	X
hjic-913	164	15	is	be	AUX
hjic-913	164	16	not	not	PART
hjic-913	164	17	large	large	ADJ
hjic-913	164	18	.	.	PUNCT
hjic-913	165	1	in	in	ADP
hjic-913	165	2	this	this	DET
hjic-913	165	3	case	case	NOUN
hjic-913	165	4	,	,	PUNCT
hjic-913	165	5	it	it	PRON
hjic-913	165	6	is	be	AUX
hjic-913	165	7	helpful	helpful	ADJ
hjic-913	165	8	to	to	PART
hjic-913	165	9	be	be	AUX
hjic-913	165	10	able	able	ADJ
hjic-913	165	11	to	to	PART
hjic-913	165	12	train	train	VERB
hjic-913	165	13	simpler	simple	ADJ
hjic-913	165	14	neural	neural	ADJ
hjic-913	165	15	networks	network	NOUN
hjic-913	165	16	,	,	PUNCT
hjic-913	165	17	e.g.	e.g.	ADV
hjic-913	165	18	fcn	fcn	PROPN
hjic-913	165	19	,	,	PUNCT
hjic-913	165	20	with	with	ADP
hjic-913	165	21	virtual	virtual	ADJ
hjic-913	165	22	datasets	dataset	NOUN
hjic-913	165	23	to	to	PART
hjic-913	165	24	achieve	achieve	VERB
hjic-913	165	25	higher	high	ADJ
hjic-913	165	26	degrees	degree	NOUN
hjic-913	165	27	of	of	ADP
hjic-913	165	28	efficiency	efficiency	NOUN
hjic-913	165	29	.	.	PUNCT
hjic-913	166	1	experience	experience	NOUN
hjic-913	166	2	has	have	AUX
hjic-913	166	3	shown	show	VERB
hjic-913	166	4	that	that	SCONJ
hjic-913	166	5	the	the	DET
hjic-913	166	6	efficiency	efficiency	NOUN
hjic-913	166	7	of	of	ADP
hjic-913	166	8	road	road	NOUN
hjic-913	166	9	surface	surface	NOUN
hjic-913	166	10	detection	detection	NOUN
hjic-913	166	11	is	be	AUX
hjic-913	166	12	improved	improve	VERB
hjic-913	166	13	by	by	ADP
hjic-913	166	14	using	use	VERB
hjic-913	166	15	three	three	NUM
hjic-913	166	16	times	time	NOUN
hjic-913	166	17	as	as	ADV
hjic-913	166	18	many	many	ADJ
hjic-913	166	19	virtual	virtual	ADJ
hjic-913	166	20	images	image	NOUN
hjic-913	166	21	,	,	PUNCT
hjic-913	166	22	while	while	SCONJ
hjic-913	166	23	for	for	ADP
hjic-913	166	24	protective	protective	ADJ
hjic-913	166	25	barrier	barrier	NOUN
hjic-913	166	26	detection	detection	NOUN
hjic-913	166	27	it	it	PRON
hjic-913	166	28	is	be	AUX
hjic-913	166	29	sufficient	sufficient	ADJ
hjic-913	166	30	to	to	PART
hjic-913	166	31	only	only	ADV
hjic-913	166	32	use	use	VERB
hjic-913	166	33	virtual	virtual	ADJ
hjic-913	166	34	images	image	NOUN
hjic-913	166	35	.	.	PUNCT
hjic-913	167	1	6	6	X
hjic-913	167	2	.	.	X
hjic-913	167	3	conclusion	conclusion	NOUN
hjic-913	167	4	this	this	DET
hjic-913	167	5	paper	paper	NOUN
hjic-913	167	6	presents	present	VERB
hjic-913	167	7	how	how	SCONJ
hjic-913	167	8	to	to	PART
hjic-913	167	9	use	use	VERB
hjic-913	167	10	computer	computer	NOUN
hjic-913	167	11	-	-	PUNCT
hjic-913	167	12	generated	generate	VERB
hjic-913	167	13	virtual	virtual	ADJ
hjic-913	167	14	images	image	NOUN
hjic-913	167	15	to	to	PART
hjic-913	167	16	train	train	VERB
hjic-913	167	17	artificial	artificial	ADJ
hjic-913	167	18	neural	neural	ADJ
hjic-913	167	19	networks	network	NOUN
hjic-913	167	20	when	when	SCONJ
hjic-913	167	21	the	the	DET
hjic-913	167	22	amount	amount	NOUN
hjic-913	167	23	of	of	ADP
hjic-913	167	24	available	available	ADJ
hjic-913	167	25	real	real	ADJ
hjic-913	167	26	-	-	PUNCT
hjic-913	167	27	world	world	NOUN
hjic-913	167	28	images	image	NOUN
hjic-913	167	29	is	be	AUX
hjic-913	167	30	limited	limited	ADJ
hjic-913	167	31	.	.	PUNCT
hjic-913	168	1	three	three	NUM
hjic-913	168	2	different	different	ADJ
hjic-913	168	3	neural	neural	ADJ
hjic-913	168	4	network	network	NOUN
hjic-913	168	5	architectures	architecture	NOUN
hjic-913	168	6	,	,	PUNCT
hjic-913	168	7	namely	namely	ADV
hjic-913	168	8	fcn	fcn	PROPN
hjic-913	168	9	,	,	PUNCT
hjic-913	168	10	unet	unet	NOUN
hjic-913	168	11	and	and	CCONJ
hjic-913	168	12	pspnet	pspnet	NOUN
hjic-913	168	13	,	,	PUNCT
hjic-913	168	14	were	be	AUX
hjic-913	168	15	investigated	investigate	VERB
hjic-913	168	16	and	and	CCONJ
hjic-913	168	17	these	these	DET
hjic-913	168	18	networks	network	NOUN
hjic-913	168	19	trained	train	VERB
hjic-913	168	20	with	with	ADP
hjic-913	168	21	mixed	mixed	ADJ
hjic-913	168	22	datasets	dataset	NOUN
hjic-913	168	23	.	.	PUNCT
hjic-913	169	1	it	it	PRON
hjic-913	169	2	was	be	AUX
hjic-913	169	3	shown	show	VERB
hjic-913	169	4	that	that	SCONJ
hjic-913	169	5	virtual	virtual	ADJ
hjic-913	169	6	imhungarian	imhungarian	ADJ
hjic-913	169	7	journal	journal	PROPN
hjic-913	169	8	of	of	ADP
hjic-913	169	9	industry	industry	NOUN
hjic-913	169	10	and	and	CCONJ
hjic-913	169	11	chemistry	chemistry	NOUN
hjic-913	169	12	improving	improve	VERB
hjic-913	169	13	the	the	DET
hjic-913	169	14	efficiency	efficiency	NOUN
hjic-913	169	15	of	of	ADP
hjic-913	169	16	neural	neural	ADJ
hjic-913	169	17	networks	network	NOUN
hjic-913	169	18	with	with	ADP
hjic-913	169	19	virtual	virtual	ADJ
hjic-913	169	20	training	training	NOUN
hjic-913	169	21	data	datum	NOUN
hjic-913	169	22	9	9	NUM
hjic-913	169	23	figure	figure	NOUN
hjic-913	169	24	8	8	NUM
hjic-913	169	25	:	:	PUNCT
hjic-913	169	26	best	good	ADJ
hjic-913	169	27	accuracy	accuracy	NOUN
hjic-913	169	28	of	of	ADP
hjic-913	169	29	road	road	NOUN
hjic-913	169	30	segmentation	segmentation	NOUN
hjic-913	169	31	figure	figure	NOUN
hjic-913	169	32	9	9	NUM
hjic-913	169	33	:	:	PUNCT
hjic-913	169	34	barrier	barrier	NOUN
hjic-913	169	35	segmentation	segmentation	NOUN
hjic-913	169	36	performance	performance	NOUN
hjic-913	169	37	ages	age	NOUN
hjic-913	169	38	improve	improve	VERB
hjic-913	169	39	the	the	DET
hjic-913	169	40	efficiency	efficiency	NOUN
hjic-913	169	41	of	of	ADP
hjic-913	169	42	neural	neural	ADJ
hjic-913	169	43	networks	network	NOUN
hjic-913	169	44	.	.	PUNCT
hjic-913	170	1	our	our	PRON
hjic-913	170	2	research	research	NOUN
hjic-913	170	3	demonstrates	demonstrate	VERB
hjic-913	170	4	that	that	SCONJ
hjic-913	170	5	when	when	SCONJ
hjic-913	170	6	the	the	DET
hjic-913	170	7	texture	texture	NOUN
hjic-913	170	8	of	of	ADP
hjic-913	170	9	the	the	DET
hjic-913	170	10	objects	object	NOUN
hjic-913	170	11	is	be	AUX
hjic-913	170	12	simple	simple	ADJ
hjic-913	170	13	,	,	PUNCT
hjic-913	170	14	e.g.	e.g.	ADV
hjic-913	170	15	that	that	PRON
hjic-913	170	16	of	of	ADP
hjic-913	170	17	protective	protective	ADJ
hjic-913	170	18	barriers	barrier	NOUN
hjic-913	170	19	,	,	PUNCT
hjic-913	170	20	it	it	PRON
hjic-913	170	21	is	be	AUX
hjic-913	170	22	sufficient	sufficient	ADJ
hjic-913	170	23	to	to	PART
hjic-913	170	24	only	only	ADV
hjic-913	170	25	use	use	VERB
hjic-913	170	26	virtual	virtual	ADJ
hjic-913	170	27	image	image	NOUN
hjic-913	170	28	-	-	PUNCT
hjic-913	170	29	based	base	VERB
hjic-913	170	30	training	training	NOUN
hjic-913	170	31	datasets	dataset	NOUN
hjic-913	170	32	.	.	PUNCT
hjic-913	171	1	this	this	DET
hjic-913	171	2	work	work	NOUN
hjic-913	171	3	may	may	AUX
hjic-913	171	4	help	help	VERB
hjic-913	171	5	us	we	PRON
hjic-913	171	6	to	to	PART
hjic-913	171	7	create	create	VERB
hjic-913	171	8	an	an	DET
hjic-913	171	9	efficient	efficient	ADJ
hjic-913	171	10	environment	environment	NOUN
hjic-913	171	11	detector	detector	NOUN
hjic-913	171	12	for	for	ADP
hjic-913	171	13	the	the	DET
hjic-913	171	14	shell	shell	ADJ
hjic-913	171	15	eco	eco	PROPN
hjic-913	171	16	-	-	PUNCT
hjic-913	171	17	marathon	marathon	NOUN
hjic-913	171	18	,	,	PUNCT
hjic-913	171	19	where	where	SCONJ
hjic-913	171	20	special	special	ADJ
hjic-913	171	21	objects	object	NOUN
hjic-913	171	22	have	have	VERB
hjic-913	171	23	to	to	PART
hjic-913	171	24	be	be	AUX
hjic-913	171	25	detected	detect	VERB
hjic-913	171	26	in	in	ADP
hjic-913	171	27	the	the	DET
hjic-913	171	28	absence	absence	NOUN
hjic-913	171	29	of	of	ADP
hjic-913	171	30	real	real	ADJ
hjic-913	171	31	-	-	PUNCT
hjic-913	171	32	world	world	NOUN
hjic-913	171	33	datasets	dataset	NOUN
hjic-913	171	34	.	.	PUNCT
hjic-913	172	1	acknowledgements	acknowledgement	NOUN
hjic-913	172	2	the	the	DET
hjic-913	172	3	research	research	NOUN
hjic-913	172	4	was	be	AUX
hjic-913	172	5	carried	carry	VERB
hjic-913	172	6	out	out	ADP
hjic-913	172	7	as	as	ADP
hjic-913	172	8	part	part	NOUN
hjic-913	172	9	of	of	ADP
hjic-913	172	10	the	the	DET
hjic-913	172	11	“	"	PUNCT
hjic-913	172	12	autonomous	autonomous	ADJ
hjic-913	172	13	vehicle	vehicle	NOUN
hjic-913	172	14	systems	system	NOUN
hjic-913	172	15	research	research	NOUN
hjic-913	172	16	related	relate	VERB
hjic-913	172	17	to	to	ADP
hjic-913	172	18	the	the	DET
hjic-913	172	19	autonomous	autonomous	ADJ
hjic-913	172	20	vehicle	vehicle	NOUN
hjic-913	172	21	proving	prove	VERB
hjic-913	172	22	ground	ground	NOUN
hjic-913	172	23	of	of	ADP
hjic-913	172	24	zalaegerszeg	zalaegerszeg	PROPN
hjic-913	172	25	(	(	PUNCT
hjic-913	172	26	efop-3.6.216	efop-3.6.216	VERB
hjic-913	172	27	-	-	PUNCT
hjic-913	172	28	2017	2017	NUM
hjic-913	172	29	-	-	PUNCT
hjic-913	172	30	00002	00002	NUM
hjic-913	172	31	)	)	PUNCT
hjic-913	172	32	”	"	PUNCT
hjic-913	172	33	project	project	NOUN
hjic-913	172	34	in	in	ADP
hjic-913	172	35	the	the	DET
hjic-913	172	36	framework	framework	NOUN
hjic-913	172	37	of	of	ADP
hjic-913	172	38	the	the	DET
hjic-913	172	39	new	new	ADJ
hjic-913	172	40	széchenyi	széchenyi	PROPN
hjic-913	172	41	plan	plan	NOUN
hjic-913	172	42	.	.	PUNCT
hjic-913	173	1	the	the	DET
hjic-913	173	2	completion	completion	NOUN
hjic-913	173	3	of	of	ADP
hjic-913	173	4	this	this	DET
hjic-913	173	5	project	project	NOUN
hjic-913	173	6	is	be	AUX
hjic-913	173	7	funded	fund	VERB
hjic-913	173	8	by	by	ADP
hjic-913	173	9	the	the	DET
hjic-913	173	10	european	european	PROPN
hjic-913	173	11	union	union	PROPN
hjic-913	173	12	and	and	CCONJ
hjic-913	173	13	co	co	VERB
hjic-913	173	14	-	-	VERB
hjic-913	173	15	financed	finance	VERB
hjic-913	173	16	by	by	ADP
hjic-913	173	17	the	the	DET
hjic-913	173	18	european	european	ADJ
hjic-913	173	19	social	social	PROPN
hjic-913	173	20	fund	fund	PROPN
hjic-913	173	21	.	.	PUNCT
hjic-913	174	1	references	reference	NOUN
hjic-913	174	2	[	[	X
hjic-913	174	3	1	1	NUM
hjic-913	174	4	]	]	PUNCT
hjic-913	174	5	krizhevsky	krizhevsky	NOUN
hjic-913	174	6	,	,	PUNCT
hjic-913	174	7	g.	g.	PROPN
hjic-913	174	8	a.	a.	PROPN
hjic-913	174	9	;	;	PUNCT
hjic-913	174	10	sutskever	sutskever	PROPN
hjic-913	174	11	,	,	PUNCT
hjic-913	174	12	i.	i.	PROPN
hjic-913	174	13	;	;	PUNCT
hjic-913	174	14	hinton	hinton	PROPN
hjic-913	174	15	,	,	PUNCT
hjic-913	174	16	g.	g.	PROPN
hjic-913	174	17	e.	e.	PROPN
hjic-913	174	18	:	:	PUNCT
hjic-913	174	19	imagenet	imagenet	PROPN
hjic-913	174	20	classification	classification	NOUN
hjic-913	174	21	with	with	ADP
hjic-913	174	22	deep	deep	ADJ
hjic-913	174	23	convolutional	convolutional	ADJ
hjic-913	174	24	neural	neural	ADJ
hjic-913	174	25	networks	network	NOUN
hjic-913	174	26	,	,	PUNCT
hjic-913	174	27	commun	commun	PROPN
hjic-913	174	28	.	.	PUNCT
hjic-913	174	29	acm	acm	PROPN
hjic-913	174	30	,	,	PUNCT
hjic-913	174	31	2017	2017	NUM
hjic-913	174	32	60(6	60(6	NOUN
hjic-913	174	33	)	)	PUNCT
hjic-913	174	34	,	,	PUNCT
hjic-913	174	35	84–90	84–90	NUM
hjic-913	174	36	doi	doi	NOUN
hjic-913	174	37	:	:	PUNCT
hjic-913	174	38	10.1145/3065386	10.1145/3065386	NUM
hjic-913	175	1	[	[	X
hjic-913	175	2	2	2	NUM
hjic-913	175	3	]	]	SYM
hjic-913	175	4	simonyan	simonyan	ADJ
hjic-913	175	5	,	,	PUNCT
hjic-913	175	6	k.	k.	PROPN
hjic-913	175	7	;	;	PUNCT
hjic-913	175	8	zisserman	zisserman	NOUN
hjic-913	175	9	,	,	PUNCT
hjic-913	175	10	a.	a.	NOUN
hjic-913	175	11	:	:	PUNCT
hjic-913	175	12	very	very	ADV
hjic-913	175	13	deep	deep	ADJ
hjic-913	175	14	convolutional	convolutional	ADJ
hjic-913	175	15	networks	network	NOUN
hjic-913	175	16	for	for	ADP
hjic-913	175	17	large	large	ADJ
hjic-913	175	18	-	-	PUNCT
hjic-913	175	19	scale	scale	NOUN
hjic-913	175	20	image	image	NOUN
hjic-913	175	21	recognition	recognition	NOUN
hjic-913	175	22	,	,	PUNCT
hjic-913	175	23	3rd	3rd	ADJ
hjic-913	175	24	international	international	ADJ
hjic-913	175	25	conference	conference	NOUN
hjic-913	175	26	on	on	ADP
hjic-913	175	27	learning	learn	VERB
hjic-913	175	28	representations	representation	NOUN
hjic-913	175	29	,	,	PUNCT
hjic-913	175	30	san	san	PROPN
hjic-913	175	31	diego	diego	PROPN
hjic-913	175	32	,	,	PUNCT
hjic-913	175	33	usa	usa	PROPN
hjic-913	175	34	,	,	PUNCT
hjic-913	175	35	2015	2015	NUM
hjic-913	175	36	[	[	X
hjic-913	175	37	3	3	NUM
hjic-913	175	38	]	]	X
hjic-913	175	39	szegedy	szegedy	PROPN
hjic-913	175	40	,	,	PUNCT
hjic-913	175	41	c.	c.	PROPN
hjic-913	175	42	;	;	PUNCT
hjic-913	175	43	liu	liu	PROPN
hjic-913	175	44	,	,	PUNCT
hjic-913	175	45	w.	w.	PROPN
hjic-913	175	46	;	;	PUNCT
hjic-913	175	47	jia	jia	PROPN
hjic-913	175	48	,	,	PUNCT
hjic-913	175	49	y.	y.	PROPN
hjic-913	175	50	;	;	PUNCT
hjic-913	175	51	sermanet	sermanet	NOUN
hjic-913	175	52	,	,	PUNCT
hjic-913	175	53	p.	p.	PROPN
hjic-913	175	54	;	;	PUNCT
hjic-913	175	55	reed	reed	PROPN
hjic-913	175	56	,	,	PUNCT
hjic-913	175	57	s.	s.	PROPN
hjic-913	175	58	:	:	PUNCT
hjic-913	175	59	going	go	VERB
hjic-913	175	60	deeper	deeply	ADV
hjic-913	175	61	with	with	ADP
hjic-913	175	62	convolutions	convolution	NOUN
hjic-913	175	63	,	,	PUNCT
hjic-913	175	64	ieee	ieee	NOUN
hjic-913	175	65	conference	conference	NOUN
hjic-913	175	66	on	on	ADP
hjic-913	175	67	computer	computer	NOUN
hjic-913	175	68	vision	vision	NOUN
hjic-913	175	69	and	and	CCONJ
hjic-913	175	70	pattern	pattern	NOUN
hjic-913	175	71	recognition	recognition	NOUN
hjic-913	175	72	(	(	PUNCT
hjic-913	175	73	cvpr	cvpr	NOUN
hjic-913	175	74	)	)	PUNCT
hjic-913	175	75	,	,	PUNCT
hjic-913	175	76	boston	boston	PROPN
hjic-913	175	77	,	,	PUNCT
hjic-913	175	78	ma	ma	PROPN
hjic-913	175	79	,	,	PUNCT
hjic-913	175	80	usa	usa	PROPN
hjic-913	175	81	,	,	PUNCT
hjic-913	175	82	2015	2015	NUM
hjic-913	175	83	doi	doi	NOUN
hjic-913	175	84	:	:	PUNCT
hjic-913	175	85	10.1109	10.1109	NUM
hjic-913	175	86	/	/	SYM
hjic-913	175	87	cvpr.2015.7298594	cvpr.2015.7298594	NOUN
hjic-913	175	88	[	[	X
hjic-913	175	89	4	4	NUM
hjic-913	175	90	]	]	X
hjic-913	175	91	shelhamer	shelhamer	X
hjic-913	175	92	,	,	PUNCT
hjic-913	175	93	e.	e.	PROPN
hjic-913	175	94	;	;	PUNCT
hjic-913	175	95	long	long	ADV
hjic-913	175	96	,	,	PUNCT
hjic-913	175	97	j.	j.	PROPN
hjic-913	175	98	;	;	PUNCT
hjic-913	175	99	darrell	darrell	PROPN
hjic-913	175	100	,	,	PUNCT
hjic-913	175	101	t.	t.	PROPN
hjic-913	175	102	:	:	PUNCT
hjic-913	175	103	fully	fully	ADV
hjic-913	175	104	convolutional	convolutional	ADJ
hjic-913	175	105	networks	network	NOUN
hjic-913	175	106	for	for	ADP
hjic-913	175	107	semantic	semantic	ADJ
hjic-913	175	108	segmentation	segmentation	NOUN
hjic-913	175	109	,	,	PUNCT
hjic-913	175	110	ieee	ieee	NOUN
hjic-913	175	111	transactions	transaction	NOUN
hjic-913	175	112	on	on	ADP
hjic-913	175	113	pattern	pattern	NOUN
hjic-913	175	114	analysis	analysis	NOUN
hjic-913	175	115	and	and	CCONJ
hjic-913	175	116	machine	machine	NOUN
hjic-913	175	117	intelligence	intelligence	NOUN
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hjic-913	175	121	)	)	PUNCT
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hjic-913	175	124	:	:	PUNCT
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hjic-913	175	126	/	/	SYM
hjic-913	175	127	cvpr.2015.7298965	cvpr.2015.7298965	NOUN
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hjic-913	175	129	5	5	NUM
hjic-913	175	130	]	]	PUNCT
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hjic-913	175	135	fischer	fischer	PROPN
hjic-913	175	136	,	,	PUNCT
hjic-913	175	137	p.	p.	PROPN
hjic-913	175	138	;	;	PUNCT
hjic-913	175	139	brox	brox	PROPN
hjic-913	175	140	,	,	PUNCT
hjic-913	175	141	t.	t.	PROPN
hjic-913	175	142	:	:	PUNCT
hjic-913	175	143	u	u	NOUN
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hjic-913	175	146	:	:	PUNCT
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hjic-913	175	153	,	,	PUNCT
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hjic-913	175	155	:	:	PUNCT
hjic-913	175	156	navab	navab	PROPN
hjic-913	175	157	,	,	PUNCT
hjic-913	175	158	n.	n.	NOUN
hjic-913	175	159	;	;	PUNCT
hjic-913	175	160	hornegger	hornegger	NOUN
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hjic-913	175	163	;	;	PUNCT
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hjic-913	175	165	,	,	PUNCT
hjic-913	175	166	w.	w.	PROPN
hjic-913	175	167	;	;	PUNCT
hjic-913	175	168	frangi	frangi	PROPN
hjic-913	175	169	,	,	PUNCT
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hjic-913	175	172	eds	eds	PROPN
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hjic-913	176	6	-	-	PUNCT
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hjic-913	176	9	–	–	PUNCT
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hjic-913	176	12	.	.	PUNCT
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hjic-913	177	2	2015	2015	NUM
hjic-913	177	3	:	:	PUNCT
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hjic-913	177	6	in	in	ADP
hjic-913	177	7	computer	computer	NOUN
hjic-913	177	8	science	science	NOUN
hjic-913	177	9	,	,	PUNCT
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hjic-913	177	11	234–241	234–241	NUM
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hjic-913	177	21	:	:	PUNCT
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hjic-913	177	23	-	-	SYM
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hjic-913	177	25	-	-	NUM
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hjic-913	177	27	-	-	PUNCT
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hjic-913	177	29	-	-	SYM
hjic-913	177	30	4_28	4_28	NOUN
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hjic-913	178	2	6	6	NUM
hjic-913	178	3	]	]	PUNCT
hjic-913	178	4	he	he	PRON
hjic-913	178	5	,	,	PUNCT
hjic-913	178	6	k.	k.	PROPN
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hjic-913	178	8	zhang	zhang	PROPN
hjic-913	178	9	,	,	PUNCT
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hjic-913	178	11	;	;	PUNCT
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hjic-913	178	15	;	;	PUNCT
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hjic-913	178	17	,	,	PUNCT
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hjic-913	178	26	,	,	PUNCT
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hjic-913	178	28	conference	conference	NOUN
hjic-913	178	29	on	on	ADP
hjic-913	178	30	computer	computer	NOUN
hjic-913	178	31	vision	vision	NOUN
hjic-913	178	32	and	and	CCONJ
hjic-913	178	33	pattern	pattern	NOUN
hjic-913	178	34	recognition	recognition	NOUN
hjic-913	178	35	,	,	PUNCT
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hjic-913	178	42	,	,	PUNCT
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hjic-913	178	44	,	,	PUNCT
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hjic-913	178	47	:	:	PUNCT
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hjic-913	179	7	;	;	PUNCT
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hjic-913	179	11	;	;	PUNCT
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hjic-913	179	15	;	;	PUNCT
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hjic-913	179	18	x.	x.	PROPN
hjic-913	179	19	;	;	PUNCT
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hjic-913	179	42	,	,	PUNCT
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hjic-913	179	46	,	,	PUNCT
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hjic-913	179	50	:	:	PUNCT
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hjic-913	180	3	]	]	X
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hjic-913	180	5	,	,	PUNCT
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hjic-913	180	7	;	;	PUNCT
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hjic-913	180	11	;	;	PUNCT
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hjic-913	180	14	k.	k.	PROPN
hjic-913	180	15	;	;	PUNCT
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hjic-913	180	42	1278–1286	1278–1286	NUM
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hjic-913	180	44	2015	2015	NUM
hjic-913	180	45	doi	doi	NOUN
hjic-913	180	46	:	:	PUNCT
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hjic-913	181	2	/	/	SYM
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hjic-913	182	7	;	;	PUNCT
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hjic-913	182	9	,	,	PUNCT
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hjic-913	182	11	;	;	PUNCT
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hjic-913	183	6	)	)	PUNCT
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hjic-913	183	46	,	,	PUNCT
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hjic-913	183	50	11	11	NUM
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hjic-913	183	52	doi	doi	NOUN
hjic-913	183	53	:	:	PUNCT
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hjic-913	183	55	/	/	SYM
hjic-913	183	56	sym11040496	sym11040496	NOUN
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hjic-913	184	3	]	]	PUNCT
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hjic-913	185	3	|	|	ADV
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hjic-913	185	8	-	-	PUNCT
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hjic-913	186	2	)	)	PUNCT
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hjic-913	187	2	(	(	PUNCT
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hjic-913	187	4	)	)	PUNCT
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hjic-913	188	5	https://doi.org/10.1109/cvpr.2015.7298965	https://doi.org/10.1109/cvpr.2015.7298965	PROPN
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hjic-913	188	20	https://doi.org/10.1109/jas.2017.7510841	https://doi.org/10.1109/jas.2017.7510841	PROPN
hjic-913	188	21	https://doi.org/10.1109/jas.2017.7510841	https://doi.org/10.1109/jas.2017.7510841	PROPN
hjic-913	188	22	https://doi.org/10.3390/sym11040496	https://doi.org/10.3390/sym11040496	PROPN
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hjic-913	188	24	hollósi	hollósi	ADJ
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hjic-913	188	28	markó	markó	NOUN
hjic-913	188	29	,	,	PUNCT
hjic-913	188	30	and	and	CCONJ
hjic-913	188	31	ballagi	ballagi	NOUN
hjic-913	188	32	https://www.unrealengine.com/en-us/	https://www.unrealengine.com/en-us/	PROPN
hjic-913	189	1	[	[	X
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hjic-913	189	3	14	14	NUM
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hjic-913	189	5	2019	2019	NUM
hjic-913	189	6	]	]	PUNCT
hjic-913	190	1	[	[	X
hjic-913	190	2	12	12	NUM
hjic-913	190	3	]	]	X
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hjic-913	190	9	,	,	PUNCT
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hjic-913	190	19	;	;	PUNCT
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hjic-913	190	23	,	,	PUNCT
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hjic-913	190	25	;	;	PUNCT
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hjic-913	190	27	,	,	PUNCT
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hjic-913	190	29	;	;	PUNCT
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hjic-913	190	41	;	;	PUNCT
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hjic-913	190	46	;	;	PUNCT
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hjic-913	190	55	scale	scale	NOUN
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hjic-913	190	57	recognition	recognition	NOUN
hjic-913	190	58	challenge	challenge	NOUN
hjic-913	190	59	,	,	PUNCT
hjic-913	190	60	int	int	NOUN
hjic-913	190	61	.	.	PUNCT
hjic-913	191	1	j.	j.	PROPN
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hjic-913	191	3	vision	vision	PROPN
hjic-913	191	4	,	,	PUNCT
hjic-913	191	5	2015	2015	NUM
hjic-913	191	6	115	115	NUM
hjic-913	191	7	211–252	211–252	NUM
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hjic-913	191	9	:	:	PUNCT
hjic-913	191	10	10.1007	10.1007	NUM
hjic-913	191	11	/	/	SYM
hjic-913	191	12	s11263	s11263	NUM
hjic-913	191	13	-	-	PUNCT
hjic-913	191	14	015	015	NUM
hjic-913	191	15	-	-	PUNCT
hjic-913	191	16	0816	0816	NUM
hjic-913	191	17	-	-	PUNCT
hjic-913	191	18	y	y	NOUN
hjic-913	192	1	[	[	X
hjic-913	192	2	13	13	NUM
hjic-913	192	3	]	]	X
hjic-913	192	4	cordts	cordts	ADJ
hjic-913	192	5	,	,	PUNCT
hjic-913	192	6	m.	m.	NOUN
hjic-913	192	7	;	;	PUNCT
hjic-913	192	8	omran	omran	NOUN
hjic-913	192	9	,	,	PUNCT
hjic-913	192	10	m.	m.	NOUN
hjic-913	192	11	;	;	PUNCT
hjic-913	192	12	ramos	ramos	PROPN
hjic-913	192	13	,	,	PUNCT
hjic-913	192	14	s.	s.	PROPN
hjic-913	192	15	;	;	PUNCT
hjic-913	192	16	rehfeld	rehfeld	PROPN
hjic-913	192	17	,	,	PUNCT
hjic-913	192	18	t.	t.	PROPN
hjic-913	192	19	;	;	PUNCT
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hjic-913	192	21	,	,	PUNCT
hjic-913	192	22	m.	m.	NOUN
hjic-913	192	23	;	;	PUNCT
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hjic-913	192	25	,	,	PUNCT
hjic-913	192	26	r.	r.	PROPN
hjic-913	192	27	;	;	PUNCT
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hjic-913	192	29	,	,	PUNCT
hjic-913	192	30	u.	u.	PROPN
hjic-913	192	31	;	;	PUNCT
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hjic-913	192	33	,	,	PUNCT
hjic-913	192	34	s.	s.	PROPN
hjic-913	192	35	;	;	PUNCT
hjic-913	192	36	schiele	schiele	PROPN
hjic-913	192	37	,	,	PUNCT
hjic-913	192	38	b.	b.	PROPN
hjic-913	192	39	:	:	PUNCT
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hjic-913	192	41	cityscapes	cityscape	NOUN
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hjic-913	192	43	for	for	ADP
hjic-913	192	44	semantic	semantic	ADJ
hjic-913	192	45	urban	urban	ADJ
hjic-913	192	46	scene	scene	NOUN
hjic-913	192	47	understanding	understanding	NOUN
hjic-913	192	48	,	,	PUNCT
hjic-913	192	49	ieee	ieee	NOUN
hjic-913	192	50	conference	conference	NOUN
hjic-913	192	51	on	on	ADP
hjic-913	192	52	computer	computer	NOUN
hjic-913	192	53	vision	vision	NOUN
hjic-913	192	54	and	and	CCONJ
hjic-913	192	55	pattern	pattern	NOUN
hjic-913	192	56	recognition	recognition	NOUN
hjic-913	192	57	(	(	PUNCT
hjic-913	192	58	cvpr	cvpr	NOUN
hjic-913	192	59	)	)	PUNCT
hjic-913	192	60	,	,	PUNCT
hjic-913	192	61	las	las	PROPN
hjic-913	192	62	vegas	vegas	PROPN
hjic-913	192	63	,	,	PUNCT
hjic-913	192	64	nv	nv	PROPN
hjic-913	192	65	,	,	PUNCT
hjic-913	192	66	usa	usa	PROPN
hjic-913	192	67	,	,	PUNCT
hjic-913	192	68	3213–3223	3213–3223	NUM
hjic-913	192	69	2016	2016	NUM
hjic-913	192	70	doi	doi	NOUN
hjic-913	192	71	:	:	PUNCT
hjic-913	192	72	10.1109	10.1109	NUM
hjic-913	192	73	/	/	SYM
hjic-913	192	74	cvpr.2016.350	cvpr.2016.350	PROPN
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hjic-913	192	76	journal	journal	NOUN
hjic-913	192	77	of	of	ADP
hjic-913	192	78	industry	industry	NOUN
hjic-913	192	79	and	and	CCONJ
hjic-913	192	80	chemistry	chemistry	NOUN
hjic-913	193	1	https://www.unrealengine.com/en-us/	https://www.unrealengine.com/en-us/	INTJ
hjic-913	194	1	https://doi.org/10.1007/s11263-015-0816-y	https://doi.org/10.1007/s11263-015-0816-y	PROPN
hjic-913	194	2	https://doi.org/10.1109/cvpr.2016.350	https://doi.org/10.1109/cvpr.2016.350	PROPN
hjic-913	194	3	introduction	introduction	NOUN
hjic-913	194	4	our	our	PRON
hjic-913	194	5	virtual	virtual	ADJ
hjic-913	194	6	environment	environment	NOUN
hjic-913	194	7	neural	neural	ADJ
hjic-913	194	8	network	network	PROPN
hjic-913	194	9	architectures	architecture	NOUN
hjic-913	194	10	fcn	fcn	PROPN
hjic-913	194	11	u	u	PROPN
hjic-913	194	12	-	-	ADJ
hjic-913	194	13	net	net	ADJ
hjic-913	194	14	pspnet	pspnet	NOUN
hjic-913	194	15	training	training	NOUN
hjic-913	194	16	with	with	ADP
hjic-913	194	17	virtual	virtual	ADJ
hjic-913	194	18	data	datum	NOUN
hjic-913	194	19	results	result	NOUN
hjic-913	194	20	conclusion	conclusion	NOUN