id	sid	tid	token	lemma	pos
hjic-916	1	1	hungarian	hungarian	ADJ
hjic-916	1	2	journal	journal	NOUN
hjic-916	1	3	of	of	ADP
hjic-916	1	4	industry	industry	NOUN
hjic-916	1	5	and	and	CCONJ
hjic-916	1	6	chemistry	chemistry	NOUN
hjic-916	1	7	vol	vol	NOUN
hjic-916	1	8	.	.	PUNCT
hjic-916	2	1	48(1	48(1	NOUN
hjic-916	2	2	)	)	PUNCT
hjic-916	2	3	pp	pp	ADV
hjic-916	2	4	.	.	PUNCT
hjic-916	3	1	25–31	25–31	NUM
hjic-916	3	2	(	(	PUNCT
hjic-916	3	3	2020	2020	NUM
hjic-916	3	4	)	)	PUNCT
hjic-916	3	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-916	3	6	doi	doi	NOUN
hjic-916	3	7	:	:	PUNCT
hjic-916	3	8	10.33927	10.33927	NUM
hjic-916	3	9	/	/	SYM
hjic-916	3	10	hjic-2020	hjic-2020	NOUN
hjic-916	3	11	-	-	PUNCT
hjic-916	3	12	05	05	NUM
hjic-916	3	13	lidar	lidar	NOUN
hjic-916	3	14	-	-	PUNCT
hjic-916	3	15	based	base	VERB
hjic-916	3	16	collision	collision	NOUN
hjic-916	3	17	-	-	PUNCT
hjic-916	3	18	free	free	ADJ
hjic-916	3	19	space	space	NOUN
hjic-916	3	20	estimation	estimation	NOUN
hjic-916	3	21	approach	approach	NOUN
hjic-916	3	22	miklós	miklós	PROPN
hjic-916	3	23	unger∗1	unger∗1	PROPN
hjic-916	3	24	,	,	PUNCT
hjic-916	3	25	ernő	ernő	PROPN
hjic-916	3	26	horváth1	horváth1	NOUN
hjic-916	3	27	,	,	PUNCT
hjic-916	3	28	and	and	CCONJ
hjic-916	3	29	csaba	csaba	PROPN
hjic-916	3	30	hajdu1	hajdu1	PROPN
hjic-916	4	1	1research	1research	NUM
hjic-916	4	2	center	center	NOUN
hjic-916	4	3	of	of	ADP
hjic-916	4	4	vehicle	vehicle	NOUN
hjic-916	4	5	industry	industry	NOUN
hjic-916	4	6	,	,	PUNCT
hjic-916	4	7	széchenyi	széchenyi	PROPN
hjic-916	4	8	istván	istván	PROPN
hjic-916	4	9	university	university	PROPN
hjic-916	4	10	,	,	PUNCT
hjic-916	4	11	egyetem	egyetem	NOUN
hjic-916	4	12	tér	tér	PROPN
hjic-916	4	13	1	1	NUM
hjic-916	4	14	,	,	PUNCT
hjic-916	4	15	győr	győr	NOUN
hjic-916	4	16	,	,	PUNCT
hjic-916	4	17	9026	9026	NUM
hjic-916	4	18	,	,	PUNCT
hjic-916	4	19	hungary	hungary	NOUN
hjic-916	4	20	as	as	ADP
hjic-916	4	21	autonomous	autonomous	ADJ
hjic-916	4	22	technologies	technology	NOUN
hjic-916	4	23	flourish	flourish	VERB
hjic-916	4	24	within	within	ADP
hjic-916	4	25	the	the	DET
hjic-916	4	26	vehicle	vehicle	NOUN
hjic-916	4	27	industry	industry	NOUN
hjic-916	4	28	,	,	PUNCT
hjic-916	4	29	an	an	DET
hjic-916	4	30	increasing	increase	VERB
hjic-916	4	31	number	number	NOUN
hjic-916	4	32	of	of	ADP
hjic-916	4	33	academic	academic	ADJ
hjic-916	4	34	autonomous	autonomous	ADJ
hjic-916	4	35	competitions	competition	NOUN
hjic-916	4	36	are	be	AUX
hjic-916	4	37	appearing	appear	VERB
hjic-916	4	38	.	.	PUNCT
hjic-916	5	1	one	one	NUM
hjic-916	5	2	of	of	ADP
hjic-916	5	3	them	they	PRON
hjic-916	5	4	is	be	AUX
hjic-916	5	5	the	the	DET
hjic-916	5	6	shell	shell	ADJ
hjic-916	5	7	eco	eco	PROPN
hjic-916	5	8	-	-	PUNCT
hjic-916	5	9	marathon	marathon	NOUN
hjic-916	5	10	autonomous	autonomous	ADJ
hjic-916	5	11	urban	urban	ADJ
hjic-916	5	12	concept	concept	NOUN
hjic-916	5	13	competition	competition	NOUN
hjic-916	5	14	(	(	PUNCT
hjic-916	5	15	sem	sem	NOUN
hjic-916	5	16	auc	auc	NOUN
hjic-916	5	17	)	)	PUNCT
hjic-916	5	18	which	which	PRON
hjic-916	5	19	seeks	seek	VERB
hjic-916	5	20	to	to	PART
hjic-916	5	21	provide	provide	VERB
hjic-916	5	22	hands	hand	NOUN
hjic-916	5	23	-	-	PUNCT
hjic-916	5	24	on	on	ADP
hjic-916	5	25	experience	experience	NOUN
hjic-916	5	26	for	for	SCONJ
hjic-916	5	27	the	the	DET
hjic-916	5	28	academic	academic	ADJ
hjic-916	5	29	community	community	NOUN
hjic-916	5	30	to	to	PART
hjic-916	5	31	design	design	VERB
hjic-916	5	32	,	,	PUNCT
hjic-916	5	33	build	build	VERB
hjic-916	5	34	and	and	CCONJ
hjic-916	5	35	test	test	VERB
hjic-916	5	36	their	their	PRON
hjic-916	5	37	own	own	ADJ
hjic-916	5	38	driverless	driverless	NOUN
hjic-916	5	39	vehicles	vehicle	NOUN
hjic-916	5	40	within	within	ADP
hjic-916	5	41	a	a	DET
hjic-916	5	42	realistic	realistic	ADJ
hjic-916	5	43	infrastructure	infrastructure	NOUN
hjic-916	5	44	.	.	PUNCT
hjic-916	6	1	the	the	DET
hjic-916	6	2	team	team	NOUN
hjic-916	6	3	at	at	ADP
hjic-916	6	4	our	our	PRON
hjic-916	6	5	university	university	NOUN
hjic-916	6	6	participates	participate	VERB
hjic-916	6	7	in	in	ADP
hjic-916	6	8	this	this	DET
hjic-916	6	9	competition	competition	NOUN
hjic-916	6	10	and	and	CCONJ
hjic-916	6	11	our	our	PRON
hjic-916	6	12	concept	concept	NOUN
hjic-916	6	13	is	be	AUX
hjic-916	6	14	to	to	PART
hjic-916	6	15	rely	rely	VERB
hjic-916	6	16	on	on	ADP
hjic-916	6	17	simple	simple	ADJ
hjic-916	6	18	and	and	CCONJ
hjic-916	6	19	robust	robust	ADJ
hjic-916	6	20	algorithms	algorithm	NOUN
hjic-916	6	21	.	.	PUNCT
hjic-916	7	1	this	this	DET
hjic-916	7	2	paper	paper	NOUN
hjic-916	7	3	presents	present	VERB
hjic-916	7	4	a	a	DET
hjic-916	7	5	simple	simple	ADJ
hjic-916	7	6	collision	collision	NOUN
hjic-916	7	7	-	-	PUNCT
hjic-916	7	8	free	free	ADJ
hjic-916	7	9	space	space	NOUN
hjic-916	7	10	estimation	estimation	NOUN
hjic-916	7	11	algorithm	algorithm	NOUN
hjic-916	7	12	for	for	ADP
hjic-916	7	13	the	the	DET
hjic-916	7	14	lidar	lidar	NOUN
hjic-916	7	15	sensor	sensor	NOUN
hjic-916	7	16	.	.	PUNCT
hjic-916	8	1	keywords	keyword	NOUN
hjic-916	8	2	:	:	PUNCT
hjic-916	8	3	autonomous	autonomous	ADJ
hjic-916	8	4	vehicle	vehicle	NOUN
hjic-916	8	5	,	,	PUNCT
hjic-916	8	6	voronoi	voronoi	PROPN
hjic-916	8	7	,	,	PUNCT
hjic-916	8	8	delaunay	delaunay	PROPN
hjic-916	8	9	1	1	NUM
hjic-916	8	10	.	.	PUNCT
hjic-916	9	1	introduction	introduction	NOUN
hjic-916	9	2	nowadays	nowadays	ADV
hjic-916	9	3	autonomous	autonomous	ADJ
hjic-916	9	4	technology	technology	NOUN
hjic-916	9	5	is	be	AUX
hjic-916	9	6	not	not	PART
hjic-916	9	7	only	only	ADV
hjic-916	9	8	important	important	ADJ
hjic-916	9	9	in	in	ADP
hjic-916	9	10	the	the	DET
hjic-916	9	11	automotive	automotive	ADJ
hjic-916	9	12	industry	industry	NOUN
hjic-916	9	13	but	but	CCONJ
hjic-916	9	14	increasingly	increasingly	ADV
hjic-916	9	15	in	in	ADP
hjic-916	9	16	the	the	DET
hjic-916	9	17	fields	field	NOUN
hjic-916	9	18	of	of	ADP
hjic-916	9	19	academia	academia	NOUN
hjic-916	9	20	and	and	CCONJ
hjic-916	9	21	reasearch	reasearch	NOUN
hjic-916	9	22	as	as	ADV
hjic-916	9	23	well	well	ADV
hjic-916	9	24	.	.	PUNCT
hjic-916	10	1	a	a	DET
hjic-916	10	2	sign	sign	NOUN
hjic-916	10	3	of	of	ADP
hjic-916	10	4	this	this	DET
hjic-916	10	5	tendency	tendency	NOUN
hjic-916	10	6	is	be	AUX
hjic-916	10	7	the	the	DET
hjic-916	10	8	increasing	increase	VERB
hjic-916	10	9	number	number	NOUN
hjic-916	10	10	of	of	ADP
hjic-916	10	11	academic	academic	ADJ
hjic-916	10	12	competitions	competition	NOUN
hjic-916	10	13	,	,	PUNCT
hjic-916	10	14	one	one	NUM
hjic-916	10	15	of	of	ADP
hjic-916	10	16	which	which	PRON
hjic-916	10	17	is	be	AUX
hjic-916	10	18	the	the	DET
hjic-916	10	19	shell	shell	ADJ
hjic-916	10	20	eco	eco	PROPN
hjic-916	10	21	-	-	PUNCT
hjic-916	10	22	marathon	marathon	NOUN
hjic-916	10	23	autonomous	autonomous	ADJ
hjic-916	10	24	urban	urban	ADJ
hjic-916	10	25	concept	concept	NOUN
hjic-916	10	26	competition	competition	NOUN
hjic-916	10	27	(	(	PUNCT
hjic-916	10	28	sem	sem	NOUN
hjic-916	10	29	auc	auc	NOUN
hjic-916	10	30	)	)	PUNCT
hjic-916	10	31	.	.	PUNCT
hjic-916	11	1	1.1	1.1	NUM
hjic-916	11	2	shell	shell	NOUN
hjic-916	11	3	eco	eco	PROPN
hjic-916	11	4	-	-	PUNCT
hjic-916	11	5	marathon	marathon	NOUN
hjic-916	11	6	the	the	DET
hjic-916	11	7	shell	shell	NOUN
hjic-916	11	8	eco	eco	PROPN
hjic-916	11	9	-	-	PUNCT
hjic-916	11	10	marathon	marathon	NOUN
hjic-916	11	11	is	be	AUX
hjic-916	11	12	a	a	DET
hjic-916	11	13	competition	competition	NOUN
hjic-916	11	14	for	for	SCONJ
hjic-916	11	15	engineering	engineer	VERB
hjic-916	11	16	students	student	NOUN
hjic-916	11	17	to	to	PART
hjic-916	11	18	design	design	VERB
hjic-916	11	19	and	and	CCONJ
hjic-916	11	20	build	build	VERB
hjic-916	11	21	the	the	DET
hjic-916	11	22	most	most	ADV
hjic-916	11	23	ultra	ultra	ADJ
hjic-916	11	24	-	-	ADJ
hjic-916	11	25	efficient	efficient	ADJ
hjic-916	11	26	car	car	NOUN
hjic-916	11	27	.	.	PUNCT
hjic-916	12	1	the	the	DET
hjic-916	12	2	participating	participate	VERB
hjic-916	12	3	teams	team	NOUN
hjic-916	12	4	come	come	VERB
hjic-916	12	5	from	from	ADP
hjic-916	12	6	all	all	ADV
hjic-916	12	7	over	over	ADP
hjic-916	12	8	the	the	DET
hjic-916	12	9	world	world	NOUN
hjic-916	12	10	.	.	PUNCT
hjic-916	13	1	two	two	NUM
hjic-916	13	2	main	main	ADJ
hjic-916	13	3	classes	class	NOUN
hjic-916	13	4	of	of	ADP
hjic-916	13	5	vehicles	vehicle	NOUN
hjic-916	13	6	compete	compete	VERB
hjic-916	13	7	,	,	PUNCT
hjic-916	13	8	namely	namely	ADV
hjic-916	13	9	urban	urban	ADJ
hjic-916	13	10	concepts	concept	NOUN
hjic-916	13	11	and	and	CCONJ
hjic-916	13	12	prototypes	prototype	NOUN
hjic-916	13	13	.	.	PUNCT
hjic-916	14	1	both	both	DET
hjic-916	14	2	classes	class	NOUN
hjic-916	14	3	can	can	AUX
hjic-916	14	4	participate	participate	VERB
hjic-916	14	5	in	in	ADP
hjic-916	14	6	the	the	DET
hjic-916	14	7	autonomous	autonomous	ADJ
hjic-916	14	8	category	category	NOUN
hjic-916	14	9	where	where	SCONJ
hjic-916	14	10	five	five	NUM
hjic-916	14	11	different	different	ADJ
hjic-916	14	12	challenges	challenge	NOUN
hjic-916	14	13	await	await	VERB
hjic-916	14	14	the	the	DET
hjic-916	14	15	teams	team	NOUN
hjic-916	14	16	as	as	SCONJ
hjic-916	14	17	follows	follow	VERB
hjic-916	14	18	:	:	PUNCT
hjic-916	14	19	•	•	NUM
hjic-916	14	20	complex	complex	ADJ
hjic-916	14	21	track	track	NOUN
hjic-916	14	22	section	section	NOUN
hjic-916	14	23	•	•	NOUN
hjic-916	14	24	maneuverability	maneuverability	NOUN
hjic-916	14	25	•	•	NOUN
hjic-916	14	26	obstacle	obstacle	NOUN
hjic-916	14	27	avoidance	avoidance	NOUN
hjic-916	14	28	•	•	ADP
hjic-916	14	29	the	the	DET
hjic-916	14	30	unknown	unknown	ADJ
hjic-916	14	31	challenge	challenge	NOUN
hjic-916	14	32	•	•	ADP
hjic-916	14	33	autonomous	autonomous	ADJ
hjic-916	14	34	distance	distance	NOUN
hjic-916	14	35	in	in	ADP
hjic-916	14	36	this	this	DET
hjic-916	14	37	paper	paper	NOUN
hjic-916	14	38	,	,	PUNCT
hjic-916	14	39	a	a	DET
hjic-916	14	40	simple	simple	ADJ
hjic-916	14	41	solution	solution	NOUN
hjic-916	14	42	for	for	ADP
hjic-916	14	43	the	the	DET
hjic-916	14	44	autonomous	autonomous	ADJ
hjic-916	14	45	distance	distance	NOUN
hjic-916	14	46	challenge	challenge	NOUN
hjic-916	14	47	is	be	AUX
hjic-916	14	48	presented	present	VERB
hjic-916	14	49	.	.	PUNCT
hjic-916	15	1	1.2	1.2	NUM
hjic-916	15	2	our	our	PRON
hjic-916	15	3	team	team	NOUN
hjic-916	15	4	the	the	DET
hjic-916	15	5	szenergy	szenergy	NOUN
hjic-916	15	6	team	team	NOUN
hjic-916	15	7	is	be	AUX
hjic-916	15	8	comprised	comprise	VERB
hjic-916	15	9	of	of	ADP
hjic-916	15	10	students	student	NOUN
hjic-916	15	11	from	from	ADP
hjic-916	15	12	széchenyi	széchenyi	PROPN
hjic-916	15	13	istván	istván	PROPN
hjic-916	15	14	university	university	NOUN
hjic-916	15	15	,	,	PUNCT
hjic-916	15	16	assisted	assist	VERB
hjic-916	15	17	by	by	ADP
hjic-916	15	18	tutors	tutor	NOUN
hjic-916	15	19	and	and	CCONJ
hjic-916	15	20	researchers	researcher	NOUN
hjic-916	15	21	from	from	ADP
hjic-916	15	22	the	the	DET
hjic-916	15	23	fields	field	NOUN
hjic-916	15	24	of	of	ADP
hjic-916	15	25	the	the	DET
hjic-916	15	26	development	development	NOUN
hjic-916	15	27	and	and	CCONJ
hjic-916	15	28	construction	construction	NOUN
hjic-916	15	29	of	of	ADP
hjic-916	15	30	electric	electric	ADJ
hjic-916	15	31	vehicles	vehicle	NOUN
hjic-916	15	32	.	.	PUNCT
hjic-916	16	1	since	since	SCONJ
hjic-916	16	2	2008	2008	NUM
hjic-916	16	3	,	,	PUNCT
hjic-916	16	4	the	the	DET
hjic-916	16	5	team	team	NOUN
hjic-916	16	6	has	have	AUX
hjic-916	16	7	∗correspondence	∗correspondence	NOUN
hjic-916	16	8	:	:	PUNCT
hjic-916	16	9	unger.miklos@ga.sze.hu	unger.miklos@ga.sze.hu	PROPN
hjic-916	16	10	figure	figure	NOUN
hjic-916	16	11	1	1	NUM
hjic-916	16	12	:	:	PUNCT
hjic-916	16	13	our	our	PRON
hjic-916	16	14	car	car	NOUN
hjic-916	16	15	szemission	szemission	NOUN
hjic-916	16	16	.	.	PUNCT
hjic-916	17	1	been	be	AUX
hjic-916	17	2	competing	compete	VERB
hjic-916	17	3	each	each	DET
hjic-916	17	4	year	year	NOUN
hjic-916	17	5	in	in	ADP
hjic-916	17	6	the	the	DET
hjic-916	17	7	shell	shell	NOUN
hjic-916	17	8	eco	eco	PROPN
hjic-916	17	9	-	-	PUNCT
hjic-916	17	10	marathon	marathon	NOUN
hjic-916	17	11	,	,	PUNCT
hjic-916	17	12	the	the	DET
hjic-916	17	13	biggest	big	ADJ
hjic-916	17	14	fuel	fuel	NOUN
hjic-916	17	15	-	-	PUNCT
hjic-916	17	16	efficiency	efficiency	NOUN
hjic-916	17	17	competition	competition	NOUN
hjic-916	17	18	in	in	ADP
hjic-916	17	19	the	the	DET
hjic-916	17	20	world	world	NOUN
hjic-916	17	21	.	.	PUNCT
hjic-916	18	1	our	our	PRON
hjic-916	18	2	team	team	NOUN
hjic-916	18	3	participates	participate	VERB
hjic-916	18	4	in	in	ADP
hjic-916	18	5	the	the	DET
hjic-916	18	6	electric	electric	ADJ
hjic-916	18	7	vehicle	vehicle	NOUN
hjic-916	18	8	category	category	NOUN
hjic-916	18	9	of	of	ADP
hjic-916	18	10	the	the	DET
hjic-916	18	11	urban	urban	ADJ
hjic-916	18	12	concept	concept	NOUN
hjic-916	18	13	class	class	NOUN
hjic-916	18	14	by	by	ADP
hjic-916	18	15	performing	perform	VERB
hjic-916	18	16	autonomous	autonomous	ADJ
hjic-916	18	17	challenges	challenge	NOUN
hjic-916	18	18	and	and	CCONJ
hjic-916	18	19	regular	regular	ADJ
hjic-916	18	20	races	race	NOUN
hjic-916	18	21	using	use	VERB
hjic-916	18	22	the	the	DET
hjic-916	18	23	same	same	ADJ
hjic-916	18	24	car	car	NOUN
hjic-916	18	25	.	.	PUNCT
hjic-916	19	1	since	since	SCONJ
hjic-916	19	2	2019	2019	NUM
hjic-916	19	3	,	,	PUNCT
hjic-916	19	4	a	a	DET
hjic-916	19	5	new	new	ADJ
hjic-916	19	6	car	car	NOUN
hjic-916	19	7	called	call	VERB
hjic-916	19	8	szemission	szemission	NOUN
hjic-916	19	9	has	have	AUX
hjic-916	19	10	been	be	AUX
hjic-916	19	11	used	use	VERB
hjic-916	19	12	as	as	SCONJ
hjic-916	19	13	shown	show	VERB
hjic-916	19	14	in	in	ADP
hjic-916	19	15	fig	fig	NOUN
hjic-916	19	16	.	.	PUNCT
hjic-916	20	1	1	1	NUM
hjic-916	20	2	.	.	X
hjic-916	20	3	2	2	NUM
hjic-916	20	4	.	.	X
hjic-916	20	5	the	the	DET
hjic-916	20	6	challenge	challenge	NOUN
hjic-916	20	7	challenges	challenge	NOUN
hjic-916	20	8	of	of	ADP
hjic-916	20	9	the	the	DET
hjic-916	20	10	auc	auc	NOUN
hjic-916	20	11	will	will	AUX
hjic-916	20	12	be	be	AUX
hjic-916	20	13	undertaken	undertake	VERB
hjic-916	20	14	on	on	ADP
hjic-916	20	15	the	the	DET
hjic-916	20	16	same	same	ADJ
hjic-916	20	17	standard	standard	ADJ
hjic-916	20	18	track	track	NOUN
hjic-916	20	19	as	as	ADP
hjic-916	20	20	the	the	DET
hjic-916	20	21	other	other	ADJ
hjic-916	20	22	competitions	competition	NOUN
hjic-916	20	23	at	at	ADP
hjic-916	20	24	the	the	DET
hjic-916	20	25	sem	sem	NOUN
hjic-916	20	26	or	or	CCONJ
hjic-916	20	27	on	on	ADP
hjic-916	20	28	similar	similar	ADJ
hjic-916	20	29	but	but	CCONJ
hjic-916	20	30	modified	modified	ADJ
hjic-916	20	31	track	track	NOUN
hjic-916	20	32	sections	section	NOUN
hjic-916	20	33	.	.	PUNCT
hjic-916	21	1	the	the	DET
hjic-916	21	2	track	track	NOUN
hjic-916	21	3	is	be	AUX
hjic-916	21	4	970	970	NUM
hjic-916	21	5	m	m	NOUN
hjic-916	21	6	long	long	ADJ
hjic-916	21	7	and	and	CCONJ
hjic-916	21	8	includes	include	VERB
hjic-916	21	9	inclines	incline	NOUN
hjic-916	21	10	since	since	SCONJ
hjic-916	21	11	the	the	DET
hjic-916	21	12	track	track	NOUN
hjic-916	21	13	partially	partially	ADV
hjic-916	21	14	consists	consist	VERB
hjic-916	21	15	of	of	ADP
hjic-916	21	16	closed	close	VERB
hjic-916	21	17	-	-	PUNCT
hjic-916	21	18	off	off	ADP
hjic-916	21	19	roads	road	NOUN
hjic-916	21	20	(	(	PUNCT
hjic-916	21	21	fig	fig	NOUN
hjic-916	21	22	.	.	PUNCT
hjic-916	22	1	2	2	NUM
hjic-916	22	2	)	)	PUNCT
hjic-916	22	3	.	.	PUNCT
hjic-916	23	1	for	for	ADP
hjic-916	23	2	all	all	DET
hjic-916	23	3	five	five	NUM
hjic-916	23	4	challenges	challenge	NOUN
hjic-916	23	5	,	,	PUNCT
hjic-916	23	6	protective	protective	ADJ
hjic-916	23	7	barriers	barrier	NOUN
hjic-916	23	8	are	be	AUX
hjic-916	23	9	installed	instal	VERB
hjic-916	23	10	on	on	ADP
hjic-916	23	11	both	both	DET
hjic-916	23	12	sides	side	NOUN
hjic-916	23	13	of	of	ADP
hjic-916	23	14	the	the	DET
hjic-916	23	15	track	track	NOUN
hjic-916	23	16	.	.	PUNCT
hjic-916	24	1	the	the	DET
hjic-916	24	2	barriers	barrier	NOUN
hjic-916	24	3	are	be	AUX
hjic-916	24	4	0.5	0.5	NUM
hjic-916	24	5	m	m	NOUN
hjic-916	24	6	high	high	ADJ
hjic-916	24	7	separated	separate	VERB
hjic-916	24	8	by	by	ADP
hjic-916	24	9	small	small	ADJ
hjic-916	24	10	gaps	gap	NOUN
hjic-916	24	11	,	,	PUNCT
hjic-916	24	12	though	though	SCONJ
hjic-916	24	13	the	the	DET
hjic-916	24	14	size	size	NOUN
hjic-916	24	15	of	of	ADP
hjic-916	24	16	these	these	DET
hjic-916	24	17	gaps	gap	NOUN
hjic-916	24	18	is	be	AUX
hjic-916	24	19	unspecified	unspecified	ADJ
hjic-916	24	20	.	.	PUNCT
hjic-916	25	1	contact	contact	NOUN
hjic-916	25	2	with	with	ADP
hjic-916	25	3	these	these	DET
hjic-916	25	4	barriers	barrier	NOUN
hjic-916	25	5	is	be	AUX
hjic-916	25	6	forbidden	forbid	VERB
hjic-916	25	7	,	,	PUNCT
hjic-916	25	8	cars	car	NOUN
hjic-916	25	9	are	be	AUX
hjic-916	25	10	limited	limit	VERB
hjic-916	25	11	to	to	ADP
hjic-916	25	12	a	a	DET
hjic-916	25	13	top	top	ADJ
hjic-916	25	14	speed	speed	NOUN
hjic-916	25	15	of	of	ADP
hjic-916	25	16	25	25	NUM
hjic-916	25	17	km	km	NOUN
hjic-916	25	18	/	/	SYM
hjic-916	25	19	h	h	NOUN
hjic-916	25	20	and	and	CCONJ
hjic-916	25	21	every	every	DET
hjic-916	25	22	car	car	NOUN
hjic-916	25	23	is	be	AUX
hjic-916	25	24	driven	drive	VERB
hjic-916	25	25	separately	separately	ADV
hjic-916	25	26	on	on	ADP
hjic-916	25	27	the	the	DET
hjic-916	25	28	track	track	NOUN
hjic-916	25	29	.	.	PUNCT
hjic-916	26	1	the	the	DET
hjic-916	26	2	minimum	minimum	ADJ
hjic-916	26	3	width	width	NOUN
hjic-916	26	4	of	of	ADP
hjic-916	26	5	the	the	DET
hjic-916	26	6	track	track	NOUN
hjic-916	26	7	is	be	AUX
hjic-916	26	8	6	6	NUM
hjic-916	26	9	meters	meter	NOUN
hjic-916	26	10	unless	unless	SCONJ
hjic-916	26	11	otherwise	otherwise	ADV
hjic-916	26	12	specified	specify	VERB
hjic-916	26	13	.	.	PUNCT
hjic-916	27	1	https://doi.org/10.33927/hjic-2020-05	https://doi.org/10.33927/hjic-2020-05	X
hjic-916	27	2	mailto:unger.miklos@ga.sze.hu	mailto:unger.miklos@ga.sze.hu	NOUN
hjic-916	27	3	26	26	NUM
hjic-916	27	4	unger	unger	NOUN
hjic-916	27	5	,	,	PUNCT
hjic-916	27	6	horváth	horváth	PROPN
hjic-916	27	7	,	,	PUNCT
hjic-916	27	8	and	and	CCONJ
hjic-916	27	9	hajdu	hajdu	NOUN
hjic-916	27	10	figure	figure	NOUN
hjic-916	27	11	2	2	NUM
hjic-916	27	12	:	:	PUNCT
hjic-916	27	13	simple	simple	ADJ
hjic-916	27	14	layout	layout	NOUN
hjic-916	27	15	of	of	ADP
hjic-916	27	16	the	the	DET
hjic-916	27	17	challenge	challenge	NOUN
hjic-916	27	18	.	.	PUNCT
hjic-916	28	1	our	our	PRON
hjic-916	28	2	goal	goal	NOUN
hjic-916	28	3	is	be	AUX
hjic-916	28	4	to	to	PART
hjic-916	28	5	create	create	VERB
hjic-916	28	6	an	an	DET
hjic-916	28	7	algorithm	algorithm	NOUN
hjic-916	28	8	that	that	SCONJ
hjic-916	28	9	despite	despite	SCONJ
hjic-916	28	10	the	the	DET
hjic-916	28	11	noisy	noisy	ADJ
hjic-916	28	12	surroundings	surrounding	NOUN
hjic-916	28	13	robustly	robustly	ADV
hjic-916	28	14	finds	find	VERB
hjic-916	28	15	the	the	DET
hjic-916	28	16	coordinates	coordinate	NOUN
hjic-916	28	17	of	of	ADP
hjic-916	28	18	free	free	ADJ
hjic-916	28	19	route	route	NOUN
hjic-916	28	20	between	between	ADP
hjic-916	28	21	the	the	DET
hjic-916	28	22	barriers	barrier	NOUN
hjic-916	28	23	without	without	ADP
hjic-916	28	24	touching	touch	VERB
hjic-916	28	25	them	they	PRON
hjic-916	28	26	based	base	VERB
hjic-916	28	27	on	on	ADP
hjic-916	28	28	the	the	DET
hjic-916	28	29	output	output	NOUN
hjic-916	28	30	of	of	ADP
hjic-916	28	31	3d	3d	NUM
hjic-916	28	32	lidar	lidar	NOUN
hjic-916	28	33	signals	signal	NOUN
hjic-916	28	34	.	.	PUNCT
hjic-916	29	1	the	the	DET
hjic-916	29	2	route	route	NOUN
hjic-916	29	3	must	must	AUX
hjic-916	29	4	also	also	ADV
hjic-916	29	5	be	be	AUX
hjic-916	29	6	unambiguous	unambiguous	ADJ
hjic-916	29	7	.	.	PUNCT
hjic-916	30	1	3	3	X
hjic-916	30	2	.	.	X
hjic-916	30	3	lidars	lidar	NOUN
hjic-916	30	4	lidar	lidar	VERB
hjic-916	30	5	stands	stand	VERB
hjic-916	30	6	for	for	ADP
hjic-916	30	7	light	light	ADJ
hjic-916	30	8	detection	detection	NOUN
hjic-916	30	9	and	and	CCONJ
hjic-916	30	10	ranging	ranging	NOUN
hjic-916	30	11	or	or	CCONJ
hjic-916	30	12	laser	laser	NOUN
hjic-916	30	13	imaging	imaging	NOUN
hjic-916	30	14	detection	detection	NOUN
hjic-916	30	15	and	and	CCONJ
hjic-916	30	16	ranging	range	VERB
hjic-916	30	17	and	and	CCONJ
hjic-916	30	18	is	be	AUX
hjic-916	30	19	a	a	DET
hjic-916	30	20	sensor	sensor	NOUN
hjic-916	30	21	commonly	commonly	ADV
hjic-916	30	22	used	use	VERB
hjic-916	30	23	in	in	ADP
hjic-916	30	24	autonomous	autonomous	ADJ
hjic-916	30	25	vehicles	vehicle	NOUN
hjic-916	30	26	to	to	PART
hjic-916	30	27	map	map	VERB
hjic-916	30	28	the	the	DET
hjic-916	30	29	environment	environment	NOUN
hjic-916	30	30	.	.	PUNCT
hjic-916	31	1	the	the	DET
hjic-916	31	2	sensor	sensor	NOUN
hjic-916	31	3	contains	contain	VERB
hjic-916	31	4	a	a	DET
hjic-916	31	5	transmitter	transmitter	NOUN
hjic-916	31	6	and	and	CCONJ
hjic-916	31	7	receiver	receiver	NOUN
hjic-916	31	8	.	.	PUNCT
hjic-916	32	1	the	the	DET
hjic-916	32	2	transmitter	transmitter	NOUN
hjic-916	32	3	fires	fire	NOUN
hjic-916	32	4	laser	laser	NOUN
hjic-916	32	5	beams	beam	NOUN
hjic-916	32	6	towards	towards	ADP
hjic-916	32	7	the	the	DET
hjic-916	32	8	ground	ground	NOUN
hjic-916	32	9	which	which	PRON
hjic-916	32	10	interact	interact	VERB
hjic-916	32	11	with	with	ADP
hjic-916	32	12	the	the	DET
hjic-916	32	13	objects	object	NOUN
hjic-916	32	14	of	of	ADP
hjic-916	32	15	the	the	DET
hjic-916	32	16	environment	environment	NOUN
hjic-916	32	17	then	then	ADV
hjic-916	32	18	are	be	AUX
hjic-916	32	19	deflected	deflect	VERB
hjic-916	32	20	back	back	ADV
hjic-916	32	21	to	to	ADP
hjic-916	32	22	the	the	DET
hjic-916	32	23	receiver	receiver	NOUN
hjic-916	32	24	.	.	PUNCT
hjic-916	33	1	the	the	DET
hjic-916	33	2	distance	distance	NOUN
hjic-916	33	3	can	can	AUX
hjic-916	33	4	be	be	AUX
hjic-916	33	5	computed	compute	VERB
hjic-916	33	6	using	use	VERB
hjic-916	33	7	a	a	DET
hjic-916	33	8	simple	simple	ADJ
hjic-916	33	9	formula	formula	NOUN
hjic-916	33	10	,	,	PUNCT
hjic-916	33	11	where	where	SCONJ
hjic-916	33	12	do	do	AUX
hjic-916	33	13	denotes	denote	VERB
hjic-916	33	14	the	the	DET
hjic-916	33	15	distance	distance	NOUN
hjic-916	33	16	to	to	ADP
hjic-916	33	17	the	the	DET
hjic-916	33	18	object	object	NOUN
hjic-916	33	19	,	,	PUNCT
hjic-916	33	20	cl	cl	NOUN
hjic-916	33	21	represents	represent	VERB
hjic-916	33	22	the	the	DET
hjic-916	33	23	speed	speed	NOUN
hjic-916	33	24	of	of	ADP
hjic-916	33	25	light	light	NOUN
hjic-916	33	26	,	,	PUNCT
hjic-916	33	27	and	and	CCONJ
hjic-916	33	28	∆t	∆t	PROPN
hjic-916	33	29	stands	stand	VERB
hjic-916	33	30	for	for	ADP
hjic-916	33	31	the	the	DET
hjic-916	33	32	time	time	NOUN
hjic-916	33	33	of	of	ADP
hjic-916	33	34	flight	flight	NOUN
hjic-916	33	35	:	:	PUNCT
hjic-916	33	36	do	do	AUX
hjic-916	33	37	=	=	PUNCT
hjic-916	33	38	cl∆t	cl∆t	ADP
hjic-916	33	39	2	2	NUM
hjic-916	33	40	,	,	PUNCT
hjic-916	33	41	(	(	PUNCT
hjic-916	33	42	1	1	X
hjic-916	33	43	)	)	PUNCT
hjic-916	33	44	where	where	SCONJ
hjic-916	33	45	the	the	DET
hjic-916	33	46	time	time	NOUN
hjic-916	33	47	of	of	ADP
hjic-916	33	48	flight	flight	NOUN
hjic-916	33	49	is	be	AUX
hjic-916	33	50	measured	measure	VERB
hjic-916	33	51	indirectly	indirectly	ADV
hjic-916	33	52	by	by	ADP
hjic-916	33	53	determining	determine	VERB
hjic-916	33	54	the	the	DET
hjic-916	33	55	phase	phase	NOUN
hjic-916	33	56	shift	shift	NOUN
hjic-916	33	57	between	between	ADP
hjic-916	33	58	the	the	DET
hjic-916	33	59	transmitted	transmit	VERB
hjic-916	33	60	and	and	CCONJ
hjic-916	33	61	received	receive	VERB
hjic-916	33	62	signals	signal	NOUN
hjic-916	33	63	,	,	PUNCT
hjic-916	33	64	fmod	fmod	PROPN
hjic-916	33	65	denotes	denote	VERB
hjic-916	33	66	the	the	DET
hjic-916	33	67	frequency	frequency	NOUN
hjic-916	33	68	modulation	modulation	NOUN
hjic-916	33	69	,	,	PUNCT
hjic-916	33	70	ϕr	ϕr	NOUN
hjic-916	33	71	represents	represent	VERB
hjic-916	33	72	the	the	DET
hjic-916	33	73	measured	measured	ADJ
hjic-916	33	74	difference	difference	NOUN
hjic-916	33	75	between	between	ADP
hjic-916	33	76	the	the	DET
hjic-916	33	77	transmitted	transmit	VERB
hjic-916	33	78	and	and	CCONJ
hjic-916	33	79	received	receive	VERB
hjic-916	33	80	wavelengths	wavelength	NOUN
hjic-916	33	81	[	[	X
hjic-916	33	82	1	1	NUM
hjic-916	33	83	]	]	PUNCT
hjic-916	33	84	,	,	PUNCT
hjic-916	33	85	and	and	CCONJ
hjic-916	33	86	∆t	∆t	PROPN
hjic-916	33	87	=	=	SYM
hjic-916	33	88	ϕr	ϕr	ADP
hjic-916	33	89	2πfmod	2πfmod	NUM
hjic-916	33	90	.	.	PUNCT
hjic-916	34	1	(	(	PUNCT
hjic-916	34	2	2	2	X
hjic-916	34	3	)	)	PUNCT
hjic-916	34	4	lidar	lidar	NOUN
hjic-916	34	5	sensors	sensor	NOUN
hjic-916	34	6	on	on	ADP
hjic-916	34	7	autonomous	autonomous	ADJ
hjic-916	34	8	vehicles	vehicle	NOUN
hjic-916	34	9	autonomous	autonomous	ADJ
hjic-916	34	10	vehicles	vehicle	NOUN
hjic-916	34	11	use	use	VERB
hjic-916	34	12	these	these	DET
hjic-916	34	13	rotating	rotate	VERB
hjic-916	34	14	beam	beam	NOUN
hjic-916	34	15	sensors	sensor	NOUN
hjic-916	34	16	to	to	PART
hjic-916	34	17	scan	scan	VERB
hjic-916	34	18	the	the	DET
hjic-916	34	19	environment	environment	NOUN
hjic-916	34	20	and	and	CCONJ
hjic-916	34	21	detect	detect	VERB
hjic-916	34	22	obstacles	obstacle	NOUN
hjic-916	34	23	.	.	PUNCT
hjic-916	35	1	two	two	NUM
hjic-916	35	2	main	main	ADJ
hjic-916	35	3	types	type	NOUN
hjic-916	35	4	of	of	ADP
hjic-916	35	5	lidars	lidar	NOUN
hjic-916	35	6	,	,	PUNCT
hjic-916	35	7	the	the	DET
hjic-916	35	8	2d	2d	NOUN
hjic-916	35	9	and	and	CCONJ
hjic-916	35	10	3d	3d	NUM
hjic-916	35	11	,	,	PUNCT
hjic-916	35	12	are	be	AUX
hjic-916	35	13	used	use	VERB
hjic-916	35	14	.	.	PUNCT
hjic-916	36	1	2d	2d	NOUN
hjic-916	36	2	lidars	lidar	NOUN
hjic-916	36	3	,	,	PUNCT
hjic-916	36	4	also	also	ADV
hjic-916	36	5	referred	refer	VERB
hjic-916	36	6	to	to	ADP
hjic-916	36	7	as	as	ADP
hjic-916	36	8	lidars	lidar	NOUN
hjic-916	36	9	with	with	ADP
hjic-916	36	10	one	one	NUM
hjic-916	36	11	channel	channel	NOUN
hjic-916	36	12	,	,	PUNCT
hjic-916	36	13	provide	provide	VERB
hjic-916	36	14	information	information	NOUN
hjic-916	36	15	about	about	ADP
hjic-916	36	16	the	the	DET
hjic-916	36	17	environment	environment	NOUN
hjic-916	36	18	in	in	ADP
hjic-916	36	19	one	one	NUM
hjic-916	36	20	plane	plane	NOUN
hjic-916	36	21	only	only	ADV
hjic-916	36	22	,	,	PUNCT
hjic-916	36	23	hence	hence	ADV
hjic-916	36	24	the	the	DET
hjic-916	36	25	objects	object	NOUN
hjic-916	36	26	above	above	ADP
hjic-916	36	27	and	and	CCONJ
hjic-916	36	28	below	below	ADP
hjic-916	36	29	the	the	DET
hjic-916	36	30	lidars	lidar	NOUN
hjic-916	36	31	are	be	AUX
hjic-916	36	32	not	not	PART
hjic-916	36	33	detected	detect	VERB
hjic-916	36	34	.	.	PUNCT
hjic-916	37	1	3d	3d	NUM
hjic-916	37	2	lidars	lidar	NOUN
hjic-916	37	3	use	use	VERB
hjic-916	37	4	more	more	ADJ
hjic-916	37	5	channels	channel	NOUN
hjic-916	37	6	(	(	PUNCT
hjic-916	37	7	16	16	NUM
hjic-916	37	8	,	,	PUNCT
hjic-916	37	9	32	32	NUM
hjic-916	37	10	,	,	PUNCT
hjic-916	37	11	64	64	NUM
hjic-916	37	12	or	or	CCONJ
hjic-916	37	13	even	even	ADV
hjic-916	37	14	128	128	NUM
hjic-916	37	15	)	)	PUNCT
hjic-916	37	16	,	,	PUNCT
hjic-916	37	17	thus	thus	ADV
hjic-916	37	18	yield	yield	VERB
hjic-916	37	19	all	all	DET
hjic-916	37	20	x	x	NOUN
hjic-916	37	21	,	,	PUNCT
hjic-916	37	22	y	y	PROPN
hjic-916	37	23	and	and	CCONJ
hjic-916	37	24	z	z	PROPN
hjic-916	37	25	coordinates	coordinate	NOUN
hjic-916	37	26	of	of	ADP
hjic-916	37	27	the	the	DET
hjic-916	37	28	surroundings	surrounding	NOUN
hjic-916	37	29	.	.	PUNCT
hjic-916	38	1	velodyne	velodyne	PROPN
hjic-916	38	2	’s	’s	PART
hjic-916	38	3	puck	puck	NOUN
hjic-916	38	4	(	(	PUNCT
hjic-916	38	5	vlp-16	vlp-16	NOUN
hjic-916	38	6	)	)	PUNCT
hjic-916	38	7	is	be	AUX
hjic-916	38	8	a	a	DET
hjic-916	38	9	lidar	lidar	NOUN
hjic-916	38	10	with	with	ADP
hjic-916	38	11	16	16	NUM
hjic-916	38	12	channels	channel	NOUN
hjic-916	38	13	that	that	PRON
hjic-916	38	14	give	give	VERB
hjic-916	38	15	a	a	DET
hjic-916	38	16	360	360	NUM
hjic-916	38	17	◦	◦	NOUN
hjic-916	38	18	three	three	NUM
hjic-916	38	19	-	-	PUNCT
hjic-916	38	20	dimensional	dimensional	ADJ
hjic-916	38	21	view	view	NOUN
hjic-916	38	22	.	.	PUNCT
hjic-916	39	1	4	4	X
hjic-916	39	2	.	.	X
hjic-916	39	3	simulation	simulation	NOUN
hjic-916	39	4	with	with	ADP
hjic-916	39	5	ros	ros	PROPN
hjic-916	39	6	4.1	4.1	NUM
hjic-916	39	7	ros	ro	NOUN
hjic-916	39	8	in	in	ADP
hjic-916	39	9	general	general	ADJ
hjic-916	39	10	autonomous	autonomous	ADJ
hjic-916	39	11	vehicles	vehicle	NOUN
hjic-916	39	12	can	can	AUX
hjic-916	39	13	be	be	AUX
hjic-916	39	14	regarded	regard	VERB
hjic-916	39	15	as	as	ADP
hjic-916	39	16	four	four	NUM
hjic-916	39	17	-	-	PUNCT
hjic-916	39	18	wheeled	wheel	VERB
hjic-916	39	19	robots	robot	NOUN
hjic-916	39	20	.	.	PUNCT
hjic-916	40	1	in	in	ADP
hjic-916	40	2	our	our	PRON
hjic-916	40	3	project	project	NOUN
hjic-916	40	4	,	,	PUNCT
hjic-916	40	5	an	an	DET
hjic-916	40	6	ros	ros	PROPN
hjic-916	40	7	(	(	PUNCT
hjic-916	40	8	robot	robot	NOUN
hjic-916	40	9	operating	operating	NOUN
hjic-916	40	10	system	system	NOUN
hjic-916	40	11	)	)	PUNCT
hjic-916	40	12	is	be	AUX
hjic-916	40	13	used	use	VERB
hjic-916	40	14	.	.	PUNCT
hjic-916	41	1	it	it	PRON
hjic-916	41	2	is	be	AUX
hjic-916	41	3	an	an	DET
hjic-916	41	4	open	open	ADJ
hjic-916	41	5	-	-	PUNCT
hjic-916	41	6	source	source	NOUN
hjic-916	41	7	,	,	PUNCT
hjic-916	41	8	flexible	flexible	ADJ
hjic-916	41	9	framework	framework	NOUN
hjic-916	41	10	for	for	ADP
hjic-916	41	11	writing	write	VERB
hjic-916	41	12	robot	robot	NOUN
hjic-916	41	13	software	software	NOUN
hjic-916	41	14	.	.	PUNCT
hjic-916	42	1	the	the	DET
hjic-916	42	2	most	most	ADV
hjic-916	42	3	important	important	ADJ
hjic-916	42	4	components	component	NOUN
hjic-916	42	5	of	of	ADP
hjic-916	42	6	it	it	PRON
hjic-916	42	7	are	be	AUX
hjic-916	42	8	as	as	SCONJ
hjic-916	42	9	follows	follow	VERB
hjic-916	42	10	:	:	PUNCT
hjic-916	42	11	topics	topic	NOUN
hjic-916	42	12	topics	topic	NOUN
hjic-916	42	13	are	be	AUX
hjic-916	42	14	named	name	VERB
hjic-916	42	15	buses	bus	NOUN
hjic-916	42	16	,	,	PUNCT
hjic-916	42	17	in	in	ADP
hjic-916	42	18	which	which	PRON
hjic-916	42	19	data	datum	NOUN
hjic-916	42	20	is	be	AUX
hjic-916	42	21	exchanged	exchange	VERB
hjic-916	42	22	using	use	VERB
hjic-916	42	23	ros	ros	PROPN
hjic-916	42	24	messages	message	NOUN
hjic-916	42	25	.	.	PUNCT
hjic-916	43	1	each	each	DET
hjic-916	43	2	topic	topic	NOUN
hjic-916	43	3	has	have	VERB
hjic-916	43	4	a	a	DET
hjic-916	43	5	specific	specific	ADJ
hjic-916	43	6	name	name	NOUN
hjic-916	43	7	,	,	PUNCT
hjic-916	43	8	moreover	moreover	ADV
hjic-916	43	9	,	,	PUNCT
hjic-916	43	10	one	one	NUM
hjic-916	43	11	node	node	NOUN
hjic-916	43	12	publishes	publish	VERB
hjic-916	43	13	data	datum	NOUN
hjic-916	43	14	to	to	ADP
hjic-916	43	15	a	a	DET
hjic-916	43	16	topic	topic	NOUN
hjic-916	43	17	and	and	CCONJ
hjic-916	43	18	another	another	DET
hjic-916	43	19	node	node	NOUN
hjic-916	43	20	reads	read	VERB
hjic-916	43	21	the	the	DET
hjic-916	43	22	data	datum	NOUN
hjic-916	43	23	from	from	ADP
hjic-916	43	24	the	the	DET
hjic-916	43	25	topic	topic	NOUN
hjic-916	43	26	by	by	ADP
hjic-916	43	27	subscribing	subscribe	VERB
hjic-916	43	28	to	to	ADP
hjic-916	43	29	it	it	PRON
hjic-916	43	30	.	.	PUNCT
hjic-916	44	1	messages	message	NOUN
hjic-916	44	2	every	every	DET
hjic-916	44	3	topic	topic	NOUN
hjic-916	44	4	consists	consist	VERB
hjic-916	44	5	of	of	ADP
hjic-916	44	6	a	a	DET
hjic-916	44	7	type	type	NOUN
hjic-916	44	8	of	of	ADP
hjic-916	44	9	message	message	NOUN
hjic-916	44	10	,	,	PUNCT
hjic-916	44	11	moreover	moreover	ADV
hjic-916	44	12	,	,	PUNCT
hjic-916	44	13	topics	topic	NOUN
hjic-916	44	14	send	send	VERB
hjic-916	44	15	and	and	CCONJ
hjic-916	44	16	receive	receive	VERB
hjic-916	44	17	data	datum	NOUN
hjic-916	44	18	in	in	ADP
hjic-916	44	19	the	the	DET
hjic-916	44	20	form	form	NOUN
hjic-916	44	21	of	of	ADP
hjic-916	44	22	ros	ros	PROPN
hjic-916	44	23	messages	message	NOUN
hjic-916	44	24	.	.	PUNCT
hjic-916	45	1	ros	ros	PROPN
hjic-916	45	2	messages	message	NOUN
hjic-916	45	3	form	form	VERB
hjic-916	45	4	a	a	DET
hjic-916	45	5	data	data	NOUN
hjic-916	45	6	structure	structure	NOUN
hjic-916	45	7	used	use	VERB
hjic-916	45	8	by	by	ADP
hjic-916	45	9	ros	ros	PROPN
hjic-916	45	10	nodes	node	NOUN
hjic-916	45	11	to	to	PART
hjic-916	45	12	exchange	exchange	VERB
hjic-916	45	13	data	datum	NOUN
hjic-916	45	14	.	.	PUNCT
hjic-916	46	1	different	different	ADJ
hjic-916	46	2	topics	topic	NOUN
hjic-916	46	3	send	send	VERB
hjic-916	46	4	different	different	ADJ
hjic-916	46	5	types	type	NOUN
hjic-916	46	6	of	of	ADP
hjic-916	46	7	messages	message	NOUN
hjic-916	46	8	,	,	PUNCT
hjic-916	46	9	namely	namely	ADV
hjic-916	46	10	2d	2d	NUM
hjic-916	46	11	lidars	lidar	NOUN
hjic-916	46	12	use	use	VERB
hjic-916	46	13	laserscan	laserscan	PROPN
hjic-916	46	14	’s	’s	ADV
hjic-916	46	15	,	,	PUNCT
hjic-916	46	16	while	while	SCONJ
hjic-916	46	17	3d	3d	PROPN
hjic-916	46	18	lidars	lidar	NOUN
hjic-916	46	19	use	use	VERB
hjic-916	46	20	point	point	NOUN
hjic-916	46	21	cloud	cloud	NOUN
hjic-916	46	22	’s	’s	NOUN
hjic-916	46	23	.	.	PUNCT
hjic-916	47	1	rosbags	rosbag	NOUN
hjic-916	47	2	bags	bag	NOUN
hjic-916	47	3	are	be	AUX
hjic-916	47	4	a	a	DET
hjic-916	47	5	useful	useful	ADJ
hjic-916	47	6	utility	utility	NOUN
hjic-916	47	7	for	for	ADP
hjic-916	47	8	the	the	DET
hjic-916	47	9	recording	recording	NOUN
hjic-916	47	10	and	and	CCONJ
hjic-916	47	11	playback	playback	NOUN
hjic-916	47	12	of	of	ADP
hjic-916	47	13	ros	ros	PROPN
hjic-916	47	14	topics	topic	NOUN
hjic-916	47	15	.	.	PUNCT
hjic-916	48	1	while	while	SCONJ
hjic-916	48	2	working	work	VERB
hjic-916	48	3	on	on	ADP
hjic-916	48	4	autonomous	autonomous	ADJ
hjic-916	48	5	vehicles	vehicle	NOUN
hjic-916	48	6	,	,	PUNCT
hjic-916	48	7	some	some	DET
hjic-916	48	8	situations	situation	NOUN
hjic-916	48	9	may	may	AUX
hjic-916	48	10	arise	arise	VERB
hjic-916	48	11	where	where	SCONJ
hjic-916	48	12	it	it	PRON
hjic-916	48	13	is	be	AUX
hjic-916	48	14	necessary	necessary	ADJ
hjic-916	48	15	to	to	PART
hjic-916	48	16	work	work	VERB
hjic-916	48	17	without	without	ADP
hjic-916	48	18	actual	actual	ADJ
hjic-916	48	19	hardware	hardware	NOUN
hjic-916	48	20	.	.	PUNCT
hjic-916	49	1	using	use	VERB
hjic-916	49	2	rosbags	rosbag	NOUN
hjic-916	49	3	,	,	PUNCT
hjic-916	49	4	sensor	sensor	NOUN
hjic-916	49	5	data	datum	NOUN
hjic-916	49	6	can	can	AUX
hjic-916	49	7	be	be	AUX
hjic-916	49	8	recorded	record	VERB
hjic-916	49	9	and	and	CCONJ
hjic-916	49	10	bag	bag	NOUN
hjic-916	49	11	files	file	NOUN
hjic-916	49	12	copied	copy	VERB
hjic-916	49	13	to	to	ADP
hjic-916	49	14	other	other	ADJ
hjic-916	49	15	computers	computer	NOUN
hjic-916	49	16	to	to	PART
hjic-916	49	17	inspect	inspect	VERB
hjic-916	49	18	data	datum	NOUN
hjic-916	49	19	by	by	ADP
hjic-916	49	20	playing	play	VERB
hjic-916	49	21	it	it	PRON
hjic-916	49	22	back	back	ADP
hjic-916	49	23	.	.	PUNCT
hjic-916	50	1	gazebo	gazebo	PROPN
hjic-916	50	2	gazebo	gazebo	PROPN
hjic-916	50	3	stands	stand	VERB
hjic-916	50	4	for	for	ADP
hjic-916	50	5	open	open	ADJ
hjic-916	50	6	source	source	NOUN
hjic-916	50	7	robotic	robotic	ADJ
hjic-916	50	8	simulators	simulator	NOUN
hjic-916	50	9	tightly	tightly	ADV
hjic-916	50	10	integrated	integrate	VERB
hjic-916	50	11	with	with	ADP
hjic-916	50	12	ros	ros	PROPN
hjic-916	50	13	.	.	PUNCT
hjic-916	51	1	in	in	ADP
hjic-916	51	2	this	this	DET
hjic-916	51	3	environment	environment	NOUN
hjic-916	51	4	,	,	PUNCT
hjic-916	51	5	various	various	ADJ
hjic-916	51	6	types	type	NOUN
hjic-916	51	7	of	of	ADP
hjic-916	51	8	robots	robot	NOUN
hjic-916	51	9	,	,	PUNCT
hjic-916	51	10	indoor	indoor	ADJ
hjic-916	51	11	sensors	sensor	NOUN
hjic-916	51	12	and	and	CCONJ
hjic-916	51	13	outdoor	outdoor	ADJ
hjic-916	51	14	elements	element	NOUN
hjic-916	51	15	could	could	AUX
hjic-916	51	16	be	be	AUX
hjic-916	51	17	implemented	implement	VERB
hjic-916	51	18	.	.	PUNCT
hjic-916	52	1	the	the	DET
hjic-916	52	2	values	value	NOUN
hjic-916	52	3	of	of	ADP
hjic-916	52	4	sensors	sensor	NOUN
hjic-916	52	5	can	can	AUX
hjic-916	52	6	be	be	AUX
hjic-916	52	7	accessed	access	VERB
hjic-916	52	8	by	by	ADP
hjic-916	52	9	the	the	DET
hjic-916	52	10	ros	ros	PROPN
hjic-916	52	11	through	through	ADP
hjic-916	52	12	topics	topic	NOUN
hjic-916	52	13	.	.	PUNCT
hjic-916	53	1	rviz	rviz	NOUN
hjic-916	53	2	rviz	rviz	NOUN
hjic-916	53	3	is	be	AUX
hjic-916	53	4	a	a	DET
hjic-916	53	5	3d	3d	NUM
hjic-916	53	6	visualizer	visualizer	NOUN
hjic-916	53	7	in	in	ADP
hjic-916	53	8	ros	ros	PROPN
hjic-916	53	9	to	to	PART
hjic-916	53	10	visualize	visualize	VERB
hjic-916	53	11	2d	2d	NUM
hjic-916	53	12	and	and	CCONJ
hjic-916	53	13	3d	3d	NUM
hjic-916	53	14	values	value	NOUN
hjic-916	53	15	from	from	ADP
hjic-916	53	16	ros	ros	PROPN
hjic-916	53	17	topics	topic	NOUN
hjic-916	53	18	and	and	CCONJ
hjic-916	53	19	parameters	parameter	NOUN
hjic-916	53	20	which	which	PRON
hjic-916	53	21	helps	help	VERB
hjic-916	53	22	to	to	PART
hjic-916	53	23	visualize	visualize	VERB
hjic-916	53	24	data	datum	NOUN
hjic-916	53	25	such	such	ADJ
hjic-916	53	26	as	as	ADP
hjic-916	53	27	robot	robot	NOUN
hjic-916	53	28	models	model	NOUN
hjic-916	53	29	,	,	PUNCT
hjic-916	53	30	robot	robot	NOUN
hjic-916	53	31	3d	3d	PROPN
hjic-916	53	32	transform	transform	VERB
hjic-916	53	33	data	datum	NOUN
hjic-916	53	34	(	(	PUNCT
hjic-916	53	35	tf	tf	NOUN
hjic-916	53	36	)	)	PUNCT
hjic-916	53	37	,	,	PUNCT
hjic-916	53	38	point	point	NOUN
hjic-916	53	39	clouds	cloud	NOUN
hjic-916	53	40	,	,	PUNCT
hjic-916	53	41	laser	laser	NOUN
hjic-916	53	42	and	and	CCONJ
hjic-916	53	43	image	image	NOUN
hjic-916	53	44	data	datum	NOUN
hjic-916	53	45	,	,	PUNCT
hjic-916	53	46	as	as	ADV
hjic-916	53	47	well	well	ADV
hjic-916	53	48	as	as	ADP
hjic-916	53	49	a	a	DET
hjic-916	53	50	variety	variety	NOUN
hjic-916	53	51	of	of	ADP
hjic-916	53	52	sensor	sensor	NOUN
hjic-916	53	53	data	datum	NOUN
hjic-916	53	54	[	[	X
hjic-916	53	55	2	2	NUM
hjic-916	53	56	]	]	PUNCT
hjic-916	53	57	.	.	PUNCT
hjic-916	54	1	4.2	4.2	NUM
hjic-916	54	2	simulation	simulation	NOUN
hjic-916	54	3	simulations	simulation	NOUN
hjic-916	54	4	are	be	AUX
hjic-916	54	5	based	base	VERB
hjic-916	54	6	on	on	ADP
hjic-916	54	7	models	model	NOUN
hjic-916	54	8	with	with	ADP
hjic-916	54	9	which	which	PRON
hjic-916	54	10	we	we	PRON
hjic-916	54	11	try	try	VERB
hjic-916	54	12	to	to	PART
hjic-916	54	13	copy	copy	VERB
hjic-916	54	14	the	the	DET
hjic-916	54	15	physics	physics	NOUN
hjic-916	54	16	and	and	CCONJ
hjic-916	54	17	geometry	geometry	NOUN
hjic-916	54	18	of	of	ADP
hjic-916	54	19	the	the	DET
hjic-916	54	20	real	real	ADJ
hjic-916	54	21	world	world	NOUN
hjic-916	54	22	.	.	PUNCT
hjic-916	55	1	the	the	DET
hjic-916	55	2	more	more	ADJ
hjic-916	55	3	factors	factor	NOUN
hjic-916	55	4	that	that	PRON
hjic-916	55	5	are	be	AUX
hjic-916	55	6	built	build	VERB
hjic-916	55	7	into	into	ADP
hjic-916	55	8	them	they	PRON
hjic-916	55	9	,	,	PUNCT
hjic-916	55	10	the	the	PRON
hjic-916	55	11	more	more	ADV
hjic-916	55	12	likely	likely	ADJ
hjic-916	55	13	what	what	PRON
hjic-916	55	14	is	be	AUX
hjic-916	55	15	expected	expect	VERB
hjic-916	55	16	to	to	PART
hjic-916	55	17	happen	happen	VERB
hjic-916	55	18	will	will	AUX
hjic-916	55	19	actually	actually	ADV
hjic-916	55	20	occur	occur	VERB
hjic-916	55	21	in	in	ADP
hjic-916	55	22	a	a	DET
hjic-916	55	23	real	real	ADJ
hjic-916	55	24	-	-	PUNCT
hjic-916	55	25	world	world	NOUN
hjic-916	55	26	test	test	NOUN
hjic-916	55	27	.	.	PUNCT
hjic-916	56	1	our	our	PRON
hjic-916	56	2	car	car	NOUN
hjic-916	56	3	acts	act	VERB
hjic-916	56	4	as	as	ADP
hjic-916	56	5	a	a	DET
hjic-916	56	6	robot	robot	NOUN
hjic-916	56	7	,	,	PUNCT
hjic-916	56	8	modelled	model	VERB
hjic-916	56	9	on	on	ADP
hjic-916	56	10	a	a	DET
hjic-916	56	11	cad	cad	NOUN
hjic-916	56	12	program	program	NOUN
hjic-916	56	13	.	.	PUNCT
hjic-916	57	1	in	in	ADP
hjic-916	57	2	this	this	DET
hjic-916	57	3	phase	phase	NOUN
hjic-916	57	4	of	of	ADP
hjic-916	57	5	the	the	DET
hjic-916	57	6	algorithm	algorithm	NOUN
hjic-916	57	7	,	,	PUNCT
hjic-916	57	8	the	the	DET
hjic-916	57	9	layout	layout	NOUN
hjic-916	57	10	of	of	ADP
hjic-916	57	11	the	the	DET
hjic-916	57	12	car	car	NOUN
hjic-916	57	13	is	be	AUX
hjic-916	57	14	not	not	PART
hjic-916	57	15	important	important	ADJ
hjic-916	57	16	so	so	SCONJ
hjic-916	57	17	a	a	DET
hjic-916	57	18	nissan	nissan	PROPN
hjic-916	57	19	leaf	leaf	NOUN
hjic-916	57	20	was	be	AUX
hjic-916	57	21	used	use	VERB
hjic-916	57	22	as	as	ADP
hjic-916	57	23	our	our	PRON
hjic-916	57	24	race	race	NOUN
hjic-916	57	25	car	car	NOUN
hjic-916	57	26	.	.	PUNCT
hjic-916	58	1	in	in	ADP
hjic-916	58	2	gazebo	gazebo	PROPN
hjic-916	58	3	,	,	PUNCT
hjic-916	58	4	numerous	numerous	ADJ
hjic-916	58	5	types	type	NOUN
hjic-916	58	6	of	of	ADP
hjic-916	58	7	sensors	sensor	NOUN
hjic-916	58	8	are	be	AUX
hjic-916	58	9	available	available	ADJ
hjic-916	58	10	,	,	PUNCT
hjic-916	58	11	the	the	DET
hjic-916	58	12	parameters	parameter	NOUN
hjic-916	58	13	of	of	ADP
hjic-916	58	14	which	which	PRON
hjic-916	58	15	can	can	AUX
hjic-916	58	16	be	be	AUX
hjic-916	58	17	defined	define	VERB
hjic-916	58	18	as	as	ADP
hjic-916	58	19	real	real	ADJ
hjic-916	58	20	-	-	PUNCT
hjic-916	58	21	world	world	NOUN
hjic-916	58	22	lidar	lidar	NOUN
hjic-916	58	23	signals	signal	NOUN
hjic-916	58	24	as	as	SCONJ
hjic-916	58	25	mentioned	mention	VERB
hjic-916	58	26	in	in	ADP
hjic-916	58	27	section	section	NOUN
hjic-916	58	28	3	3	NUM
hjic-916	58	29	.	.	PUNCT
hjic-916	59	1	unfortunately	unfortunately	ADV
hjic-916	59	2	,	,	PUNCT
hjic-916	59	3	the	the	DET
hjic-916	59	4	exact	exact	ADJ
hjic-916	59	5	layout	layout	NOUN
hjic-916	59	6	of	of	ADP
hjic-916	59	7	the	the	DET
hjic-916	59	8	racetrack	racetrack	NOUN
hjic-916	59	9	is	be	AUX
hjic-916	59	10	unknown	unknown	ADJ
hjic-916	59	11	,	,	PUNCT
hjic-916	59	12	so	so	ADV
hjic-916	59	13	one	one	NOUN
hjic-916	59	14	was	be	AUX
hjic-916	59	15	created	create	VERB
hjic-916	59	16	.	.	PUNCT
hjic-916	60	1	our	our	PRON
hjic-916	60	2	track	track	NOUN
hjic-916	60	3	consists	consist	VERB
hjic-916	60	4	of	of	ADP
hjic-916	60	5	straight	straight	ADJ
hjic-916	60	6	sections	section	NOUN
hjic-916	60	7	,	,	PUNCT
hjic-916	60	8	curves	curve	NOUN
hjic-916	60	9	with	with	ADP
hjic-916	60	10	hungarian	hungarian	ADJ
hjic-916	60	11	journal	journal	NOUN
hjic-916	60	12	of	of	ADP
hjic-916	60	13	industry	industry	NOUN
hjic-916	60	14	and	and	CCONJ
hjic-916	60	15	chemistry	chemistry	NOUN
hjic-916	60	16	lidar	lidar	NOUN
hjic-916	60	17	-	-	PUNCT
hjic-916	60	18	based	base	VERB
hjic-916	60	19	collision	collision	NOUN
hjic-916	60	20	-	-	PUNCT
hjic-916	60	21	free	free	ADJ
hjic-916	60	22	space	space	NOUN
hjic-916	60	23	estimation	estimation	NOUN
hjic-916	60	24	approach	approach	NOUN
hjic-916	60	25	27	27	NUM
hjic-916	60	26	figure	figure	NOUN
hjic-916	60	27	3	3	NUM
hjic-916	60	28	:	:	PUNCT
hjic-916	60	29	simulation	simulation	NOUN
hjic-916	60	30	in	in	ADP
hjic-916	60	31	rviz	rviz	NOUN
hjic-916	60	32	.	.	PUNCT
hjic-916	61	1	different	different	ADJ
hjic-916	61	2	topics	topic	NOUN
hjic-916	61	3	can	can	AUX
hjic-916	61	4	be	be	AUX
hjic-916	61	5	visualized	visualize	VERB
hjic-916	61	6	at	at	ADP
hjic-916	61	7	the	the	DET
hjic-916	61	8	same	same	ADJ
hjic-916	61	9	time	time	NOUN
hjic-916	61	10	.	.	PUNCT
hjic-916	62	1	it	it	PRON
hjic-916	62	2	can	can	AUX
hjic-916	62	3	be	be	AUX
hjic-916	62	4	seen	see	VERB
hjic-916	62	5	that	that	SCONJ
hjic-916	62	6	the	the	DET
hjic-916	62	7	3d	3d	PROPN
hjic-916	62	8	lidar	lidar	NOUN
hjic-916	62	9	point	point	NOUN
hjic-916	62	10	cloud	cloud	NOUN
hjic-916	62	11	originates	originate	NOUN
hjic-916	62	12	from	from	ADP
hjic-916	62	13	two	two	NUM
hjic-916	62	14	2d	2d	NUM
hjic-916	62	15	beams	beam	NOUN
hjic-916	62	16	,	,	PUNCT
hjic-916	62	17	one	one	NUM
hjic-916	62	18	above	above	ADP
hjic-916	62	19	the	the	DET
hjic-916	62	20	other	other	ADJ
hjic-916	62	21	.	.	PUNCT
hjic-916	63	1	different	different	ADJ
hjic-916	63	2	radii	radius	NOUN
hjic-916	63	3	as	as	ADV
hjic-916	63	4	well	well	ADV
hjic-916	63	5	as	as	ADP
hjic-916	63	6	white	white	ADJ
hjic-916	63	7	and	and	CCONJ
hjic-916	63	8	red	red	ADJ
hjic-916	63	9	protective	protective	ADJ
hjic-916	63	10	barriers	barrier	NOUN
hjic-916	63	11	on	on	ADP
hjic-916	63	12	both	both	DET
hjic-916	63	13	sides	side	NOUN
hjic-916	63	14	.	.	PUNCT
hjic-916	64	1	as	as	SCONJ
hjic-916	64	2	3d	3d	PROPN
hjic-916	64	3	sensors	sensor	NOUN
hjic-916	64	4	are	be	AUX
hjic-916	64	5	used	use	VERB
hjic-916	64	6	,	,	PUNCT
hjic-916	64	7	not	not	PART
hjic-916	64	8	only	only	ADV
hjic-916	64	9	the	the	DET
hjic-916	64	10	track	track	NOUN
hjic-916	64	11	but	but	CCONJ
hjic-916	64	12	its	its	PRON
hjic-916	64	13	surroundings	surrounding	NOUN
hjic-916	64	14	are	be	AUX
hjic-916	64	15	also	also	ADV
hjic-916	64	16	important	important	ADJ
hjic-916	64	17	.	.	PUNCT
hjic-916	65	1	therefore	therefore	ADV
hjic-916	65	2	,	,	PUNCT
hjic-916	65	3	buildings	building	NOUN
hjic-916	65	4	,	,	PUNCT
hjic-916	65	5	trees	tree	NOUN
hjic-916	65	6	in	in	ADP
hjic-916	65	7	addition	addition	NOUN
hjic-916	65	8	to	to	ADP
hjic-916	65	9	cones	cone	NOUN
hjic-916	65	10	between	between	ADP
hjic-916	65	11	and	and	CCONJ
hjic-916	65	12	beyond	beyond	ADP
hjic-916	65	13	the	the	DET
hjic-916	65	14	two	two	NUM
hjic-916	65	15	barriers	barrier	NOUN
hjic-916	65	16	were	be	AUX
hjic-916	65	17	implemented	implement	VERB
hjic-916	65	18	.	.	PUNCT
hjic-916	66	1	when	when	SCONJ
hjic-916	66	2	the	the	DET
hjic-916	66	3	simulation	simulation	NOUN
hjic-916	66	4	was	be	AUX
hjic-916	66	5	completed	complete	VERB
hjic-916	66	6	,	,	PUNCT
hjic-916	66	7	it	it	PRON
hjic-916	66	8	was	be	AUX
hjic-916	66	9	possible	possible	ADJ
hjic-916	66	10	to	to	PART
hjic-916	66	11	drive	drive	VERB
hjic-916	66	12	a	a	DET
hjic-916	66	13	lap	lap	NOUN
hjic-916	66	14	of	of	ADP
hjic-916	66	15	the	the	DET
hjic-916	66	16	track	track	NOUN
hjic-916	66	17	in	in	ADP
hjic-916	66	18	the	the	DET
hjic-916	66	19	simulation	simulation	NOUN
hjic-916	66	20	and	and	CCONJ
hjic-916	66	21	collect	collect	VERB
hjic-916	66	22	the	the	DET
hjic-916	66	23	ros	ros	PROPN
hjic-916	66	24	topics	topic	NOUN
hjic-916	66	25	data	datum	NOUN
hjic-916	66	26	via	via	ADP
hjic-916	66	27	rosbags	rosbag	NOUN
hjic-916	66	28	.	.	PUNCT
hjic-916	67	1	moreover	moreover	ADV
hjic-916	67	2	,	,	PUNCT
hjic-916	67	3	with	with	ADP
hjic-916	67	4	rviz	rviz	NOUN
hjic-916	67	5	,	,	PUNCT
hjic-916	67	6	the	the	DET
hjic-916	67	7	following	follow	VERB
hjic-916	67	8	points	point	NOUN
hjic-916	67	9	could	could	AUX
hjic-916	67	10	be	be	AUX
hjic-916	67	11	visualized	visualize	VERB
hjic-916	67	12	as	as	SCONJ
hjic-916	67	13	presented	present	VERB
hjic-916	67	14	in	in	ADP
hjic-916	67	15	fig	fig	NOUN
hjic-916	67	16	.	.	PUNCT
hjic-916	68	1	3	3	NUM
hjic-916	68	2	.	.	NOUN
hjic-916	68	3	5	5	NUM
hjic-916	68	4	.	.	PUNCT
hjic-916	68	5	steps	step	NOUN
hjic-916	68	6	of	of	ADP
hjic-916	68	7	the	the	DET
hjic-916	68	8	algorithm	algorithm	NOUN
hjic-916	68	9	5.1	5.1	NUM
hjic-916	68	10	filtering	filter	VERB
hjic-916	68	11	our	our	PRON
hjic-916	68	12	lidar	lidar	NOUN
hjic-916	68	13	sensor	sensor	NOUN
hjic-916	68	14	gives	give	VERB
hjic-916	68	15	information	information	NOUN
hjic-916	68	16	over	over	ADP
hjic-916	68	17	360	360	NUM
hjic-916	68	18	degrees	degree	NOUN
hjic-916	68	19	which	which	PRON
hjic-916	68	20	is	be	AUX
hjic-916	68	21	very	very	ADV
hjic-916	68	22	useful	useful	ADJ
hjic-916	68	23	in	in	ADP
hjic-916	68	24	many	many	ADJ
hjic-916	68	25	cases	case	NOUN
hjic-916	68	26	,	,	PUNCT
hjic-916	68	27	however	however	ADV
hjic-916	68	28	,	,	PUNCT
hjic-916	68	29	in	in	ADP
hjic-916	68	30	this	this	DET
hjic-916	68	31	challenge	challenge	NOUN
hjic-916	68	32	,	,	PUNCT
hjic-916	68	33	only	only	ADV
hjic-916	68	34	information	information	NOUN
hjic-916	68	35	about	about	ADP
hjic-916	68	36	points	point	NOUN
hjic-916	68	37	in	in	ADP
hjic-916	68	38	front	front	NOUN
hjic-916	68	39	of	of	ADP
hjic-916	68	40	the	the	DET
hjic-916	68	41	car	car	NOUN
hjic-916	68	42	is	be	AUX
hjic-916	68	43	needed	need	VERB
hjic-916	68	44	.	.	PUNCT
hjic-916	69	1	if	if	SCONJ
hjic-916	69	2	information	information	NOUN
hjic-916	69	3	about	about	ADP
hjic-916	69	4	displacement	displacement	NOUN
hjic-916	69	5	of	of	ADP
hjic-916	69	6	the	the	DET
hjic-916	69	7	sensors	sensor	NOUN
hjic-916	69	8	on	on	ADP
hjic-916	69	9	the	the	DET
hjic-916	69	10	car	car	NOUN
hjic-916	69	11	is	be	AUX
hjic-916	69	12	available	available	ADJ
hjic-916	69	13	,	,	PUNCT
hjic-916	69	14	it	it	PRON
hjic-916	69	15	can	can	AUX
hjic-916	69	16	be	be	AUX
hjic-916	69	17	assumed	assume	VERB
hjic-916	69	18	that	that	SCONJ
hjic-916	69	19	the	the	DET
hjic-916	69	20	front	front	NOUN
hjic-916	69	21	of	of	ADP
hjic-916	69	22	the	the	DET
hjic-916	69	23	car	car	NOUN
hjic-916	69	24	and	and	CCONJ
hjic-916	69	25	all	all	DET
hjic-916	69	26	points	point	NOUN
hjic-916	69	27	smaller	small	ADJ
hjic-916	69	28	than	than	ADP
hjic-916	69	29	the	the	DET
hjic-916	69	30	linear	linear	ADJ
hjic-916	69	31	equation	equation	NOUN
hjic-916	69	32	x	x	PUNCT
hjic-916	70	1	=	=	PUNCT
hjic-916	70	2	−b+	−b+	NOUN
hjic-916	70	3	y	y	PROPN
hjic-916	70	4	m	m	PROPN
hjic-916	70	5	(	(	PUNCT
hjic-916	70	6	3	3	X
hjic-916	70	7	)	)	PUNCT
hjic-916	70	8	will	will	AUX
hjic-916	70	9	be	be	AUX
hjic-916	70	10	deleted	delete	VERB
hjic-916	70	11	,	,	PUNCT
hjic-916	70	12	where	where	SCONJ
hjic-916	70	13	b	b	NOUN
hjic-916	70	14	denotes	denote	VERB
hjic-916	70	15	the	the	DET
hjic-916	70	16	y	y	PROPN
hjic-916	70	17	-	-	PUNCT
hjic-916	70	18	intercept	intercept	NOUN
hjic-916	70	19	and	and	CCONJ
hjic-916	70	20	m	m	VERB
hjic-916	70	21	represents	represent	VERB
hjic-916	70	22	the	the	DET
hjic-916	70	23	gradient	gradient	NOUN
hjic-916	70	24	.	.	PUNCT
hjic-916	71	1	5.2	5.2	NUM
hjic-916	71	2	clustering	cluster	VERB
hjic-916	71	3	as	as	ADP
hjic-916	71	4	from	from	ADP
hjic-916	71	5	our	our	PRON
hjic-916	71	6	simulation	simulation	NOUN
hjic-916	71	7	only	only	ADV
hjic-916	71	8	raw	raw	ADJ
hjic-916	71	9	data	datum	NOUN
hjic-916	71	10	(	(	PUNCT
hjic-916	71	11	only	only	ADV
hjic-916	71	12	x	x	SYM
hjic-916	71	13	,	,	PUNCT
hjic-916	71	14	y	y	PROPN
hjic-916	71	15	and	and	CCONJ
hjic-916	71	16	z	z	PROPN
hjic-916	71	17	coordinates	coordinate	NOUN
hjic-916	71	18	)	)	PUNCT
hjic-916	71	19	are	be	AUX
hjic-916	71	20	obtained	obtain	VERB
hjic-916	71	21	,	,	PUNCT
hjic-916	71	22	which	which	DET
hjic-916	71	23	points	point	NOUN
hjic-916	71	24	belong	belong	VERB
hjic-916	71	25	to	to	ADP
hjic-916	71	26	each	each	DET
hjic-916	71	27	object	object	NOUN
hjic-916	71	28	has	have	VERB
hjic-916	71	29	to	to	PART
hjic-916	71	30	be	be	AUX
hjic-916	71	31	defined	define	VERB
hjic-916	71	32	.	.	PUNCT
hjic-916	72	1	clustering	clustering	NOUN
hjic-916	72	2	is	be	AUX
hjic-916	72	3	the	the	DET
hjic-916	72	4	task	task	NOUN
hjic-916	72	5	of	of	ADP
hjic-916	72	6	dividing	divide	VERB
hjic-916	72	7	the	the	DET
hjic-916	72	8	population	population	NOUN
hjic-916	72	9	or	or	CCONJ
hjic-916	72	10	data	datum	NOUN
hjic-916	72	11	points	point	NOUN
hjic-916	72	12	into	into	ADP
hjic-916	72	13	a	a	DET
hjic-916	72	14	number	number	NOUN
hjic-916	72	15	of	of	ADP
hjic-916	72	16	groups	group	NOUN
hjic-916	72	17	such	such	ADJ
hjic-916	72	18	that	that	SCONJ
hjic-916	72	19	the	the	DET
hjic-916	72	20	data	data	NOUN
hjic-916	72	21	points	point	VERB
hjic-916	72	22	in	in	ADP
hjic-916	72	23	a	a	DET
hjic-916	72	24	group	group	NOUN
hjic-916	72	25	are	be	AUX
hjic-916	72	26	more	more	ADV
hjic-916	72	27	similar	similar	ADJ
hjic-916	72	28	to	to	ADP
hjic-916	72	29	other	other	ADJ
hjic-916	72	30	data	datum	NOUN
hjic-916	72	31	points	point	NOUN
hjic-916	72	32	in	in	ADP
hjic-916	72	33	the	the	DET
hjic-916	72	34	same	same	ADJ
hjic-916	72	35	group	group	NOUN
hjic-916	72	36	than	than	ADP
hjic-916	72	37	to	to	ADP
hjic-916	72	38	data	datum	NOUN
hjic-916	72	39	points	point	NOUN
hjic-916	72	40	in	in	ADP
hjic-916	72	41	other	other	ADJ
hjic-916	72	42	groups	group	NOUN
hjic-916	72	43	.	.	PUNCT
hjic-916	73	1	it	it	PRON
hjic-916	73	2	is	be	AUX
hjic-916	73	3	basically	basically	ADV
hjic-916	73	4	a	a	DET
hjic-916	73	5	collection	collection	NOUN
hjic-916	73	6	of	of	ADP
hjic-916	73	7	objects	object	NOUN
hjic-916	73	8	arranged	arrange	VERB
hjic-916	73	9	according	accord	VERB
hjic-916	73	10	to	to	ADP
hjic-916	73	11	how	how	SCONJ
hjic-916	73	12	similar	similar	ADJ
hjic-916	73	13	or	or	CCONJ
hjic-916	73	14	dissimilar	dissimilar	ADJ
hjic-916	73	15	they	they	PRON
hjic-916	73	16	are	be	AUX
hjic-916	73	17	to	to	ADP
hjic-916	73	18	each	each	DET
hjic-916	73	19	other	other	ADJ
hjic-916	73	20	.	.	PUNCT
hjic-916	74	1	for	for	ADP
hjic-916	74	2	us	we	PRON
hjic-916	74	3	the	the	DET
hjic-916	74	4	most	most	ADV
hjic-916	74	5	effective	effective	ADJ
hjic-916	74	6	method	method	NOUN
hjic-916	74	7	is	be	AUX
hjic-916	74	8	dbscan	dbscan	NOUN
hjic-916	74	9	(	(	PUNCT
hjic-916	74	10	density	density	NOUN
hjic-916	74	11	-	-	PUNCT
hjic-916	74	12	based	base	VERB
hjic-916	74	13	spatial	spatial	ADJ
hjic-916	74	14	clustering	clustering	NOUN
hjic-916	74	15	of	of	ADP
hjic-916	74	16	applications	application	NOUN
hjic-916	74	17	with	with	ADP
hjic-916	74	18	noise	noise	NOUN
hjic-916	74	19	)	)	PUNCT
hjic-916	74	20	,	,	PUNCT
hjic-916	74	21	a	a	DET
hjic-916	74	22	well	well	ADV
hjic-916	74	23	-	-	PUNCT
hjic-916	74	24	known	know	VERB
hjic-916	74	25	data	datum	NOUN
hjic-916	74	26	clustering	cluster	VERB
hjic-916	74	27	algorithm	algorithm	NOUN
hjic-916	74	28	that	that	PRON
hjic-916	74	29	is	be	AUX
hjic-916	74	30	commonly	commonly	ADV
hjic-916	74	31	used	use	VERB
hjic-916	74	32	in	in	ADP
hjic-916	74	33	data	data	NOUN
hjic-916	74	34	mining	mining	NOUN
hjic-916	74	35	and	and	CCONJ
hjic-916	74	36	machine	machine	NOUN
hjic-916	74	37	learning	learning	NOUN
hjic-916	74	38	.	.	PUNCT
hjic-916	75	1	based	base	VERB
hjic-916	75	2	on	on	ADP
hjic-916	75	3	a	a	DET
hjic-916	75	4	set	set	NOUN
hjic-916	75	5	of	of	ADP
hjic-916	75	6	points	point	NOUN
hjic-916	75	7	,	,	PUNCT
hjic-916	75	8	dbscan	dbscan	ADJ
hjic-916	75	9	groups	group	NOUN
hjic-916	75	10	together	together	ADV
hjic-916	75	11	points	point	NOUN
hjic-916	75	12	that	that	PRON
hjic-916	75	13	are	be	AUX
hjic-916	75	14	in	in	ADP
hjic-916	75	15	close	close	ADJ
hjic-916	75	16	proximity	proximity	NOUN
hjic-916	75	17	to	to	ADP
hjic-916	75	18	each	each	DET
hjic-916	75	19	other	other	ADJ
hjic-916	75	20	based	base	VERB
hjic-916	75	21	on	on	ADP
hjic-916	75	22	a	a	DET
hjic-916	75	23	distance	distance	NOUN
hjic-916	75	24	measurement	measurement	NOUN
hjic-916	75	25	(	(	PUNCT
hjic-916	75	26	usually	usually	ADV
hjic-916	75	27	the	the	DET
hjic-916	75	28	euclidean	euclidean	ADJ
hjic-916	75	29	distance	distance	NOUN
hjic-916	75	30	)	)	PUNCT
hjic-916	75	31	and	and	CCONJ
hjic-916	75	32	a	a	DET
hjic-916	75	33	minimum	minimum	ADJ
hjic-916	75	34	number	number	NOUN
hjic-916	75	35	of	of	ADP
hjic-916	75	36	points	point	NOUN
hjic-916	75	37	.	.	PUNCT
hjic-916	76	1	it	it	PRON
hjic-916	76	2	also	also	ADV
hjic-916	76	3	marks	mark	VERB
hjic-916	76	4	as	as	ADP
hjic-916	76	5	outliers	outlier	NOUN
hjic-916	76	6	the	the	DET
hjic-916	76	7	points	point	NOUN
hjic-916	76	8	that	that	PRON
hjic-916	76	9	are	be	AUX
hjic-916	76	10	in	in	ADP
hjic-916	76	11	low	low	ADJ
hjic-916	76	12	-	-	PUNCT
hjic-916	76	13	density	density	NOUN
hjic-916	76	14	regions	region	NOUN
hjic-916	76	15	[	[	X
hjic-916	76	16	3	3	NUM
hjic-916	76	17	]	]	PUNCT
hjic-916	76	18	.	.	PUNCT
hjic-916	77	1	the	the	DET
hjic-916	77	2	dbscan	dbscan	PROPN
hjic-916	77	3	algorithm	algorithm	PROPN
hjic-916	77	4	basically	basically	ADV
hjic-916	77	5	requires	require	VERB
hjic-916	77	6	two	two	NUM
hjic-916	77	7	parameters	parameter	NOUN
hjic-916	77	8	:	:	PUNCT
hjic-916	77	9	eps	eps	NOUN
hjic-916	77	10	specifies	specifie	NOUN
hjic-916	77	11	how	how	SCONJ
hjic-916	77	12	close	close	ADJ
hjic-916	77	13	points	point	NOUN
hjic-916	77	14	should	should	AUX
hjic-916	77	15	be	be	AUX
hjic-916	77	16	to	to	ADP
hjic-916	77	17	each	each	DET
hjic-916	77	18	other	other	ADJ
hjic-916	77	19	to	to	PART
hjic-916	77	20	be	be	AUX
hjic-916	77	21	considered	consider	VERB
hjic-916	77	22	as	as	ADP
hjic-916	77	23	parts	part	NOUN
hjic-916	77	24	of	of	ADP
hjic-916	77	25	a	a	DET
hjic-916	77	26	cluster	cluster	NOUN
hjic-916	77	27	.	.	PUNCT
hjic-916	78	1	this	this	PRON
hjic-916	78	2	means	mean	VERB
hjic-916	78	3	that	that	SCONJ
hjic-916	78	4	if	if	SCONJ
hjic-916	78	5	the	the	DET
hjic-916	78	6	distance	distance	NOUN
hjic-916	78	7	between	between	ADP
hjic-916	78	8	two	two	NUM
hjic-916	78	9	points	point	NOUN
hjic-916	78	10	is	be	AUX
hjic-916	78	11	smaller	small	ADJ
hjic-916	78	12	or	or	CCONJ
hjic-916	78	13	equal	equal	ADJ
hjic-916	78	14	to	to	ADP
hjic-916	78	15	this	this	DET
hjic-916	78	16	value	value	NOUN
hjic-916	78	17	(	(	PUNCT
hjic-916	78	18	eps	eps	PROPN
hjic-916	78	19	)	)	PUNCT
hjic-916	78	20	,	,	PUNCT
hjic-916	78	21	these	these	DET
hjic-916	78	22	points	point	NOUN
hjic-916	78	23	are	be	AUX
hjic-916	78	24	considered	consider	VERB
hjic-916	78	25	to	to	PART
hjic-916	78	26	be	be	AUX
hjic-916	78	27	neighbors	neighbor	NOUN
hjic-916	78	28	.	.	PUNCT
hjic-916	79	1	minpoints	minpoint	VERB
hjic-916	79	2	the	the	DET
hjic-916	79	3	minimum	minimum	ADJ
hjic-916	79	4	number	number	NOUN
hjic-916	79	5	of	of	ADP
hjic-916	79	6	points	point	NOUN
hjic-916	79	7	to	to	PART
hjic-916	79	8	form	form	VERB
hjic-916	79	9	a	a	DET
hjic-916	79	10	dense	dense	ADJ
hjic-916	79	11	region	region	NOUN
hjic-916	79	12	.	.	PUNCT
hjic-916	80	1	for	for	ADP
hjic-916	80	2	example	example	NOUN
hjic-916	80	3	,	,	PUNCT
hjic-916	80	4	if	if	SCONJ
hjic-916	80	5	the	the	DET
hjic-916	80	6	minpoints	minpoint	NOUN
hjic-916	80	7	parameter	parameter	NOUN
hjic-916	80	8	is	be	AUX
hjic-916	80	9	set	set	VERB
hjic-916	80	10	as	as	ADP
hjic-916	80	11	5	5	NUM
hjic-916	80	12	,	,	PUNCT
hjic-916	80	13	then	then	ADV
hjic-916	80	14	at	at	ADV
hjic-916	80	15	least	least	ADV
hjic-916	80	16	5	5	NUM
hjic-916	80	17	points	point	NOUN
hjic-916	80	18	are	be	AUX
hjic-916	80	19	needed	need	VERB
hjic-916	80	20	to	to	PART
hjic-916	80	21	form	form	VERB
hjic-916	80	22	a	a	DET
hjic-916	80	23	dense	dense	ADJ
hjic-916	80	24	region	region	NOUN
hjic-916	80	25	.	.	PUNCT
hjic-916	81	1	after	after	ADP
hjic-916	81	2	clustering	cluster	VERB
hjic-916	81	3	,	,	PUNCT
hjic-916	81	4	all	all	PRON
hjic-916	81	5	of	of	ADP
hjic-916	81	6	the	the	DET
hjic-916	81	7	points	point	NOUN
hjic-916	81	8	belong	belong	VERB
hjic-916	81	9	to	to	ADP
hjic-916	81	10	a	a	DET
hjic-916	81	11	group	group	NOUN
hjic-916	81	12	as	as	SCONJ
hjic-916	81	13	shown	show	VERB
hjic-916	81	14	in	in	ADP
hjic-916	81	15	fig	fig	NOUN
hjic-916	81	16	.	.	PUNCT
hjic-916	82	1	4	4	NUM
hjic-916	82	2	.	.	X
hjic-916	82	3	5.3	5.3	NUM
hjic-916	82	4	convex	convex	PROPN
hjic-916	82	5	hull	hull	NOUN
hjic-916	82	6	even	even	ADV
hjic-916	82	7	though	though	SCONJ
hjic-916	82	8	the	the	DET
hjic-916	82	9	point	point	NOUN
hjic-916	82	10	cloud	cloud	NOUN
hjic-916	82	11	of	of	ADP
hjic-916	82	12	a	a	DET
hjic-916	82	13	3d	3d	PROPN
hjic-916	82	14	lidar	lidar	NOUN
hjic-916	82	15	stands	stand	VERB
hjic-916	82	16	for	for	ADP
hjic-916	82	17	more	more	ADJ
hjic-916	82	18	than	than	ADP
hjic-916	82	19	one	one	NUM
hjic-916	82	20	thousand	thousand	NUM
hjic-916	82	21	points	point	NOUN
hjic-916	82	22	,	,	PUNCT
hjic-916	82	23	only	only	ADV
hjic-916	82	24	a	a	DET
hjic-916	82	25	proportion	proportion	NOUN
hjic-916	82	26	of	of	ADP
hjic-916	82	27	them	they	PRON
hjic-916	82	28	is	be	AUX
hjic-916	82	29	needed	need	VERB
hjic-916	82	30	,	,	PUNCT
hjic-916	82	31	thus	thus	ADV
hjic-916	82	32	points	point	NOUN
hjic-916	82	33	should	should	AUX
hjic-916	82	34	be	be	AUX
hjic-916	82	35	filtered	filter	VERB
hjic-916	82	36	.	.	PUNCT
hjic-916	83	1	the	the	DET
hjic-916	83	2	clustered	clustered	ADJ
hjic-916	83	3	points	point	NOUN
hjic-916	83	4	have	have	VERB
hjic-916	83	5	to	to	PART
hjic-916	83	6	be	be	AUX
hjic-916	83	7	packed	pack	VERB
hjic-916	83	8	by	by	ADP
hjic-916	83	9	each	each	DET
hjic-916	83	10	group	group	NOUN
hjic-916	83	11	into	into	ADP
hjic-916	83	12	a	a	DET
hjic-916	83	13	convex	convex	NOUN
hjic-916	83	14	hull	hull	NOUN
hjic-916	83	15	.	.	PUNCT
hjic-916	84	1	the	the	DET
hjic-916	84	2	convex	convex	PROPN
hjic-916	84	3	hull	hull	NOUN
hjic-916	84	4	of	of	ADP
hjic-916	84	5	a	a	DET
hjic-916	84	6	set	set	NOUN
hjic-916	84	7	of	of	ADP
hjic-916	84	8	points	point	NOUN
hjic-916	84	9	is	be	AUX
hjic-916	84	10	defined	define	VERB
hjic-916	84	11	as	as	ADP
hjic-916	84	12	the	the	DET
hjic-916	84	13	48(1	48(1	NOUN
hjic-916	84	14	)	)	PUNCT
hjic-916	84	15	pp	pp	ADV
hjic-916	84	16	.	.	PUNCT
hjic-916	85	1	25–31	25–31	NUM
hjic-916	85	2	(	(	PUNCT
hjic-916	85	3	2020	2020	NUM
hjic-916	85	4	)	)	PUNCT
hjic-916	85	5	28	28	NUM
hjic-916	85	6	unger	unger	NOUN
hjic-916	85	7	,	,	PUNCT
hjic-916	85	8	horváth	horváth	NOUN
hjic-916	85	9	,	,	PUNCT
hjic-916	85	10	and	and	CCONJ
hjic-916	85	11	hajdu	hajdu	NOUN
hjic-916	85	12	figure	figure	NOUN
hjic-916	85	13	4	4	NUM
hjic-916	85	14	:	:	PUNCT
hjic-916	85	15	the	the	DET
hjic-916	85	16	different	different	ADJ
hjic-916	85	17	clusters	cluster	NOUN
hjic-916	85	18	denoted	denote	VERB
hjic-916	85	19	by	by	ADP
hjic-916	85	20	different	different	ADJ
hjic-916	85	21	colors	color	NOUN
hjic-916	85	22	.	.	PUNCT
hjic-916	86	1	smallest	small	ADJ
hjic-916	86	2	convex	convex	ADJ
hjic-916	86	3	polygon	polygon	NOUN
hjic-916	86	4	that	that	PRON
hjic-916	86	5	encloses	enclose	VERB
hjic-916	86	6	all	all	PRON
hjic-916	86	7	of	of	ADP
hjic-916	86	8	the	the	DET
hjic-916	86	9	points	point	NOUN
hjic-916	86	10	in	in	ADP
hjic-916	86	11	the	the	DET
hjic-916	86	12	set	set	NOUN
hjic-916	86	13	[	[	X
hjic-916	86	14	4	4	NUM
hjic-916	86	15	]	]	PUNCT
hjic-916	86	16	.	.	PUNCT
hjic-916	87	1	for	for	ADP
hjic-916	87	2	the	the	DET
hjic-916	87	3	purposes	purpose	NOUN
hjic-916	87	4	of	of	ADP
hjic-916	87	5	clarification	clarification	NOUN
hjic-916	87	6	,	,	PUNCT
hjic-916	87	7	only	only	ADV
hjic-916	87	8	the	the	DET
hjic-916	87	9	vertices	vertex	NOUN
hjic-916	87	10	of	of	ADP
hjic-916	87	11	a	a	DET
hjic-916	87	12	convex	convex	ADJ
hjic-916	87	13	polygon	polygon	NOUN
hjic-916	87	14	are	be	AUX
hjic-916	87	15	used	use	VERB
hjic-916	87	16	as	as	SCONJ
hjic-916	87	17	shown	show	VERB
hjic-916	87	18	in	in	ADP
hjic-916	87	19	fig	fig	NOUN
hjic-916	87	20	.	.	PUNCT
hjic-916	88	1	5	5	X
hjic-916	88	2	.	.	NUM
hjic-916	88	3	vertices	vertex	NOUN
hjic-916	88	4	are	be	AUX
hjic-916	88	5	side	side	NOUN
hjic-916	88	6	points	point	NOUN
hjic-916	88	7	which	which	PRON
hjic-916	88	8	form	form	VERB
hjic-916	88	9	the	the	DET
hjic-916	88	10	simplified	simplified	ADJ
hjic-916	88	11	shape	shape	NOUN
hjic-916	88	12	of	of	ADP
hjic-916	88	13	a	a	DET
hjic-916	88	14	polygon	polygon	NOUN
hjic-916	88	15	.	.	PUNCT
hjic-916	89	1	5.4	5.4	NUM
hjic-916	89	2	delaunay	delaunay	PROPN
hjic-916	89	3	triangulation	triangulation	NOUN
hjic-916	89	4	and	and	CCONJ
hjic-916	89	5	voronoi	voronoi	ADJ
hjic-916	89	6	diagram	diagram	NOUN
hjic-916	89	7	the	the	DET
hjic-916	89	8	delaunay	delaunay	PROPN
hjic-916	89	9	triangulation	triangulation	NOUN
hjic-916	89	10	for	for	ADP
hjic-916	89	11	a	a	DET
hjic-916	89	12	given	give	VERB
hjic-916	89	13	set	set	NOUN
hjic-916	89	14	p	p	NOUN
hjic-916	89	15	of	of	ADP
hjic-916	89	16	discrete	discrete	ADJ
hjic-916	89	17	points	point	NOUN
hjic-916	89	18	in	in	ADP
hjic-916	89	19	a	a	DET
hjic-916	89	20	plane	plane	NOUN
hjic-916	89	21	is	be	AUX
hjic-916	89	22	a	a	DET
hjic-916	89	23	triangulation	triangulation	NOUN
hjic-916	89	24	dt(p	dt(p	NOUN
hjic-916	89	25	)	)	PUNCT
hjic-916	89	26	such	such	ADJ
hjic-916	89	27	that	that	SCONJ
hjic-916	89	28	no	no	DET
hjic-916	89	29	point	point	NOUN
hjic-916	89	30	in	in	ADP
hjic-916	89	31	p	p	NOUN
hjic-916	89	32	is	be	AUX
hjic-916	89	33	inside	inside	ADP
hjic-916	89	34	the	the	DET
hjic-916	89	35	circumcircle	circumcircle	NOUN
hjic-916	89	36	of	of	ADP
hjic-916	89	37	any	any	DET
hjic-916	89	38	triangle	triangle	NOUN
hjic-916	89	39	in	in	ADP
hjic-916	89	40	dt(p	dt(p	NOUN
hjic-916	89	41	)	)	PUNCT
hjic-916	90	1	[	[	X
hjic-916	90	2	5	5	NUM
hjic-916	90	3	]	]	PUNCT
hjic-916	90	4	.	.	PUNCT
hjic-916	91	1	delaunay	delaunay	PROPN
hjic-916	91	2	triangulations	triangulation	NOUN
hjic-916	91	3	maximize	maximize	VERB
hjic-916	91	4	the	the	DET
hjic-916	91	5	minimum	minimum	ADJ
hjic-916	91	6	angle	angle	NOUN
hjic-916	91	7	of	of	ADP
hjic-916	91	8	all	all	DET
hjic-916	91	9	the	the	DET
hjic-916	91	10	angles	angle	NOUN
hjic-916	91	11	of	of	ADP
hjic-916	91	12	the	the	DET
hjic-916	91	13	triangles	triangle	NOUN
hjic-916	91	14	in	in	ADP
hjic-916	91	15	the	the	DET
hjic-916	91	16	triangulation	triangulation	NOUN
hjic-916	91	17	as	as	SCONJ
hjic-916	91	18	presented	present	VERB
hjic-916	91	19	in	in	ADP
hjic-916	91	20	fig	fig	NOUN
hjic-916	91	21	.	.	PUNCT
hjic-916	92	1	6	6	NUM
hjic-916	92	2	.	.	PUNCT
hjic-916	92	3	the	the	DET
hjic-916	92	4	circumcenters	circumcenter	NOUN
hjic-916	92	5	of	of	ADP
hjic-916	92	6	delaunay	delaunay	PROPN
hjic-916	92	7	triangles	triangle	NOUN
hjic-916	92	8	are	be	AUX
hjic-916	92	9	the	the	DET
hjic-916	92	10	vertices	vertex	NOUN
hjic-916	92	11	of	of	ADP
hjic-916	92	12	the	the	DET
hjic-916	92	13	voronoi	voronoi	ADJ
hjic-916	92	14	diagram	diagram	NOUN
hjic-916	92	15	.	.	PUNCT
hjic-916	93	1	in	in	ADP
hjic-916	93	2	the	the	DET
hjic-916	93	3	2d	2d	NUM
hjic-916	93	4	case	case	NOUN
hjic-916	93	5	,	,	PUNCT
hjic-916	93	6	the	the	DET
hjic-916	93	7	voronoi	voronoi	ADJ
hjic-916	93	8	vertices	vertex	NOUN
hjic-916	93	9	are	be	AUX
hjic-916	93	10	connected	connect	VERB
hjic-916	93	11	via	via	ADP
hjic-916	93	12	edges	edge	NOUN
hjic-916	93	13	that	that	PRON
hjic-916	93	14	can	can	AUX
hjic-916	93	15	be	be	AUX
hjic-916	93	16	derived	derive	VERB
hjic-916	93	17	from	from	ADP
hjic-916	93	18	adjacency	adjacency	PROPN
hjic-916	93	19	relations	relation	NOUN
hjic-916	93	20	of	of	ADP
hjic-916	93	21	the	the	DET
hjic-916	93	22	delaunay	delaunay	PROPN
hjic-916	93	23	triangles	triangle	NOUN
hjic-916	93	24	.	.	PUNCT
hjic-916	94	1	if	if	SCONJ
hjic-916	94	2	two	two	NUM
hjic-916	94	3	triangles	triangle	NOUN
hjic-916	94	4	share	share	VERB
hjic-916	94	5	an	an	DET
hjic-916	94	6	edge	edge	NOUN
hjic-916	94	7	in	in	ADP
hjic-916	94	8	the	the	DET
hjic-916	94	9	delaunay	delaunay	PROPN
hjic-916	94	10	triangulation	triangulation	NOUN
hjic-916	94	11	,	,	PUNCT
hjic-916	94	12	their	their	PRON
hjic-916	94	13	circumcenters	circumcenter	NOUN
hjic-916	94	14	are	be	AUX
hjic-916	94	15	to	to	PART
hjic-916	94	16	be	be	AUX
hjic-916	94	17	connected	connect	VERB
hjic-916	94	18	with	with	ADP
hjic-916	94	19	an	an	DET
hjic-916	94	20	edge	edge	NOUN
hjic-916	94	21	in	in	ADP
hjic-916	94	22	the	the	DET
hjic-916	94	23	voronoi	voronoi	ADJ
hjic-916	94	24	tessellation	tessellation	NOUN
hjic-916	94	25	as	as	SCONJ
hjic-916	94	26	shown	show	VERB
hjic-916	94	27	in	in	ADP
hjic-916	94	28	fig	fig	NOUN
hjic-916	94	29	.	.	PUNCT
hjic-916	95	1	7	7	X
hjic-916	95	2	.	.	X
hjic-916	95	3	for	for	ADP
hjic-916	95	4	a	a	DET
hjic-916	95	5	set	set	NOUN
hjic-916	95	6	of	of	ADP
hjic-916	95	7	points	point	NOUN
hjic-916	95	8	in	in	ADP
hjic-916	95	9	2d	2d	NUM
hjic-916	95	10	space	space	NOUN
hjic-916	95	11	,	,	PUNCT
hjic-916	95	12	the	the	DET
hjic-916	95	13	voronoi	voronoi	PROPN
hjic-916	95	14	diagram	diagram	NOUN
hjic-916	95	15	creates	create	VERB
hjic-916	95	16	cells	cell	NOUN
hjic-916	95	17	whose	whose	DET
hjic-916	95	18	edges	edge	NOUN
hjic-916	95	19	are	be	AUX
hjic-916	95	20	the	the	DET
hjic-916	95	21	same	same	ADJ
hjic-916	95	22	distance	distance	NOUN
hjic-916	95	23	from	from	ADP
hjic-916	95	24	two	two	NUM
hjic-916	95	25	neighboring	neighboring	NOUN
hjic-916	95	26	points	point	NOUN
hjic-916	95	27	.	.	PUNCT
hjic-916	96	1	this	this	DET
hjic-916	96	2	property	property	NOUN
hjic-916	96	3	grants	grant	NOUN
hjic-916	96	4	that	that	PRON
hjic-916	96	5	all	all	DET
hjic-916	96	6	reference	reference	NOUN
hjic-916	96	7	points	point	NOUN
hjic-916	96	8	are	be	AUX
hjic-916	96	9	exactly	exactly	ADV
hjic-916	96	10	between	between	ADP
hjic-916	96	11	two	two	NUM
hjic-916	96	12	detected	detect	VERB
hjic-916	96	13	items	item	NOUN
hjic-916	96	14	and	and	CCONJ
hjic-916	96	15	the	the	DET
hjic-916	96	16	edges	edge	NOUN
hjic-916	96	17	of	of	ADP
hjic-916	96	18	voronoi	voronoi	ADJ
hjic-916	96	19	cells	cell	NOUN
hjic-916	96	20	are	be	AUX
hjic-916	96	21	ideal	ideal	ADJ
hjic-916	96	22	for	for	ADP
hjic-916	96	23	the	the	DET
hjic-916	96	24	representation	representation	NOUN
hjic-916	96	25	of	of	ADP
hjic-916	96	26	a	a	DET
hjic-916	96	27	reference	reference	NOUN
hjic-916	96	28	line	line	NOUN
hjic-916	96	29	.	.	PUNCT
hjic-916	97	1	unfortunately	unfortunately	ADV
hjic-916	97	2	,	,	PUNCT
hjic-916	97	3	real	real	ADJ
hjic-916	97	4	environments	environment	NOUN
hjic-916	97	5	are	be	AUX
hjic-916	97	6	never	never	ADV
hjic-916	97	7	ideal	ideal	ADJ
hjic-916	97	8	and	and	CCONJ
hjic-916	97	9	this	this	DET
hjic-916	97	10	method	method	NOUN
hjic-916	97	11	would	would	AUX
hjic-916	97	12	provide	provide	VERB
hjic-916	97	13	more	more	ADJ
hjic-916	97	14	route	route	NOUN
hjic-916	97	15	options	option	NOUN
hjic-916	97	16	in	in	ADP
hjic-916	97	17	the	the	DET
hjic-916	97	18	presence	presence	NOUN
hjic-916	97	19	of	of	ADP
hjic-916	97	20	noise	noise	NOUN
hjic-916	97	21	as	as	SCONJ
hjic-916	97	22	presented	present	VERB
hjic-916	97	23	in	in	ADP
hjic-916	97	24	fig	fig	NOUN
hjic-916	97	25	.	.	PUNCT
hjic-916	98	1	8	8	X
hjic-916	98	2	.	.	X
hjic-916	98	3	figure	figure	NOUN
hjic-916	98	4	5	5	NUM
hjic-916	98	5	:	:	PUNCT
hjic-916	98	6	to	to	PART
hjic-916	98	7	clarify	clarify	VERB
hjic-916	98	8	the	the	DET
hjic-916	98	9	large	large	ADJ
hjic-916	98	10	number	number	NOUN
hjic-916	98	11	of	of	ADP
hjic-916	98	12	points	point	NOUN
hjic-916	98	13	,	,	PUNCT
hjic-916	98	14	only	only	ADV
hjic-916	98	15	the	the	DET
hjic-916	98	16	vertices	vertex	NOUN
hjic-916	98	17	of	of	ADP
hjic-916	98	18	the	the	DET
hjic-916	98	19	convex	convex	PROPN
hjic-916	98	20	hull	hull	NOUN
hjic-916	98	21	were	be	AUX
hjic-916	98	22	used	use	VERB
hjic-916	98	23	.	.	PUNCT
hjic-916	99	1	figure	figure	VERB
hjic-916	99	2	6	6	NUM
hjic-916	99	3	:	:	PUNCT
hjic-916	99	4	the	the	DET
hjic-916	99	5	delaunay	delaunay	PROPN
hjic-916	99	6	triangulation	triangulation	NOUN
hjic-916	99	7	with	with	ADP
hjic-916	99	8	all	all	DET
hjic-916	99	9	the	the	DET
hjic-916	99	10	circumcircles	circumcircle	NOUN
hjic-916	99	11	and	and	CCONJ
hjic-916	99	12	their	their	PRON
hjic-916	99	13	centers	center	NOUN
hjic-916	99	14	(	(	PUNCT
hjic-916	99	15	marked	mark	VERB
hjic-916	99	16	in	in	ADP
hjic-916	99	17	red	red	PROPN
hjic-916	99	18	)	)	PUNCT
hjic-916	99	19	.	.	PUNCT
hjic-916	100	1	5.5	5.5	NUM
hjic-916	100	2	ransac	ransac	NOUN
hjic-916	100	3	at	at	ADP
hjic-916	100	4	this	this	DET
hjic-916	100	5	stage	stage	NOUN
hjic-916	100	6	of	of	ADP
hjic-916	100	7	the	the	DET
hjic-916	100	8	algorithm	algorithm	NOUN
hjic-916	100	9	,	,	PUNCT
hjic-916	100	10	no	no	DET
hjic-916	100	11	information	information	NOUN
hjic-916	100	12	is	be	AUX
hjic-916	100	13	available	available	ADJ
hjic-916	100	14	about	about	ADP
hjic-916	100	15	which	which	DET
hjic-916	100	16	side	side	NOUN
hjic-916	100	17	of	of	ADP
hjic-916	100	18	the	the	DET
hjic-916	100	19	car	car	NOUN
hjic-916	100	20	the	the	DET
hjic-916	100	21	detected	detect	VERB
hjic-916	100	22	points	point	NOUN
hjic-916	100	23	are	be	AUX
hjic-916	100	24	on	on	ADP
hjic-916	100	25	.	.	PUNCT
hjic-916	101	1	as	as	SCONJ
hjic-916	101	2	the	the	DET
hjic-916	101	3	reference	reference	NOUN
hjic-916	101	4	lines	line	NOUN
hjic-916	101	5	should	should	AUX
hjic-916	101	6	only	only	ADV
hjic-916	101	7	be	be	AUX
hjic-916	101	8	between	between	ADP
hjic-916	101	9	the	the	DET
hjic-916	101	10	two	two	NUM
hjic-916	101	11	middle	middle	ADJ
hjic-916	101	12	barriers	barrier	NOUN
hjic-916	101	13	,	,	PUNCT
hjic-916	101	14	this	this	DET
hjic-916	101	15	information	information	NOUN
hjic-916	101	16	is	be	AUX
hjic-916	101	17	important	important	ADJ
hjic-916	101	18	.	.	PUNCT
hjic-916	102	1	for	for	ADP
hjic-916	102	2	this	this	DET
hjic-916	102	3	process	process	NOUN
hjic-916	102	4	,	,	PUNCT
hjic-916	102	5	an	an	DET
hjic-916	102	6	estimator	estimator	NOUN
hjic-916	102	7	must	must	AUX
hjic-916	102	8	be	be	AUX
hjic-916	102	9	implemented	implement	VERB
hjic-916	102	10	.	.	PUNCT
hjic-916	103	1	ransac	ransac	NOUN
hjic-916	103	2	(	(	PUNCT
hjic-916	103	3	random	random	ADJ
hjic-916	103	4	sample	sample	NOUN
hjic-916	103	5	consensus	consensus	NOUN
hjic-916	103	6	)	)	PUNCT
hjic-916	103	7	is	be	AUX
hjic-916	103	8	an	an	DET
hjic-916	103	9	iterative	iterative	NOUN
hjic-916	103	10	method	method	NOUN
hjic-916	103	11	to	to	PART
hjic-916	103	12	estimate	estimate	VERB
hjic-916	103	13	parameters	parameter	NOUN
hjic-916	103	14	of	of	ADP
hjic-916	103	15	a	a	DET
hjic-916	103	16	mathematical	mathematical	ADJ
hjic-916	103	17	model	model	NOUN
hjic-916	103	18	from	from	ADP
hjic-916	103	19	a	a	DET
hjic-916	103	20	set	set	NOUN
hjic-916	103	21	of	of	ADP
hjic-916	103	22	observed	observed	ADJ
hjic-916	103	23	data	datum	NOUN
hjic-916	103	24	that	that	PRON
hjic-916	103	25	contains	contain	VERB
hjic-916	103	26	outliers	outlier	NOUN
hjic-916	103	27	which	which	PRON
hjic-916	103	28	do	do	AUX
hjic-916	103	29	not	not	PART
hjic-916	103	30	influence	influence	VERB
hjic-916	103	31	the	the	DET
hjic-916	103	32	values	value	NOUN
hjic-916	103	33	of	of	ADP
hjic-916	103	34	the	the	DET
hjic-916	103	35	estimated	estimate	VERB
hjic-916	103	36	parameters	parameter	NOUN
hjic-916	103	37	.	.	PUNCT
hjic-916	104	1	the	the	DET
hjic-916	104	2	input	input	NOUN
hjic-916	104	3	to	to	ADP
hjic-916	104	4	the	the	DET
hjic-916	104	5	ransac	ransac	NOUN
hjic-916	104	6	algorithm	algorithm	NOUN
hjic-916	104	7	is	be	AUX
hjic-916	104	8	a	a	DET
hjic-916	104	9	set	set	NOUN
hjic-916	104	10	of	of	ADP
hjic-916	104	11	observed	observe	VERB
hjic-916	104	12	data	data	NOUN
hjic-916	104	13	values	value	NOUN
hjic-916	104	14	,	,	PUNCT
hjic-916	104	15	a	a	DET
hjic-916	104	16	method	method	NOUN
hjic-916	104	17	of	of	ADP
hjic-916	104	18	fitting	fit	VERB
hjic-916	104	19	some	some	DET
hjic-916	104	20	kind	kind	NOUN
hjic-916	104	21	of	of	ADP
hjic-916	104	22	model	model	NOUN
hjic-916	104	23	to	to	ADP
hjic-916	104	24	the	the	DET
hjic-916	104	25	observations	observation	NOUN
hjic-916	104	26	and	and	CCONJ
hjic-916	104	27	several	several	ADJ
hjic-916	104	28	confidence	confidence	NOUN
hjic-916	104	29	parameters	parameter	NOUN
hjic-916	104	30	.	.	PUNCT
hjic-916	105	1	ransac	ransac	NOUN
hjic-916	105	2	achieves	achieve	VERB
hjic-916	105	3	its	its	PRON
hjic-916	105	4	goal	goal	NOUN
hjic-916	105	5	by	by	ADP
hjic-916	105	6	repeating	repeat	VERB
hjic-916	105	7	the	the	DET
hjic-916	105	8	following	follow	VERB
hjic-916	105	9	steps	step	NOUN
hjic-916	105	10	[	[	X
hjic-916	105	11	6	6	NUM
hjic-916	105	12	]	]	SYM
hjic-916	105	13	:	:	PUNCT
hjic-916	105	14	1	1	X
hjic-916	105	15	.	.	X
hjic-916	105	16	selecting	select	VERB
hjic-916	105	17	a	a	DET
hjic-916	105	18	random	random	ADJ
hjic-916	105	19	subset	subset	NOUN
hjic-916	105	20	of	of	ADP
hjic-916	105	21	the	the	DET
hjic-916	105	22	original	original	ADJ
hjic-916	105	23	data	datum	NOUN
hjic-916	105	24	,	,	PUNCT
hjic-916	105	25	refigure	refigure	VERB
hjic-916	105	26	7	7	NUM
hjic-916	105	27	:	:	PUNCT
hjic-916	105	28	a	a	DET
hjic-916	105	29	voronoi	voronoi	ADJ
hjic-916	105	30	diagram	diagram	NOUN
hjic-916	105	31	is	be	AUX
hjic-916	105	32	constructed	construct	VERB
hjic-916	105	33	by	by	ADP
hjic-916	105	34	connecting	connect	VERB
hjic-916	105	35	the	the	DET
hjic-916	105	36	centers	center	NOUN
hjic-916	105	37	of	of	ADP
hjic-916	105	38	the	the	DET
hjic-916	105	39	circumstances	circumstance	NOUN
hjic-916	105	40	.	.	PUNCT
hjic-916	106	1	hungarian	hungarian	ADJ
hjic-916	106	2	journal	journal	NOUN
hjic-916	106	3	of	of	ADP
hjic-916	106	4	industry	industry	NOUN
hjic-916	106	5	and	and	CCONJ
hjic-916	106	6	chemistry	chemistry	NOUN
hjic-916	106	7	lidar	lidar	NOUN
hjic-916	106	8	-	-	PUNCT
hjic-916	106	9	based	base	VERB
hjic-916	106	10	collision	collision	NOUN
hjic-916	106	11	-	-	PUNCT
hjic-916	106	12	free	free	ADJ
hjic-916	106	13	space	space	NOUN
hjic-916	106	14	estimation	estimation	NOUN
hjic-916	106	15	approach	approach	NOUN
hjic-916	106	16	29	29	NUM
hjic-916	106	17	figure	figure	NOUN
hjic-916	106	18	8	8	NUM
hjic-916	106	19	:	:	PUNCT
hjic-916	106	20	a	a	DET
hjic-916	106	21	real	real	ADJ
hjic-916	106	22	scenario	scenario	NOUN
hjic-916	106	23	from	from	ADP
hjic-916	106	24	the	the	DET
hjic-916	106	25	algorithm	algorithm	NOUN
hjic-916	106	26	.	.	PUNCT
hjic-916	107	1	the	the	DET
hjic-916	107	2	detected	detect	VERB
hjic-916	107	3	points	point	NOUN
hjic-916	107	4	are	be	AUX
hjic-916	107	5	denoted	denote	VERB
hjic-916	107	6	in	in	ADP
hjic-916	107	7	orange	orange	PROPN
hjic-916	107	8	,	,	PUNCT
hjic-916	107	9	the	the	DET
hjic-916	107	10	green	green	ADJ
hjic-916	107	11	points	point	NOUN
hjic-916	107	12	represent	represent	VERB
hjic-916	107	13	the	the	DET
hjic-916	107	14	centers	center	NOUN
hjic-916	107	15	of	of	ADP
hjic-916	107	16	the	the	DET
hjic-916	107	17	circumstances	circumstance	NOUN
hjic-916	107	18	,	,	PUNCT
hjic-916	107	19	and	and	CCONJ
hjic-916	107	20	the	the	DET
hjic-916	107	21	black	black	ADJ
hjic-916	107	22	lines	line	NOUN
hjic-916	107	23	stand	stand	VERB
hjic-916	107	24	for	for	ADP
hjic-916	107	25	the	the	DET
hjic-916	107	26	voronoi	voronoi	ADJ
hjic-916	107	27	edges	edge	NOUN
hjic-916	107	28	which	which	PRON
hjic-916	107	29	also	also	ADV
hjic-916	107	30	represent	represent	VERB
hjic-916	107	31	the	the	DET
hjic-916	107	32	reference	reference	NOUN
hjic-916	107	33	lines	line	NOUN
hjic-916	107	34	.	.	PUNCT
hjic-916	108	1	ferred	ferre	VERB
hjic-916	108	2	to	to	ADP
hjic-916	108	3	as	as	ADP
hjic-916	108	4	the	the	DET
hjic-916	108	5	hypothetical	hypothetical	ADJ
hjic-916	108	6	inliers	inlier	NOUN
hjic-916	108	7	;	;	PUNCT
hjic-916	108	8	2	2	X
hjic-916	108	9	.	.	X
hjic-916	108	10	fitting	fit	VERB
hjic-916	108	11	a	a	DET
hjic-916	108	12	model	model	NOUN
hjic-916	108	13	to	to	ADP
hjic-916	108	14	the	the	DET
hjic-916	108	15	set	set	NOUN
hjic-916	108	16	of	of	ADP
hjic-916	108	17	hypothetical	hypothetical	ADJ
hjic-916	108	18	inliers	inlier	NOUN
hjic-916	108	19	;	;	PUNCT
hjic-916	108	20	3	3	X
hjic-916	108	21	.	.	X
hjic-916	108	22	then	then	ADV
hjic-916	108	23	testing	test	VERB
hjic-916	108	24	all	all	DET
hjic-916	108	25	other	other	ADJ
hjic-916	108	26	data	datum	NOUN
hjic-916	108	27	against	against	ADP
hjic-916	108	28	the	the	DET
hjic-916	108	29	fitted	fit	VERB
hjic-916	108	30	model	model	NOUN
hjic-916	108	31	.	.	PUNCT
hjic-916	109	1	those	those	DET
hjic-916	109	2	points	point	NOUN
hjic-916	109	3	that	that	PRON
hjic-916	109	4	fit	fit	VERB
hjic-916	109	5	the	the	DET
hjic-916	109	6	estimated	estimate	VERB
hjic-916	109	7	model	model	NOUN
hjic-916	109	8	well	well	ADV
hjic-916	109	9	,	,	PUNCT
hjic-916	109	10	according	accord	VERB
hjic-916	109	11	to	to	ADP
hjic-916	109	12	a	a	DET
hjic-916	109	13	model	model	ADJ
hjic-916	109	14	-	-	PUNCT
hjic-916	109	15	specific	specific	ADJ
hjic-916	109	16	loss	loss	NOUN
hjic-916	109	17	function	function	NOUN
hjic-916	109	18	,	,	PUNCT
hjic-916	109	19	are	be	AUX
hjic-916	109	20	considered	consider	VERB
hjic-916	109	21	to	to	PART
hjic-916	109	22	be	be	AUX
hjic-916	109	23	part	part	NOUN
hjic-916	109	24	of	of	ADP
hjic-916	109	25	the	the	DET
hjic-916	109	26	consensus	consensus	NOUN
hjic-916	109	27	set	set	NOUN
hjic-916	109	28	.	.	PUNCT
hjic-916	110	1	4	4	X
hjic-916	110	2	.	.	X
hjic-916	110	3	the	the	DET
hjic-916	110	4	estimated	estimate	VERB
hjic-916	110	5	model	model	NOUN
hjic-916	110	6	is	be	AUX
hjic-916	110	7	reasonably	reasonably	ADV
hjic-916	110	8	good	good	ADJ
hjic-916	110	9	if	if	SCONJ
hjic-916	110	10	a	a	DET
hjic-916	110	11	sufficient	sufficient	ADJ
hjic-916	110	12	number	number	NOUN
hjic-916	110	13	of	of	ADP
hjic-916	110	14	points	point	NOUN
hjic-916	110	15	are	be	AUX
hjic-916	110	16	classified	classify	VERB
hjic-916	110	17	as	as	ADP
hjic-916	110	18	part	part	NOUN
hjic-916	110	19	of	of	ADP
hjic-916	110	20	the	the	DET
hjic-916	110	21	consensus	consensus	NOUN
hjic-916	110	22	set	set	NOUN
hjic-916	110	23	.	.	PUNCT
hjic-916	111	1	5	5	X
hjic-916	111	2	.	.	X
hjic-916	111	3	finally	finally	ADV
hjic-916	111	4	,	,	PUNCT
hjic-916	111	5	the	the	DET
hjic-916	111	6	model	model	NOUN
hjic-916	111	7	may	may	AUX
hjic-916	111	8	be	be	AUX
hjic-916	111	9	improved	improve	VERB
hjic-916	111	10	by	by	ADP
hjic-916	111	11	reestimating	reestimate	VERB
hjic-916	111	12	it	it	PRON
hjic-916	111	13	using	use	VERB
hjic-916	111	14	all	all	DET
hjic-916	111	15	members	member	NOUN
hjic-916	111	16	of	of	ADP
hjic-916	111	17	the	the	DET
hjic-916	111	18	consensus	consensus	NOUN
hjic-916	111	19	set	set	NOUN
hjic-916	111	20	.	.	PUNCT
hjic-916	112	1	if	if	SCONJ
hjic-916	112	2	ransac	ransac	NOUN
hjic-916	112	3	is	be	AUX
hjic-916	112	4	used	use	VERB
hjic-916	112	5	for	for	ADP
hjic-916	112	6	the	the	DET
hjic-916	112	7	set	set	NOUN
hjic-916	112	8	of	of	ADP
hjic-916	112	9	voronoi	voronoi	ADJ
hjic-916	112	10	midpoints	midpoint	NOUN
hjic-916	112	11	,	,	PUNCT
hjic-916	112	12	a	a	DET
hjic-916	112	13	line	line	NOUN
hjic-916	112	14	is	be	AUX
hjic-916	112	15	obtained	obtain	VERB
hjic-916	112	16	between	between	ADP
hjic-916	112	17	the	the	DET
hjic-916	112	18	protective	protective	ADJ
hjic-916	112	19	barriers	barrier	NOUN
hjic-916	112	20	on	on	ADP
hjic-916	112	21	either	either	DET
hjic-916	112	22	side	side	NOUN
hjic-916	112	23	of	of	ADP
hjic-916	112	24	the	the	DET
hjic-916	112	25	track	track	NOUN
hjic-916	112	26	(	(	PUNCT
hjic-916	112	27	fig	fig	NOUN
hjic-916	112	28	.	.	PUNCT
hjic-916	113	1	9	9	NUM
hjic-916	113	2	)	)	PUNCT
hjic-916	113	3	.	.	PUNCT
hjic-916	114	1	now	now	ADV
hjic-916	114	2	the	the	DET
hjic-916	114	3	linear	linear	ADJ
hjic-916	114	4	equation	equation	NOUN
hjic-916	114	5	for	for	ADP
hjic-916	114	6	y	y	PROPN
hjic-916	114	7	with	with	ADP
hjic-916	114	8	its	its	PRON
hjic-916	114	9	gradient	gradient	NOUN
hjic-916	114	10	can	can	AUX
hjic-916	114	11	be	be	AUX
hjic-916	114	12	written	write	VERB
hjic-916	114	13	:	:	PUNCT
hjic-916	114	14	y	y	NOUN
hjic-916	114	15	=	=	PUNCT
hjic-916	114	16	mx+	mx+	PROPN
hjic-916	114	17	b	b	NUM
hjic-916	114	18	,	,	PUNCT
hjic-916	114	19	(	(	PUNCT
hjic-916	114	20	4	4	NUM
hjic-916	114	21	)	)	PUNCT
hjic-916	114	22	where	where	SCONJ
hjic-916	114	23	b	b	NOUN
hjic-916	114	24	denotes	denote	VERB
hjic-916	114	25	the	the	DET
hjic-916	114	26	y	y	PROPN
hjic-916	114	27	-	-	PUNCT
hjic-916	114	28	intercept	intercept	NOUN
hjic-916	114	29	and	and	CCONJ
hjic-916	114	30	m	m	VERB
hjic-916	114	31	represents	represent	VERB
hjic-916	114	32	the	the	DET
hjic-916	114	33	gradient	gradient	NOUN
hjic-916	114	34	.	.	PUNCT
hjic-916	115	1	points	point	NOUN
hjic-916	115	2	with	with	ADP
hjic-916	115	3	higher	high	ADJ
hjic-916	115	4	and	and	CCONJ
hjic-916	115	5	lower	low	ADJ
hjic-916	115	6	values	value	NOUN
hjic-916	115	7	of	of	ADP
hjic-916	115	8	y	y	PROPN
hjic-916	115	9	belong	belong	VERB
hjic-916	115	10	to	to	ADP
hjic-916	115	11	the	the	DET
hjic-916	115	12	leftand	leftand	NOUN
hjic-916	115	13	right	right	ADJ
hjic-916	115	14	-	-	PUNCT
hjic-916	115	15	hand	hand	NOUN
hjic-916	115	16	sides	side	NOUN
hjic-916	115	17	,	,	PUNCT
hjic-916	115	18	respectively	respectively	ADV
hjic-916	115	19	.	.	PUNCT
hjic-916	116	1	as	as	SCONJ
hjic-916	116	2	ransac	ransac	NOUN
hjic-916	116	3	is	be	AUX
hjic-916	116	4	an	an	DET
hjic-916	116	5	estimator	estimator	NOUN
hjic-916	116	6	,	,	PUNCT
hjic-916	116	7	sometimes	sometimes	ADV
hjic-916	116	8	it	it	PRON
hjic-916	116	9	yields	yield	VERB
hjic-916	116	10	wrong	wrong	ADJ
hjic-916	116	11	results	result	NOUN
hjic-916	116	12	as	as	SCONJ
hjic-916	116	13	shown	show	VERB
hjic-916	116	14	in	in	ADP
hjic-916	116	15	fig	fig	NOUN
hjic-916	116	16	.	.	PUNCT
hjic-916	117	1	10	10	NUM
hjic-916	117	2	.	.	X
hjic-916	117	3	figure	figure	VERB
hjic-916	117	4	9	9	NUM
hjic-916	117	5	:	:	PUNCT
hjic-916	117	6	the	the	DET
hjic-916	117	7	ransac	ransac	NOUN
hjic-916	117	8	line	line	NOUN
hjic-916	117	9	(	(	PUNCT
hjic-916	117	10	denoted	denote	VERB
hjic-916	117	11	in	in	ADP
hjic-916	117	12	blue	blue	ADJ
hjic-916	117	13	)	)	PUNCT
hjic-916	117	14	splits	split	VERB
hjic-916	117	15	the	the	DET
hjic-916	117	16	space	space	NOUN
hjic-916	117	17	into	into	ADP
hjic-916	117	18	two	two	NUM
hjic-916	117	19	parts	part	NOUN
hjic-916	117	20	.	.	PUNCT
hjic-916	118	1	figure	figure	NOUN
hjic-916	118	2	10	10	NUM
hjic-916	119	1	:	:	PUNCT
hjic-916	119	2	the	the	DET
hjic-916	119	3	estimator	estimator	NOUN
hjic-916	119	4	sometimes	sometimes	ADV
hjic-916	119	5	yields	yield	VERB
hjic-916	119	6	wrong	wrong	ADJ
hjic-916	119	7	results	result	NOUN
hjic-916	119	8	.	.	PUNCT
hjic-916	120	1	to	to	PART
hjic-916	120	2	avoid	avoid	VERB
hjic-916	120	3	producing	produce	VERB
hjic-916	120	4	wrong	wrong	ADJ
hjic-916	120	5	results	result	NOUN
hjic-916	120	6	,	,	PUNCT
hjic-916	120	7	some	some	DET
hjic-916	120	8	criteria	criterion	NOUN
hjic-916	120	9	must	must	AUX
hjic-916	120	10	be	be	AUX
hjic-916	120	11	declared	declare	VERB
hjic-916	120	12	:	:	PUNCT
hjic-916	120	13	•	•	ADP
hjic-916	120	14	the	the	DET
hjic-916	120	15	starting	starting	NOUN
hjic-916	120	16	point	point	NOUN
hjic-916	120	17	of	of	ADP
hjic-916	120	18	the	the	DET
hjic-916	120	19	line	line	NOUN
hjic-916	120	20	should	should	AUX
hjic-916	120	21	be	be	AUX
hjic-916	120	22	between	between	ADP
hjic-916	120	23	the	the	DET
hjic-916	120	24	protective	protective	ADJ
hjic-916	120	25	barriers	barrier	NOUN
hjic-916	120	26	.	.	PUNCT
hjic-916	121	1	•	•	NOUN
hjic-916	121	2	the	the	DET
hjic-916	121	3	line	line	NOUN
hjic-916	121	4	must	must	AUX
hjic-916	121	5	be	be	AUX
hjic-916	121	6	sufficiently	sufficiently	ADV
hjic-916	121	7	long	long	ADV
hjic-916	121	8	over	over	ADP
hjic-916	121	9	the	the	DET
hjic-916	121	10	full	full	ADJ
hjic-916	121	11	range	range	NOUN
hjic-916	121	12	of	of	ADP
hjic-916	121	13	the	the	DET
hjic-916	121	14	x	x	NOUN
hjic-916	121	15	-	-	NOUN
hjic-916	121	16	axis	axis	ADJ
hjic-916	121	17	.	.	PUNCT
hjic-916	122	1	•	•	NOUN
hjic-916	122	2	if	if	SCONJ
hjic-916	122	3	the	the	DET
hjic-916	122	4	ransac	ransac	NOUN
hjic-916	122	5	line	line	NOUN
hjic-916	122	6	intersects	intersect	VERB
hjic-916	122	7	any	any	PRON
hjic-916	122	8	of	of	ADP
hjic-916	122	9	the	the	DET
hjic-916	122	10	lines	line	NOUN
hjic-916	122	11	of	of	ADP
hjic-916	122	12	the	the	DET
hjic-916	122	13	convex	convex	PROPN
hjic-916	122	14	hull	hull	NOUN
hjic-916	122	15	,	,	PUNCT
hjic-916	122	16	it	it	PRON
hjic-916	122	17	must	must	AUX
hjic-916	122	18	be	be	AUX
hjic-916	122	19	rotated	rotate	VERB
hjic-916	122	20	until	until	SCONJ
hjic-916	122	21	it	it	PRON
hjic-916	122	22	no	no	ADV
hjic-916	122	23	longer	long	ADV
hjic-916	122	24	intersects	intersect	VERB
hjic-916	122	25	them	they	PRON
hjic-916	122	26	.	.	PUNCT
hjic-916	123	1	5.6	5.6	NUM
hjic-916	123	2	delete	delete	ADJ
hjic-916	123	3	unnecessary	unnecessary	ADJ
hjic-916	123	4	reference	reference	NOUN
hjic-916	123	5	lines	line	VERB
hjic-916	123	6	one	one	NUM
hjic-916	123	7	of	of	ADP
hjic-916	123	8	our	our	PRON
hjic-916	123	9	main	main	ADJ
hjic-916	123	10	criteria	criterion	NOUN
hjic-916	123	11	is	be	AUX
hjic-916	123	12	that	that	SCONJ
hjic-916	123	13	the	the	DET
hjic-916	123	14	reference	reference	NOUN
hjic-916	123	15	line	line	NOUN
hjic-916	123	16	should	should	AUX
hjic-916	123	17	exclusively	exclusively	ADV
hjic-916	123	18	be	be	AUX
hjic-916	123	19	between	between	ADP
hjic-916	123	20	the	the	DET
hjic-916	123	21	two	two	NUM
hjic-916	123	22	barriers	barrier	NOUN
hjic-916	123	23	.	.	PUNCT
hjic-916	124	1	to	to	PART
hjic-916	124	2	ensure	ensure	VERB
hjic-916	124	3	that	that	SCONJ
hjic-916	124	4	our	our	PRON
hjic-916	124	5	car	car	NOUN
hjic-916	124	6	moves	move	VERB
hjic-916	124	7	in	in	ADP
hjic-916	124	8	such	such	DET
hjic-916	124	9	a	a	DET
hjic-916	124	10	way	way	NOUN
hjic-916	124	11	,	,	PUNCT
hjic-916	124	12	all	all	DET
hjic-916	124	13	unnecessary	unnecessary	ADJ
hjic-916	124	14	voronoi	voronoi	ADJ
hjic-916	124	15	midpoints	midpoint	NOUN
hjic-916	124	16	must	must	AUX
hjic-916	124	17	be	be	AUX
hjic-916	124	18	eliminated	eliminate	VERB
hjic-916	124	19	.	.	PUNCT
hjic-916	125	1	now	now	ADV
hjic-916	125	2	all	all	DET
hjic-916	125	3	the	the	DET
hjic-916	125	4	points	point	NOUN
hjic-916	125	5	that	that	PRON
hjic-916	125	6	belong	belong	VERB
hjic-916	125	7	to	to	ADP
hjic-916	125	8	each	each	DET
hjic-916	125	9	side	side	NOUN
hjic-916	125	10	can	can	AUX
hjic-916	125	11	be	be	AUX
hjic-916	125	12	collected	collect	VERB
hjic-916	125	13	,	,	PUNCT
hjic-916	125	14	however	however	ADV
hjic-916	125	15	,	,	PUNCT
hjic-916	125	16	since	since	SCONJ
hjic-916	125	17	they	they	PRON
hjic-916	125	18	are	be	AUX
hjic-916	125	19	unsorted	unsorted	ADJ
hjic-916	125	20	,	,	PUNCT
hjic-916	125	21	an	an	DET
hjic-916	125	22	andrew	andrew	PROPN
hjic-916	125	23	’s	’s	PART
hjic-916	125	24	monotone	monotone	ADJ
hjic-916	125	25	chain	chain	NOUN
hjic-916	125	26	convex	convex	PROPN
hjic-916	125	27	hull	hull	NOUN
hjic-916	125	28	algorithm	algorithm	NOUN
hjic-916	125	29	was	be	AUX
hjic-916	125	30	used	use	VERB
hjic-916	125	31	[	[	PUNCT
hjic-916	125	32	7	7	NUM
hjic-916	125	33	]	]	PUNCT
hjic-916	125	34	.	.	PUNCT
hjic-916	126	1	this	this	DET
hjic-916	126	2	algorithm	algorithm	NOUN
hjic-916	126	3	sorted	sort	VERB
hjic-916	126	4	the	the	DET
hjic-916	126	5	points	point	NOUN
hjic-916	126	6	into	into	ADP
hjic-916	126	7	a	a	DET
hjic-916	126	8	lexicographical	lexicographical	ADJ
hjic-916	126	9	order	order	NOUN
hjic-916	126	10	(	(	PUNCT
hjic-916	126	11	first	first	ADV
hjic-916	126	12	by	by	ADP
hjic-916	126	13	x	x	NOUN
hjic-916	126	14	-	-	NOUN
hjic-916	126	15	coordinates	coordinate	NOUN
hjic-916	126	16	,	,	PUNCT
hjic-916	126	17	and	and	CCONJ
hjic-916	126	18	should	should	AUX
hjic-916	126	19	any	any	PRON
hjic-916	126	20	be	be	AUX
hjic-916	126	21	equal	equal	ADJ
hjic-916	126	22	,	,	PUNCT
hjic-916	126	23	by	by	ADP
hjic-916	126	24	y	y	PROPN
hjic-916	126	25	-	-	PUNCT
hjic-916	126	26	coordinates	coordinate	NOUN
hjic-916	126	27	)	)	PUNCT
hjic-916	126	28	and	and	CCONJ
hjic-916	126	29	then	then	ADV
hjic-916	126	30	constructed	construct	VERB
hjic-916	126	31	upper	upper	ADJ
hjic-916	126	32	and	and	CCONJ
hjic-916	126	33	lower	low	ADJ
hjic-916	126	34	hulls	hull	NOUN
hjic-916	126	35	of	of	ADP
hjic-916	126	36	the	the	DET
hjic-916	126	37	points	point	NOUN
hjic-916	126	38	as	as	SCONJ
hjic-916	126	39	seen	see	VERB
hjic-916	126	40	in	in	ADP
hjic-916	126	41	fig	fig	NOUN
hjic-916	126	42	.	.	PUNCT
hjic-916	127	1	11	11	NUM
hjic-916	127	2	.	.	PUNCT
hjic-916	128	1	some	some	DET
hjic-916	128	2	naive	naive	ADJ
hjic-916	128	3	approaches	approach	NOUN
hjic-916	128	4	concerning	concern	VERB
hjic-916	128	5	how	how	SCONJ
hjic-916	128	6	to	to	PART
hjic-916	128	7	use	use	VERB
hjic-916	128	8	the	the	DET
hjic-916	128	9	upper	upper	ADJ
hjic-916	128	10	and	and	CCONJ
hjic-916	128	11	lower	low	ADJ
hjic-916	128	12	sides	side	NOUN
hjic-916	128	13	of	of	ADP
hjic-916	128	14	the	the	DET
hjic-916	128	15	convex	convex	PROPN
hjic-916	128	16	hulls	hull	NOUN
hjic-916	128	17	exist	exist	VERB
hjic-916	128	18	.	.	PUNCT
hjic-916	129	1	firstly	firstly	ADV
hjic-916	129	2	,	,	PUNCT
hjic-916	129	3	an	an	DET
hjic-916	129	4	attempt	attempt	NOUN
hjic-916	129	5	was	be	AUX
hjic-916	129	6	made	make	VERB
hjic-916	129	7	to	to	PART
hjic-916	129	8	copy	copy	VERB
hjic-916	129	9	the	the	DET
hjic-916	129	10	shape	shape	NOUN
hjic-916	129	11	of	of	ADP
hjic-916	129	12	the	the	DET
hjic-916	129	13	upper	upper	ADJ
hjic-916	129	14	hull	hull	NOUN
hjic-916	129	15	with	with	ADP
hjic-916	129	16	a	a	DET
hjic-916	129	17	single	single	ADJ
hjic-916	129	18	line	line	NOUN
hjic-916	129	19	using	use	VERB
hjic-916	129	20	equation	equation	NOUN
hjic-916	129	21	(	(	PUNCT
hjic-916	129	22	eq	eq	NOUN
hjic-916	129	23	.	.	PROPN
hjic-916	129	24	4	4	NUM
hjic-916	129	25	)	)	PUNCT
hjic-916	129	26	,	,	PUNCT
hjic-916	129	27	but	but	CCONJ
hjic-916	129	28	was	be	AUX
hjic-916	129	29	not	not	PART
hjic-916	129	30	possible	possible	ADJ
hjic-916	129	31	when	when	SCONJ
hjic-916	129	32	used	use	VERB
hjic-916	129	33	at	at	ADP
hjic-916	129	34	corners	corner	NOUN
hjic-916	129	35	.	.	PUNCT
hjic-916	130	1	figure	figure	VERB
hjic-916	130	2	11	11	NUM
hjic-916	130	3	:	:	PUNCT
hjic-916	130	4	the	the	DET
hjic-916	130	5	leftand	leftand	NOUN
hjic-916	130	6	right	right	ADJ
hjic-916	130	7	-	-	PUNCT
hjic-916	130	8	hand	hand	NOUN
hjic-916	130	9	sides	side	NOUN
hjic-916	130	10	were	be	AUX
hjic-916	130	11	packed	pack	VERB
hjic-916	130	12	into	into	ADP
hjic-916	130	13	another	another	DET
hjic-916	130	14	convex	convex	NOUN
hjic-916	130	15	hull	hull	NOUN
hjic-916	130	16	.	.	PUNCT
hjic-916	131	1	48(1	48(1	NOUN
hjic-916	131	2	)	)	PUNCT
hjic-916	131	3	pp	pp	ADV
hjic-916	131	4	.	.	PUNCT
hjic-916	132	1	25–31	25–31	NUM
hjic-916	132	2	(	(	PUNCT
hjic-916	132	3	2020	2020	NUM
hjic-916	132	4	)	)	PUNCT
hjic-916	132	5	30	30	NUM
hjic-916	132	6	unger	unger	NOUN
hjic-916	132	7	,	,	PUNCT
hjic-916	132	8	horváth	horváth	NOUN
hjic-916	132	9	,	,	PUNCT
hjic-916	132	10	and	and	CCONJ
hjic-916	132	11	hajdu	hajdu	NOUN
hjic-916	132	12	figure	figure	NOUN
hjic-916	132	13	12	12	NUM
hjic-916	132	14	:	:	PUNCT
hjic-916	132	15	the	the	DET
hjic-916	132	16	reference	reference	NOUN
hjic-916	132	17	line	line	NOUN
hjic-916	132	18	along	along	ADP
hjic-916	132	19	straight	straight	ADJ
hjic-916	132	20	sections	section	NOUN
hjic-916	132	21	affected	affect	VERB
hjic-916	132	22	by	by	ADP
hjic-916	132	23	noise	noise	NOUN
hjic-916	132	24	.	.	PUNCT
hjic-916	133	1	another	another	DET
hjic-916	133	2	idea	idea	NOUN
hjic-916	133	3	was	be	AUX
hjic-916	133	4	that	that	SCONJ
hjic-916	133	5	since	since	SCONJ
hjic-916	133	6	the	the	DET
hjic-916	133	7	borderline	borderline	NOUN
hjic-916	133	8	was	be	AUX
hjic-916	133	9	not	not	PART
hjic-916	133	10	a	a	DET
hjic-916	133	11	single	single	ADJ
hjic-916	133	12	straight	straight	ADJ
hjic-916	133	13	line	line	NOUN
hjic-916	133	14	,	,	PUNCT
hjic-916	133	15	it	it	PRON
hjic-916	133	16	could	could	AUX
hjic-916	133	17	be	be	AUX
hjic-916	133	18	divided	divide	VERB
hjic-916	133	19	into	into	ADP
hjic-916	133	20	as	as	ADV
hjic-916	133	21	many	many	ADJ
hjic-916	133	22	sections	section	NOUN
hjic-916	133	23	as	as	ADP
hjic-916	133	24	the	the	DET
hjic-916	133	25	number	number	NOUN
hjic-916	133	26	of	of	ADP
hjic-916	133	27	vertices	vertex	NOUN
hjic-916	133	28	found	find	VERB
hjic-916	133	29	in	in	ADP
hjic-916	133	30	the	the	DET
hjic-916	133	31	upper	upper	ADJ
hjic-916	133	32	hull	hull	NOUN
hjic-916	133	33	,	,	PUNCT
hjic-916	133	34	however	however	ADV
hjic-916	133	35	,	,	PUNCT
hjic-916	133	36	this	this	PRON
hjic-916	133	37	resulted	result	VERB
hjic-916	133	38	in	in	ADP
hjic-916	133	39	a	a	DET
hjic-916	133	40	wavy	wavy	ADJ
hjic-916	133	41	line	line	NOUN
hjic-916	133	42	which	which	PRON
hjic-916	133	43	in	in	ADP
hjic-916	133	44	some	some	DET
hjic-916	133	45	cases	case	NOUN
hjic-916	133	46	also	also	ADV
hjic-916	133	47	deleted	delete	VERB
hjic-916	133	48	inlier	inlier	NOUN
hjic-916	133	49	voronoi	voronoi	NOUN
hjic-916	133	50	points	point	NOUN
hjic-916	133	51	.	.	PUNCT
hjic-916	134	1	then	then	ADV
hjic-916	134	2	it	it	PRON
hjic-916	134	3	was	be	AUX
hjic-916	134	4	realized	realize	VERB
hjic-916	134	5	that	that	SCONJ
hjic-916	134	6	the	the	DET
hjic-916	134	7	easiest	easy	ADJ
hjic-916	134	8	solution	solution	NOUN
hjic-916	134	9	would	would	AUX
hjic-916	134	10	be	be	AUX
hjic-916	134	11	to	to	PART
hjic-916	134	12	delete	delete	VERB
hjic-916	134	13	all	all	DET
hjic-916	134	14	the	the	DET
hjic-916	134	15	voronoi	voronoi	ADJ
hjic-916	134	16	midpoints	midpoint	NOUN
hjic-916	134	17	which	which	PRON
hjic-916	134	18	lie	lie	VERB
hjic-916	134	19	inside	inside	ADP
hjic-916	134	20	the	the	DET
hjic-916	134	21	left	left	ADJ
hjic-916	134	22	and	and	CCONJ
hjic-916	134	23	right	right	ADJ
hjic-916	134	24	convex	convex	PROPN
hjic-916	134	25	hulls	hull	NOUN
hjic-916	134	26	.	.	PUNCT
hjic-916	135	1	6	6	NUM
hjic-916	135	2	.	.	NOUN
hjic-916	135	3	results	result	NOUN
hjic-916	135	4	and	and	CCONJ
hjic-916	135	5	future	future	ADJ
hjic-916	135	6	works	work	NOUN
hjic-916	135	7	by	by	ADP
hjic-916	135	8	following	follow	VERB
hjic-916	135	9	the	the	DET
hjic-916	135	10	aforementioned	aforementioned	ADJ
hjic-916	135	11	steps	step	NOUN
hjic-916	135	12	,	,	PUNCT
hjic-916	135	13	the	the	DET
hjic-916	135	14	algorithm	algorithm	NOUN
hjic-916	135	15	drew	draw	VERB
hjic-916	135	16	an	an	DET
hjic-916	135	17	unambiguous	unambiguous	ADJ
hjic-916	135	18	reference	reference	NOUN
hjic-916	135	19	line	line	NOUN
hjic-916	135	20	by	by	ADP
hjic-916	135	21	connecting	connect	VERB
hjic-916	135	22	voronoi	voronoi	ADJ
hjic-916	135	23	midpoints	midpoint	NOUN
hjic-916	135	24	which	which	PRON
hjic-916	135	25	lie	lie	VERB
hjic-916	135	26	in	in	ADP
hjic-916	135	27	the	the	DET
hjic-916	135	28	middle	middle	NOUN
hjic-916	135	29	of	of	ADP
hjic-916	135	30	the	the	DET
hjic-916	135	31	road	road	NOUN
hjic-916	135	32	of	of	ADP
hjic-916	135	33	the	the	DET
hjic-916	135	34	required	require	VERB
hjic-916	135	35	territory	territory	NOUN
hjic-916	135	36	.	.	PUNCT
hjic-916	136	1	furthermore	furthermore	ADV
hjic-916	136	2	,	,	PUNCT
hjic-916	136	3	this	this	DET
hjic-916	136	4	method	method	NOUN
hjic-916	136	5	also	also	ADV
hjic-916	136	6	works	work	VERB
hjic-916	136	7	along	along	ADP
hjic-916	136	8	straight	straight	ADJ
hjic-916	136	9	sections	section	NOUN
hjic-916	136	10	and	and	CCONJ
hjic-916	136	11	at	at	ADP
hjic-916	136	12	corners	corner	NOUN
hjic-916	136	13	as	as	SCONJ
hjic-916	136	14	shown	show	VERB
hjic-916	136	15	in	in	ADP
hjic-916	136	16	figs	fig	NOUN
hjic-916	136	17	.	.	PUNCT
hjic-916	137	1	12	12	NUM
hjic-916	137	2	and	and	CCONJ
hjic-916	137	3	13	13	NUM
hjic-916	137	4	.	.	PUNCT
hjic-916	138	1	for	for	ADP
hjic-916	138	2	safety	safety	NOUN
hjic-916	138	3	reasons	reason	NOUN
hjic-916	138	4	,	,	PUNCT
hjic-916	138	5	vehicle	vehicle	NOUN
hjic-916	138	6	speed	speed	NOUN
hjic-916	138	7	is	be	AUX
hjic-916	138	8	limited	limit	VERB
hjic-916	138	9	to	to	ADP
hjic-916	138	10	25	25	NUM
hjic-916	138	11	km	km	PROPN
hjic-916	138	12	/	/	SYM
hjic-916	138	13	h.	h.	NOUN
hjic-916	138	14	our	our	PRON
hjic-916	138	15	algorithm	algorithm	NOUN
hjic-916	138	16	is	be	AUX
hjic-916	138	17	designed	design	VERB
hjic-916	138	18	to	to	PART
hjic-916	138	19	operate	operate	VERB
hjic-916	138	20	at	at	ADP
hjic-916	138	21	this	this	DET
hjic-916	138	22	speed	speed	NOUN
hjic-916	138	23	range	range	NOUN
hjic-916	138	24	.	.	PUNCT
hjic-916	139	1	the	the	DET
hjic-916	139	2	algorithm	algorithm	NOUN
hjic-916	139	3	is	be	AUX
hjic-916	139	4	based	base	VERB
hjic-916	139	5	on	on	ADP
hjic-916	139	6	voronoi	voronoi	ADJ
hjic-916	139	7	cells	cell	NOUN
hjic-916	139	8	so	so	SCONJ
hjic-916	139	9	its	its	PRON
hjic-916	139	10	complexity	complexity	NOUN
hjic-916	139	11	is	be	AUX
hjic-916	139	12	o(n	o(n	NUM
hjic-916	139	13	)	)	PUNCT
hjic-916	140	1	[	[	X
hjic-916	140	2	8	8	NUM
hjic-916	140	3	]	]	PUNCT
hjic-916	140	4	.	.	PUNCT
hjic-916	141	1	in	in	ADP
hjic-916	141	2	our	our	PRON
hjic-916	141	3	test	test	NOUN
hjic-916	141	4	environment	environment	NOUN
hjic-916	141	5	the	the	DET
hjic-916	141	6	algorithm	algorithm	NOUN
hjic-916	141	7	could	could	AUX
hjic-916	141	8	estimate	estimate	VERB
hjic-916	141	9	the	the	DET
hjic-916	141	10	free	free	ADJ
hjic-916	141	11	space	space	NOUN
hjic-916	141	12	with	with	ADP
hjic-916	141	13	90	90	NUM
hjic-916	141	14	%	%	NOUN
hjic-916	141	15	confidence	confidence	NOUN
hjic-916	141	16	.	.	PUNCT
hjic-916	142	1	with	with	ADP
hjic-916	142	2	the	the	DET
hjic-916	142	3	aid	aid	NOUN
hjic-916	142	4	of	of	ADP
hjic-916	142	5	voronoi	voronoi	NOUN
hjic-916	142	6	diagrams	diagram	NOUN
hjic-916	142	7	,	,	PUNCT
hjic-916	142	8	every	every	DET
hjic-916	142	9	detected	detect	VERB
hjic-916	142	10	object	object	NOUN
hjic-916	142	11	has	have	VERB
hjic-916	142	12	an	an	DET
hjic-916	142	13	effect	effect	NOUN
hjic-916	142	14	on	on	ADP
hjic-916	142	15	our	our	PRON
hjic-916	142	16	reference	reference	NOUN
hjic-916	142	17	line	line	NOUN
hjic-916	142	18	.	.	PUNCT
hjic-916	143	1	fortunately	fortunately	ADV
hjic-916	143	2	,	,	PUNCT
hjic-916	143	3	the	the	DET
hjic-916	143	4	majority	majority	NOUN
hjic-916	143	5	of	of	ADP
hjic-916	143	6	these	these	DET
hjic-916	143	7	points	point	NOUN
hjic-916	143	8	are	be	AUX
hjic-916	143	9	filtered	filter	VERB
hjic-916	143	10	by	by	ADP
hjic-916	143	11	the	the	DET
hjic-916	143	12	steps	step	NOUN
hjic-916	143	13	outlined	outline	VERB
hjic-916	143	14	in	in	ADP
hjic-916	143	15	section	section	NOUN
hjic-916	143	16	5.6	5.6	NUM
hjic-916	143	17	,	,	PUNCT
hjic-916	143	18	however	however	ADV
hjic-916	143	19	,	,	PUNCT
hjic-916	143	20	outliers	outlier	NOUN
hjic-916	143	21	between	between	ADP
hjic-916	143	22	the	the	DET
hjic-916	143	23	barriers	barrier	NOUN
hjic-916	143	24	can	can	AUX
hjic-916	143	25	not	not	PART
hjic-916	143	26	be	be	AUX
hjic-916	143	27	dealt	deal	VERB
hjic-916	143	28	with	with	ADP
hjic-916	143	29	.	.	PUNCT
hjic-916	144	1	these	these	DET
hjic-916	144	2	points	point	NOUN
hjic-916	144	3	have	have	VERB
hjic-916	144	4	a	a	DET
hjic-916	144	5	detrimental	detrimental	ADJ
hjic-916	144	6	effect	effect	NOUN
hjic-916	144	7	on	on	ADP
hjic-916	144	8	the	the	DET
hjic-916	144	9	unambiguity	unambiguity	NOUN
hjic-916	144	10	of	of	ADP
hjic-916	144	11	the	the	DET
hjic-916	144	12	reference	reference	NOUN
hjic-916	144	13	line	line	NOUN
hjic-916	144	14	and	and	CCONJ
hjic-916	144	15	lead	lead	VERB
hjic-916	144	16	to	to	ADP
hjic-916	144	17	the	the	DET
hjic-916	144	18	creation	creation	NOUN
hjic-916	144	19	of	of	ADP
hjic-916	144	20	several	several	ADJ
hjic-916	144	21	nodes	node	NOUN
hjic-916	144	22	resulting	result	VERB
hjic-916	144	23	in	in	ADP
hjic-916	144	24	some	some	DET
hjic-916	144	25	multiplechoice	multiplechoice	NOUN
hjic-916	144	26	decisions	decision	NOUN
hjic-916	144	27	that	that	PRON
hjic-916	144	28	need	need	VERB
hjic-916	144	29	to	to	PART
hjic-916	144	30	be	be	AUX
hjic-916	144	31	made	make	VERB
hjic-916	144	32	by	by	ADP
hjic-916	144	33	our	our	PRON
hjic-916	144	34	car	car	NOUN
hjic-916	144	35	.	.	PUNCT
hjic-916	145	1	to	to	PART
hjic-916	145	2	make	make	VERB
hjic-916	145	3	our	our	PRON
hjic-916	145	4	algorithm	algorithm	NOUN
hjic-916	145	5	robust	robust	ADJ
hjic-916	145	6	,	,	PUNCT
hjic-916	145	7	these	these	DET
hjic-916	145	8	points	point	NOUN
hjic-916	145	9	should	should	AUX
hjic-916	145	10	be	be	AUX
hjic-916	145	11	eliminated	eliminate	VERB
hjic-916	145	12	.	.	PUNCT
hjic-916	146	1	now	now	ADV
hjic-916	146	2	a	a	DET
hjic-916	146	3	single	single	ADJ
hjic-916	146	4	ransac	ransac	NOUN
hjic-916	146	5	line	line	NOUN
hjic-916	146	6	divides	divide	VERB
hjic-916	146	7	the	the	DET
hjic-916	146	8	sides	side	NOUN
hjic-916	146	9	of	of	ADP
hjic-916	146	10	the	the	DET
hjic-916	146	11	road	road	NOUN
hjic-916	146	12	and	and	CCONJ
hjic-916	146	13	works	work	VERB
hjic-916	146	14	well	well	ADV
hjic-916	146	15	for	for	ADP
hjic-916	146	16	the	the	DET
hjic-916	146	17	layouts	layout	NOUN
hjic-916	146	18	of	of	ADP
hjic-916	146	19	simple	simple	ADJ
hjic-916	146	20	corners	corner	NOUN
hjic-916	146	21	,	,	PUNCT
hjic-916	146	22	however	however	ADV
hjic-916	146	23	,	,	PUNCT
hjic-916	146	24	one	one	NUM
hjic-916	146	25	simple	simple	ADJ
hjic-916	146	26	line	line	NOUN
hjic-916	146	27	can	can	AUX
hjic-916	146	28	not	not	PART
hjic-916	146	29	satisfy	satisfy	VERB
hjic-916	146	30	the	the	DET
hjic-916	146	31	criteria	criterion	NOUN
hjic-916	146	32	for	for	ADP
hjic-916	146	33	more	more	ADV
hjic-916	146	34	difficult	difficult	ADJ
hjic-916	146	35	layouts	layout	NOUN
hjic-916	146	36	,	,	PUNCT
hjic-916	146	37	e.g.	e.g.	ADV
hjic-916	146	38	chicanes	chicane	NOUN
hjic-916	146	39	,	,	PUNCT
hjic-916	146	40	because	because	SCONJ
hjic-916	146	41	the	the	DET
hjic-916	146	42	ransac	ransac	NOUN
hjic-916	146	43	line	line	NOUN
hjic-916	146	44	is	be	AUX
hjic-916	146	45	unable	unable	ADJ
hjic-916	146	46	to	to	PART
hjic-916	146	47	intersect	intersect	VERB
hjic-916	146	48	any	any	DET
hjic-916	146	49	lines	line	NOUN
hjic-916	146	50	of	of	ADP
hjic-916	146	51	the	the	DET
hjic-916	146	52	convex	convex	PROPN
hjic-916	146	53	hull	hull	NOUN
hjic-916	146	54	.	.	PUNCT
hjic-916	147	1	to	to	PART
hjic-916	147	2	avoid	avoid	VERB
hjic-916	147	3	this	this	PRON
hjic-916	147	4	,	,	PUNCT
hjic-916	147	5	the	the	DET
hjic-916	147	6	line	line	NOUN
hjic-916	147	7	should	should	AUX
hjic-916	147	8	be	be	AUX
hjic-916	147	9	divided	divide	VERB
hjic-916	147	10	into	into	ADP
hjic-916	147	11	smaller	small	ADJ
hjic-916	147	12	sections	section	NOUN
hjic-916	147	13	that	that	PRON
hjic-916	147	14	need	need	VERB
hjic-916	147	15	to	to	PART
hjic-916	147	16	follow	follow	VERB
hjic-916	147	17	on	on	ADP
hjic-916	147	18	from	from	ADP
hjic-916	147	19	each	each	DET
hjic-916	147	20	other	other	ADJ
hjic-916	147	21	and	and	CCONJ
hjic-916	147	22	determine	determine	VERB
hjic-916	147	23	if	if	SCONJ
hjic-916	147	24	any	any	DET
hjic-916	147	25	parts	part	NOUN
hjic-916	147	26	of	of	ADP
hjic-916	147	27	the	the	DET
hjic-916	147	28	linked	link	VERB
hjic-916	147	29	line	line	NOUN
hjic-916	147	30	intersect	intersect	VERB
hjic-916	147	31	the	the	DET
hjic-916	147	32	line	line	NOUN
hjic-916	147	33	of	of	ADP
hjic-916	147	34	the	the	DET
hjic-916	147	35	convex	convex	PROPN
hjic-916	147	36	hull	hull	NOUN
hjic-916	147	37	.	.	PUNCT
hjic-916	148	1	our	our	PRON
hjic-916	148	2	path	path	NOUN
hjic-916	148	3	-	-	PUNCT
hjic-916	148	4	following	follow	VERB
hjic-916	148	5	algorithm	algorithm	NOUN
hjic-916	148	6	requires	require	VERB
hjic-916	148	7	that	that	SCONJ
hjic-916	148	8	the	the	DET
hjic-916	148	9	reference	reference	NOUN
hjic-916	148	10	points	point	NOUN
hjic-916	148	11	which	which	PRON
hjic-916	148	12	follow	follow	VERB
hjic-916	148	13	on	on	ADP
hjic-916	148	14	from	from	ADP
hjic-916	148	15	each	each	DET
hjic-916	148	16	other	other	ADJ
hjic-916	148	17	are	be	AUX
hjic-916	148	18	the	the	DET
hjic-916	148	19	same	same	ADJ
hjic-916	148	20	distance	distance	NOUN
hjic-916	148	21	apart	apart	ADV
hjic-916	148	22	.	.	PUNCT
hjic-916	149	1	for	for	ADP
hjic-916	149	2	this	this	DET
hjic-916	149	3	purpose	purpose	NOUN
hjic-916	149	4	,	,	PUNCT
hjic-916	149	5	our	our	PRON
hjic-916	149	6	reference	reference	NOUN
hjic-916	149	7	points	point	NOUN
hjic-916	149	8	must	must	AUX
hjic-916	149	9	be	be	AUX
hjic-916	149	10	joined	join	VERB
hjic-916	149	11	into	into	ADP
hjic-916	149	12	one	one	NUM
hjic-916	149	13	line	line	NOUN
hjic-916	149	14	and	and	CCONJ
hjic-916	149	15	as	as	ADV
hjic-916	149	16	many	many	ADJ
hjic-916	149	17	points	point	NOUN
hjic-916	149	18	as	as	SCONJ
hjic-916	149	19	the	the	DET
hjic-916	149	20	algorithm	algorithm	NOUN
hjic-916	149	21	requires	require	VERB
hjic-916	149	22	must	must	AUX
hjic-916	149	23	be	be	AUX
hjic-916	149	24	generated	generate	VERB
hjic-916	149	25	.	.	PUNCT
hjic-916	150	1	figure	figure	VERB
hjic-916	150	2	13	13	NUM
hjic-916	150	3	:	:	PUNCT
hjic-916	150	4	the	the	DET
hjic-916	150	5	reference	reference	NOUN
hjic-916	150	6	line	line	NOUN
hjic-916	150	7	at	at	ADP
hjic-916	150	8	corners	corner	NOUN
hjic-916	150	9	.	.	PUNCT
hjic-916	151	1	this	this	DET
hjic-916	151	2	algorithm	algorithm	NOUN
hjic-916	151	3	has	have	AUX
hjic-916	151	4	only	only	ADV
hjic-916	151	5	been	be	AUX
hjic-916	151	6	examined	examine	VERB
hjic-916	151	7	using	use	VERB
hjic-916	151	8	test	test	NOUN
hjic-916	151	9	data	datum	NOUN
hjic-916	151	10	and	and	CCONJ
hjic-916	151	11	has	have	VERB
hjic-916	151	12	yet	yet	ADV
hjic-916	151	13	to	to	PART
hjic-916	151	14	be	be	AUX
hjic-916	151	15	tested	test	VERB
hjic-916	151	16	in	in	ADP
hjic-916	151	17	real	real	ADJ
hjic-916	151	18	environments	environment	NOUN
hjic-916	151	19	.	.	PUNCT
hjic-916	152	1	7	7	X
hjic-916	152	2	.	.	X
hjic-916	152	3	conclusion	conclusion	NOUN
hjic-916	152	4	in	in	ADP
hjic-916	152	5	2020	2020	NUM
hjic-916	152	6	,	,	PUNCT
hjic-916	152	7	our	our	PRON
hjic-916	152	8	team	team	NOUN
hjic-916	152	9	will	will	AUX
hjic-916	152	10	participate	participate	VERB
hjic-916	152	11	in	in	ADP
hjic-916	152	12	the	the	DET
hjic-916	152	13	autonomous	autonomous	ADJ
hjic-916	152	14	distance	distance	NOUN
hjic-916	152	15	challenge	challenge	NOUN
hjic-916	152	16	of	of	ADP
hjic-916	152	17	the	the	DET
hjic-916	152	18	shell	shell	ADJ
hjic-916	152	19	eco	eco	PROPN
hjic-916	152	20	-	-	PUNCT
hjic-916	152	21	marathon	marathon	NOUN
hjic-916	152	22	.	.	PUNCT
hjic-916	153	1	the	the	DET
hjic-916	153	2	results	result	NOUN
hjic-916	153	3	of	of	ADP
hjic-916	153	4	this	this	DET
hjic-916	153	5	algorithm	algorithm	NOUN
hjic-916	153	6	are	be	AUX
hjic-916	153	7	promising	promise	VERB
hjic-916	153	8	but	but	CCONJ
hjic-916	153	9	a	a	DET
hjic-916	153	10	significant	significant	ADJ
hjic-916	153	11	amount	amount	NOUN
hjic-916	153	12	of	of	ADP
hjic-916	153	13	research	research	NOUN
hjic-916	153	14	and	and	CCONJ
hjic-916	153	15	development	development	NOUN
hjic-916	153	16	has	have	VERB
hjic-916	153	17	yet	yet	ADV
hjic-916	153	18	to	to	PART
hjic-916	153	19	be	be	AUX
hjic-916	153	20	done	do	VERB
hjic-916	153	21	until	until	SCONJ
hjic-916	153	22	this	this	DET
hjic-916	153	23	algorithm	algorithm	NOUN
hjic-916	153	24	can	can	AUX
hjic-916	153	25	operate	operate	VERB
hjic-916	153	26	and	and	CCONJ
hjic-916	153	27	lead	lead	VERB
hjic-916	153	28	our	our	PRON
hjic-916	153	29	car	car	NOUN
hjic-916	153	30	around	around	ADP
hjic-916	153	31	a	a	DET
hjic-916	153	32	single	single	ADJ
hjic-916	153	33	lap	lap	NOUN
hjic-916	153	34	.	.	PUNCT
hjic-916	154	1	one	one	NUM
hjic-916	154	2	of	of	ADP
hjic-916	154	3	the	the	DET
hjic-916	154	4	benefits	benefit	NOUN
hjic-916	154	5	of	of	ADP
hjic-916	154	6	the	the	DET
hjic-916	154	7	proposed	propose	VERB
hjic-916	154	8	method	method	NOUN
hjic-916	154	9	is	be	AUX
hjic-916	154	10	that	that	SCONJ
hjic-916	154	11	it	it	PRON
hjic-916	154	12	involves	involve	VERB
hjic-916	154	13	widely	widely	ADV
hjic-916	154	14	used	use	VERB
hjic-916	154	15	and	and	CCONJ
hjic-916	154	16	,	,	PUNCT
hjic-916	154	17	over	over	ADP
hjic-916	154	18	time	time	NOUN
hjic-916	154	19	,	,	PUNCT
hjic-916	154	20	highly	highly	ADV
hjic-916	154	21	improved	improve	VERB
hjic-916	154	22	geometric	geometric	ADJ
hjic-916	154	23	algorithms	algorithm	NOUN
hjic-916	154	24	like	like	ADP
hjic-916	154	25	delaunay	delaunay	PROPN
hjic-916	154	26	triangulation	triangulation	PROPN
hjic-916	154	27	and	and	CCONJ
hjic-916	154	28	voronoi	voronoi	NOUN
hjic-916	154	29	diagrams	diagram	NOUN
hjic-916	154	30	.	.	PUNCT
hjic-916	155	1	acknowledgements	acknowledgement	NOUN
hjic-916	155	2	the	the	DET
hjic-916	155	3	research	research	NOUN
hjic-916	155	4	was	be	AUX
hjic-916	155	5	carried	carry	VERB
hjic-916	155	6	out	out	ADP
hjic-916	155	7	as	as	ADP
hjic-916	155	8	part	part	NOUN
hjic-916	155	9	of	of	ADP
hjic-916	155	10	the	the	DET
hjic-916	155	11	“	"	PUNCT
hjic-916	155	12	autonomous	autonomous	ADJ
hjic-916	155	13	vehicle	vehicle	NOUN
hjic-916	155	14	systems	system	NOUN
hjic-916	155	15	research	research	NOUN
hjic-916	155	16	related	relate	VERB
hjic-916	155	17	to	to	ADP
hjic-916	155	18	the	the	DET
hjic-916	155	19	autonomous	autonomous	ADJ
hjic-916	155	20	vehicle	vehicle	NOUN
hjic-916	155	21	proving	prove	VERB
hjic-916	155	22	ground	ground	NOUN
hjic-916	155	23	of	of	ADP
hjic-916	155	24	zalaegerszeg	zalaegerszeg	PROPN
hjic-916	155	25	(	(	PUNCT
hjic-916	155	26	efop-3.6.216	efop-3.6.216	VERB
hjic-916	155	27	-	-	PUNCT
hjic-916	155	28	2017	2017	NUM
hjic-916	155	29	-	-	PUNCT
hjic-916	155	30	00002	00002	NUM
hjic-916	155	31	)	)	PUNCT
hjic-916	155	32	”	"	PUNCT
hjic-916	155	33	project	project	NOUN
hjic-916	155	34	in	in	ADP
hjic-916	155	35	the	the	DET
hjic-916	155	36	framework	framework	NOUN
hjic-916	155	37	of	of	ADP
hjic-916	155	38	the	the	DET
hjic-916	155	39	new	new	ADJ
hjic-916	155	40	széchenyi	széchenyi	PROPN
hjic-916	155	41	plan	plan	NOUN
hjic-916	155	42	.	.	PUNCT
hjic-916	156	1	the	the	DET
hjic-916	156	2	completion	completion	NOUN
hjic-916	156	3	of	of	ADP
hjic-916	156	4	this	this	DET
hjic-916	156	5	project	project	NOUN
hjic-916	156	6	is	be	AUX
hjic-916	156	7	funded	fund	VERB
hjic-916	156	8	by	by	ADP
hjic-916	156	9	the	the	DET
hjic-916	156	10	european	european	PROPN
hjic-916	156	11	union	union	PROPN
hjic-916	156	12	and	and	CCONJ
hjic-916	156	13	co	co	VERB
hjic-916	156	14	-	-	VERB
hjic-916	156	15	financed	finance	VERB
hjic-916	156	16	by	by	ADP
hjic-916	156	17	the	the	DET
hjic-916	156	18	european	european	ADJ
hjic-916	156	19	social	social	PROPN
hjic-916	156	20	fund	fund	PROPN
hjic-916	156	21	.	.	PUNCT
hjic-916	157	1	references	reference	NOUN
hjic-916	157	2	[	[	X
hjic-916	157	3	1	1	NUM
hjic-916	157	4	]	]	PUNCT
hjic-916	157	5	verőné	verőné	NUM
hjic-916	157	6	wojtaszek	wojtaszek	NOUN
hjic-916	157	7	,	,	PUNCT
hjic-916	157	8	m.	m.	NOUN
hjic-916	157	9	:	:	PUNCT
hjic-916	157	10	fotointerpretáció	fotointerpretáció	VERB
hjic-916	157	11	és	és	PROPN
hjic-916	157	12	távérzékelés	távérzékelés	PROPN
hjic-916	157	13	3	3	NUM
hjic-916	157	14	.	.	NUM
hjic-916	157	15	,	,	PUNCT
hjic-916	157	16	a	a	DET
hjic-916	157	17	lézer	lézer	ADJ
hjic-916	157	18	alapú	alapú	ADJ
hjic-916	157	19	távérzékelés	távérzékelé	NOUN
hjic-916	157	20	.	.	PUNCT
hjic-916	158	1	2010	2010	NUM
hjic-916	158	2	nyugat	nyugat	ADJ
hjic-916	158	3	-	-	PUNCT
hjic-916	158	4	magyarországi	magyarországi	NOUN
hjic-916	158	5	egyetem	egyetem	NOUN
hjic-916	158	6	[	[	X
hjic-916	158	7	2	2	NUM
hjic-916	158	8	]	]	X
hjic-916	158	9	lentin	lentin	NOUN
hjic-916	158	10	,	,	PUNCT
hjic-916	158	11	j.	j.	PROPN
hjic-916	158	12	:	:	PUNCT
hjic-916	158	13	ros	ros	PROPN
hjic-916	158	14	robotic	robotic	ADJ
hjic-916	158	15	projects	project	NOUN
hjic-916	158	16	.	.	PUNCT
hjic-916	159	1	(	(	PUNCT
hjic-916	159	2	packt	packt	PROPN
hjic-916	159	3	publishing	publishing	PROPN
hjic-916	159	4	ltd	ltd	PROPN
hjic-916	159	5	.	.	PROPN
hjic-916	159	6	,	,	PUNCT
hjic-916	159	7	birmingham	birmingham	PROPN
hjic-916	159	8	,	,	PUNCT
hjic-916	159	9	uk	uk	PROPN
hjic-916	159	10	)	)	PUNCT
hjic-916	159	11	2017	2017	NUM
hjic-916	159	12	,	,	PUNCT
hjic-916	159	13	isbn	isbn	ADJ
hjic-916	159	14	:	:	PUNCT
hjic-916	159	15	978	978	NUM
hjic-916	159	16	-	-	SYM
hjic-916	159	17	1	1	NUM
hjic-916	159	18	-	-	PUNCT
hjic-916	159	19	783	783	NUM
hjic-916	159	20	-	-	PUNCT
hjic-916	159	21	55471	55471	NUM
hjic-916	159	22	-	-	SYM
hjic-916	159	23	3	3	NUM
hjic-916	159	24	[	[	X
hjic-916	159	25	3	3	NUM
hjic-916	159	26	]	]	X
hjic-916	159	27	kriegel	kriegel	NOUN
hjic-916	159	28	,	,	PUNCT
hjic-916	159	29	h.-p	h.-p	PROPN
hjic-916	159	30	.	.	PUNCT
hjic-916	159	31	;	;	PUNCT
hjic-916	160	1	kröger	kröger	PROPN
hjic-916	160	2	,	,	PUNCT
hjic-916	160	3	p.	p.	PROPN
hjic-916	160	4	;	;	PUNCT
hjic-916	160	5	sander	sander	PROPN
hjic-916	160	6	,	,	PUNCT
hjic-916	160	7	j.	j.	PROPN
hjic-916	160	8	;	;	PUNCT
hjic-916	160	9	zimek	zimek	PROPN
hjic-916	160	10	,	,	PUNCT
hjic-916	160	11	a.	a.	NOUN
hjic-916	160	12	:	:	PUNCT
hjic-916	160	13	density	density	NOUN
hjic-916	160	14	-	-	PUNCT
hjic-916	160	15	based	base	VERB
hjic-916	160	16	clustering	clustering	NOUN
hjic-916	160	17	,	,	PUNCT
hjic-916	160	18	wires	wire	VERB
hjic-916	160	19	data	data	PROPN
hjic-916	160	20	mining	mining	NOUN
hjic-916	160	21	knowl	knowl	NOUN
hjic-916	160	22	.	.	PUNCT
hjic-916	161	1	discov	discov	NOUN
hjic-916	161	2	.	.	PUNCT
hjic-916	161	3	,	,	PUNCT
hjic-916	161	4	2011	2011	NUM
hjic-916	161	5	,	,	PUNCT
hjic-916	161	6	1	1	NUM
hjic-916	161	7	231–240	231–240	NUM
hjic-916	161	8	doi	doi	NOUN
hjic-916	161	9	:	:	PUNCT
hjic-916	161	10	10.1002	10.1002	NUM
hjic-916	161	11	/	/	SYM
hjic-916	161	12	widm.30	widm.30	NOUN
hjic-916	161	13	[	[	X
hjic-916	161	14	4	4	NUM
hjic-916	161	15	]	]	X
hjic-916	161	16	chazelle	chazelle	NOUN
hjic-916	161	17	,	,	PUNCT
hjic-916	161	18	b.	b.	PROPN
hjic-916	161	19	:	:	PUNCT
hjic-916	161	20	an	an	DET
hjic-916	161	21	optimal	optimal	ADJ
hjic-916	161	22	convex	convex	NOUN
hjic-916	161	23	hull	hull	NOUN
hjic-916	161	24	algorithm	algorithm	NOUN
hjic-916	161	25	in	in	ADP
hjic-916	161	26	any	any	DET
hjic-916	161	27	fixed	fix	VERB
hjic-916	161	28	dimension	dimension	NOUN
hjic-916	161	29	,	,	PUNCT
hjic-916	161	30	discrete	discrete	ADJ
hjic-916	161	31	comput	comput	NOUN
hjic-916	161	32	.	.	PUNCT
hjic-916	162	1	geom	geom	PROPN
hjic-916	162	2	.	.	PROPN
hjic-916	162	3	,	,	PUNCT
hjic-916	162	4	1993	1993	NUM
hjic-916	162	5	,	,	PUNCT
hjic-916	162	6	10	10	NUM
hjic-916	162	7	377–409	377–409	NUM
hjic-916	162	8	doi	doi	NOUN
hjic-916	162	9	:	:	PUNCT
hjic-916	162	10	10.1007	10.1007	NUM
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hjic-916	162	12	bf02573985	bf02573985	NOUN
hjic-916	163	1	[	[	X
hjic-916	163	2	5	5	NUM
hjic-916	163	3	]	]	X
hjic-916	163	4	de	de	PROPN
hjic-916	163	5	berg	berg	PROPN
hjic-916	163	6	,	,	PUNCT
hjic-916	163	7	m.	m.	NOUN
hjic-916	163	8	;	;	PUNCT
hjic-916	163	9	cheong	cheong	PROPN
hjic-916	163	10	,	,	PUNCT
hjic-916	163	11	o.	o.	PROPN
hjic-916	163	12	;	;	PUNCT
hjic-916	163	13	van	van	PROPN
hjic-916	163	14	kreveld	kreveld	PROPN
hjic-916	163	15	,	,	PUNCT
hjic-916	163	16	m.	m.	NOUN
hjic-916	163	17	;	;	PUNCT
hjic-916	163	18	overmars	overmar	NOUN
hjic-916	163	19	,	,	PUNCT
hjic-916	163	20	m.	m.	NOUN
hjic-916	163	21	:	:	PUNCT
hjic-916	163	22	computational	computational	ADJ
hjic-916	163	23	geometry	geometry	NOUN
hjic-916	163	24	:	:	PUNCT
hjic-916	163	25	algorithms	algorithm	NOUN
hjic-916	163	26	and	and	CCONJ
hjic-916	163	27	applications	application	NOUN
hjic-916	163	28	(	(	PUNCT
hjic-916	163	29	springer	springer	NOUN
hjic-916	163	30	-	-	PUNCT
hjic-916	163	31	verlag	verlag	PROPN
hjic-916	163	32	,	,	PUNCT
hjic-916	163	33	berlin	berlin	PROPN
hjic-916	163	34	,	,	PUNCT
hjic-916	163	35	germany	germany	PROPN
hjic-916	163	36	)	)	PUNCT
hjic-916	163	37	2008	2008	NUM
hjic-916	163	38	,	,	PUNCT
hjic-916	163	39	doi	doi	NOUN
hjic-916	163	40	:	:	PUNCT
hjic-916	163	41	10.1007/978	10.1007/978	NUM
hjic-916	163	42	-	-	SYM
hjic-916	163	43	3	3	NUM
hjic-916	163	44	-	-	PUNCT
hjic-916	163	45	540	540	NUM
hjic-916	163	46	-	-	PUNCT
hjic-916	163	47	77974	77974	NUM
hjic-916	163	48	-	-	SYM
hjic-916	163	49	2	2	NUM
hjic-916	163	50	hungarian	hungarian	ADJ
hjic-916	163	51	journal	journal	NOUN
hjic-916	163	52	of	of	ADP
hjic-916	163	53	industry	industry	NOUN
hjic-916	163	54	and	and	CCONJ
hjic-916	163	55	chemistry	chemistry	NOUN
hjic-916	163	56	https://doi.org/10.1002/widm.30	https://doi.org/10.1002/widm.30	PUNCT
hjic-916	163	57	https://doi.org/10.1002/widm.30	https://doi.org/10.1002/widm.30	PUNCT
hjic-916	163	58	https://doi.org/10.1007/bf02573985	https://doi.org/10.1007/bf02573985	X
hjic-916	163	59	https://doi.org/10.1007/978-3-540-77974-2	https://doi.org/10.1007/978-3-540-77974-2	PROPN
hjic-916	163	60	lidar	lidar	NOUN
hjic-916	163	61	-	-	PUNCT
hjic-916	163	62	based	base	VERB
hjic-916	163	63	collision	collision	NOUN
hjic-916	163	64	-	-	PUNCT
hjic-916	163	65	free	free	ADJ
hjic-916	163	66	space	space	NOUN
hjic-916	163	67	estimation	estimation	NOUN
hjic-916	163	68	approach	approach	NOUN
hjic-916	163	69	31	31	NUM
hjic-916	163	70	[	[	X
hjic-916	163	71	6	6	NUM
hjic-916	163	72	]	]	SYM
hjic-916	163	73	fischler	fischler	NOUN
hjic-916	163	74	,	,	PUNCT
hjic-916	163	75	m.	m.	NOUN
hjic-916	163	76	a.	a.	PROPN
hjic-916	163	77	;	;	PUNCT
hjic-916	163	78	bolles	bolles	PROPN
hjic-916	163	79	,	,	PUNCT
hjic-916	163	80	r.	r.	PROPN
hjic-916	163	81	c.	c.	PROPN
hjic-916	163	82	:	:	PUNCT
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hjic-916	163	84	sample	sample	NOUN
hjic-916	163	85	consensus	consensus	NOUN
hjic-916	163	86	:	:	PUNCT
hjic-916	163	87	a	a	DET
hjic-916	163	88	paradigm	paradigm	NOUN
hjic-916	163	89	for	for	ADP
hjic-916	163	90	model	model	NOUN
hjic-916	163	91	fitting	fit	VERB
hjic-916	163	92	with	with	ADP
hjic-916	163	93	applications	application	NOUN
hjic-916	163	94	to	to	PART
hjic-916	163	95	image	image	VERB
hjic-916	163	96	analysis	analysis	NOUN
hjic-916	163	97	and	and	CCONJ
hjic-916	163	98	automated	automate	VERB
hjic-916	163	99	cartography	cartography	NOUN
hjic-916	163	100	,	,	PUNCT
hjic-916	163	101	commun	commun	PROPN
hjic-916	163	102	.	.	PUNCT
hjic-916	163	103	acm	acm	PROPN
hjic-916	163	104	,	,	PUNCT
hjic-916	163	105	1981	1981	NUM
hjic-916	163	106	,	,	PUNCT
hjic-916	163	107	24(6	24(6	NUM
hjic-916	163	108	)	)	PUNCT
hjic-916	164	1	381–395	381–395	NUM
hjic-916	164	2	doi	doi	NOUN
hjic-916	164	3	:	:	PUNCT
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hjic-916	164	5	[	[	X
hjic-916	164	6	7	7	NUM
hjic-916	164	7	]	]	X
hjic-916	164	8	andrew	andrew	PROPN
hjic-916	164	9	,	,	PUNCT
hjic-916	164	10	a.	a.	NOUN
hjic-916	164	11	m.	m.	NOUN
hjic-916	164	12	:	:	PUNCT
hjic-916	164	13	another	another	DET
hjic-916	164	14	efficient	efficient	ADJ
hjic-916	164	15	algorithm	algorithm	NOUN
hjic-916	164	16	for	for	ADP
hjic-916	164	17	convex	convex	ADJ
hjic-916	164	18	hulls	hull	NOUN
hjic-916	164	19	in	in	ADP
hjic-916	164	20	two	two	NUM
hjic-916	164	21	dimensions	dimension	NOUN
hjic-916	164	22	,	,	PUNCT
hjic-916	164	23	inf	inf	PROPN
hjic-916	164	24	.	.	PROPN
hjic-916	164	25	process	process	NOUN
hjic-916	164	26	.	.	PUNCT
hjic-916	165	1	lett	lett	PROPN
hjic-916	165	2	.	.	PROPN
hjic-916	165	3	,	,	PUNCT
hjic-916	165	4	1979	1979	NUM
hjic-916	165	5	,	,	PUNCT
hjic-916	165	6	9(5	9(5	NUM
hjic-916	165	7	)	)	PUNCT
hjic-916	165	8	216–219	216–219	NUM
hjic-916	165	9	doi	doi	NOUN
hjic-916	165	10	:	:	PUNCT
hjic-916	165	11	10.1016/0020	10.1016/0020	NUM
hjic-916	165	12	-	-	PUNCT
hjic-916	165	13	0190(79)90072	0190(79)90072	NOUN
hjic-916	165	14	-	-	PUNCT
hjic-916	165	15	3	3	NUM
hjic-916	166	1	[	[	NOUN
hjic-916	166	2	8	8	NUM
hjic-916	166	3	]	]	X
hjic-916	166	4	seidel	seidel	PROPN
hjic-916	166	5	,	,	PUNCT
hjic-916	166	6	r.	r.	PROPN
hjic-916	166	7	;	;	PUNCT
hjic-916	166	8	adamy	adamy	NOUN
hjic-916	166	9	,	,	PUNCT
hjic-916	166	10	u.	u.	PROPN
hjic-916	166	11	;	;	PUNCT
hjic-916	166	12	on	on	ADP
hjic-916	166	13	the	the	DET
hjic-916	166	14	exaxt	exaxt	NOUN
hjic-916	166	15	worst	bad	ADJ
hjic-916	166	16	case	case	NOUN
hjic-916	166	17	query	query	NOUN
hjic-916	166	18	complexity	complexity	NOUN
hjic-916	166	19	of	of	ADP
hjic-916	166	20	planar	planar	ADJ
hjic-916	166	21	point	point	NOUN
hjic-916	166	22	location	location	NOUN
hjic-916	166	23	,	,	PUNCT
hjic-916	166	24	j.	j.	PROPN
hjic-916	166	25	algorithms	algorithms	PROPN
hjic-916	166	26	,	,	PUNCT
hjic-916	166	27	2000	2000	NUM
hjic-916	166	28	,	,	PUNCT
hjic-916	166	29	37	37	NUM
hjic-916	166	30	189–217	189–217	NUM
hjic-916	166	31	doi	doi	NOUN
hjic-916	166	32	:	:	PUNCT
hjic-916	166	33	10.1006	10.1006	NUM
hjic-916	166	34	/	/	SYM
hjic-916	166	35	jagm.2000.1101	jagm.2000.1101	PROPN
hjic-916	166	36	48(1	48(1	NOUN
hjic-916	166	37	)	)	PUNCT
hjic-916	166	38	pp	pp	ADV
hjic-916	166	39	.	.	PUNCT
hjic-916	167	1	25–31	25–31	NUM
hjic-916	167	2	(	(	PUNCT
hjic-916	167	3	2020	2020	NUM
hjic-916	167	4	)	)	PUNCT
hjic-916	167	5	https://doi.org/10.1145/358669.358692	https://doi.org/10.1145/358669.358692	PROPN
hjic-916	167	6	https://doi.org/10.1145/358669.358692	https://doi.org/10.1145/358669.358692	NUM
hjic-916	168	1	https://doi.org/10.1016/0020-0190(79)90072-3	https://doi.org/10.1016/0020-0190(79)90072-3	PROPN
hjic-916	169	1	https://doi.org/10.1006/jagm.2000.1101	https://doi.org/10.1006/jagm.2000.1101	PROPN
hjic-916	169	2	introduction	introduction	NOUN
hjic-916	169	3	shell	shell	VERB
hjic-916	169	4	eco	eco	PROPN
hjic-916	169	5	-	-	PUNCT
hjic-916	169	6	marathon	marathon	NOUN
hjic-916	169	7	our	our	PRON
hjic-916	169	8	team	team	NOUN
hjic-916	169	9	the	the	DET
hjic-916	169	10	challenge	challenge	NOUN
hjic-916	169	11	lidars	lidar	NOUN
hjic-916	169	12	simulation	simulation	NOUN
hjic-916	169	13	with	with	ADP
hjic-916	169	14	ros	ros	PROPN
hjic-916	169	15	ros	ros	PROPN
hjic-916	169	16	in	in	ADP
hjic-916	169	17	general	general	ADJ
hjic-916	169	18	simulation	simulation	NOUN
hjic-916	169	19	steps	step	NOUN
hjic-916	169	20	of	of	ADP
hjic-916	169	21	the	the	DET
hjic-916	169	22	algorithm	algorithm	NOUN
hjic-916	169	23	filtering	filtering	NOUN
hjic-916	169	24	clustering	cluster	VERB
hjic-916	169	25	convex	convex	PROPN
hjic-916	169	26	hull	hull	PROPN
hjic-916	169	27	delaunay	delaunay	PROPN
hjic-916	169	28	triangulation	triangulation	PROPN
hjic-916	169	29	and	and	CCONJ
hjic-916	169	30	voronoi	voronoi	NOUN
hjic-916	169	31	diagram	diagram	NOUN
hjic-916	169	32	ransac	ransac	NOUN
hjic-916	169	33	delete	delete	ADJ
hjic-916	169	34	unnecessary	unnecessary	ADJ
hjic-916	169	35	reference	reference	NOUN
hjic-916	169	36	lines	line	NOUN
hjic-916	169	37	results	result	NOUN
hjic-916	169	38	and	and	CCONJ
hjic-916	169	39	future	future	ADJ
hjic-916	169	40	works	work	NOUN
hjic-916	169	41	conclusion	conclusion	NOUN