id	sid	tid	token	lemma	pos
hm50tq61265	1	1	machine	machine	NOUN
hm50tq61265	1	2	perception	perception	NOUN
hm50tq61265	1	3	is	be	AUX
hm50tq61265	1	4	a	a	DET
hm50tq61265	1	5	crucial	crucial	ADJ
hm50tq61265	1	6	field	field	NOUN
hm50tq61265	1	7	of	of	ADP
hm50tq61265	1	8	artificial	artificial	ADJ
hm50tq61265	1	9	intelligence	intelligence	NOUN
hm50tq61265	1	10	that	that	PRON
hm50tq61265	1	11	allows	allow	VERB
hm50tq61265	1	12	machines	machine	NOUN
hm50tq61265	1	13	to	to	PART
hm50tq61265	1	14	interact	interact	VERB
hm50tq61265	1	15	with	with	ADP
hm50tq61265	1	16	and	and	CCONJ
hm50tq61265	1	17	perform	perform	VERB
hm50tq61265	1	18	various	various	ADJ
hm50tq61265	1	19	tasks	task	NOUN
hm50tq61265	1	20	in	in	ADP
hm50tq61265	1	21	the	the	DET
hm50tq61265	1	22	real	real	ADJ
hm50tq61265	1	23	world	world	NOUN
hm50tq61265	1	24	.	.	PUNCT
hm50tq61265	2	1	accurate	accurate	ADJ
hm50tq61265	2	2	models	model	NOUN
hm50tq61265	2	3	of	of	ADP
hm50tq61265	2	4	real	real	ADJ
hm50tq61265	2	5	-	-	PUNCT
hm50tq61265	2	6	world	world	NOUN
hm50tq61265	2	7	scenes	scene	NOUN
hm50tq61265	2	8	based	base	VERB
hm50tq61265	2	9	on	on	ADP
hm50tq61265	2	10	sensed	sensed	ADJ
hm50tq61265	2	11	information	information	NOUN
hm50tq61265	2	12	,	,	PUNCT
hm50tq61265	2	13	however	however	ADV
hm50tq61265	2	14	,	,	PUNCT
hm50tq61265	2	15	can	can	AUX
hm50tq61265	2	16	be	be	AUX
hm50tq61265	2	17	challenging	challenging	ADJ
hm50tq61265	2	18	and	and	CCONJ
hm50tq61265	2	19	potentially	potentially	ADV
hm50tq61265	2	20	have	have	VERB
hm50tq61265	2	21	significant	significant	ADJ
hm50tq61265	2	22	impact	impact	NOUN
hm50tq61265	2	23	on	on	ADP
hm50tq61265	2	24	techniques	technique	NOUN
hm50tq61265	2	25	that	that	PRON
hm50tq61265	2	26	attempt	attempt	VERB
hm50tq61265	2	27	to	to	PART
hm50tq61265	2	28	utilize	utilize	VERB
hm50tq61265	2	29	the	the	DET
hm50tq61265	2	30	model	model	NOUN
hm50tq61265	2	31	.	.	PUNCT
hm50tq61265	3	1	for	for	ADP
hm50tq61265	3	2	instance	instance	NOUN
hm50tq61265	3	3	,	,	PUNCT
hm50tq61265	3	4	image	image	NOUN
hm50tq61265	3	5	noise	noise	NOUN
hm50tq61265	3	6	can	can	AUX
hm50tq61265	3	7	introduce	introduce	VERB
hm50tq61265	3	8	errors	error	NOUN
hm50tq61265	3	9	in	in	ADP
hm50tq61265	3	10	localization	localization	NOUN
hm50tq61265	3	11	and	and	CCONJ
hm50tq61265	3	12	mapping	mapping	NOUN
hm50tq61265	3	13	,	,	PUNCT
hm50tq61265	3	14	especially	especially	ADV
hm50tq61265	3	15	in	in	ADP
hm50tq61265	3	16	low	low	ADJ
hm50tq61265	3	17	-	-	PUNCT
hm50tq61265	3	18	light	light	ADJ
hm50tq61265	3	19	environments	environment	NOUN
hm50tq61265	3	20	.	.	PUNCT
hm50tq61265	4	1	the	the	DET
hm50tq61265	4	2	limited	limited	ADJ
hm50tq61265	4	3	dynamic	dynamic	ADJ
hm50tq61265	4	4	range	range	NOUN
hm50tq61265	4	5	of	of	ADP
hm50tq61265	4	6	electronic	electronic	ADJ
hm50tq61265	4	7	cameras	camera	NOUN
hm50tq61265	4	8	,	,	PUNCT
hm50tq61265	4	9	compared	compare	VERB
hm50tq61265	4	10	to	to	ADP
hm50tq61265	4	11	the	the	DET
hm50tq61265	4	12	wide	wide	ADJ
hm50tq61265	4	13	range	range	NOUN
hm50tq61265	4	14	of	of	ADP
hm50tq61265	4	15	brightness	brightness	ADJ
hm50tq61265	4	16	levels	level	NOUN
hm50tq61265	4	17	in	in	ADP
hm50tq61265	4	18	real	real	ADJ
hm50tq61265	4	19	-	-	PUNCT
hm50tq61265	4	20	world	world	NOUN
hm50tq61265	4	21	scenes	scene	NOUN
hm50tq61265	4	22	,	,	PUNCT
hm50tq61265	4	23	can	can	AUX
hm50tq61265	4	24	result	result	VERB
hm50tq61265	4	25	in	in	ADP
hm50tq61265	4	26	detail	detail	NOUN
hm50tq61265	4	27	loss	loss	NOUN
hm50tq61265	4	28	in	in	ADP
hm50tq61265	4	29	dark	dark	ADJ
hm50tq61265	4	30	regions	region	NOUN
hm50tq61265	4	31	or	or	CCONJ
hm50tq61265	4	32	saturation	saturation	NOUN
hm50tq61265	4	33	in	in	ADP
hm50tq61265	4	34	bright	bright	ADJ
hm50tq61265	4	35	regions	region	NOUN
hm50tq61265	4	36	,	,	PUNCT
hm50tq61265	4	37	and	and	CCONJ
hm50tq61265	4	38	can	can	AUX
hm50tq61265	4	39	make	make	VERB
hm50tq61265	4	40	object	object	NOUN
hm50tq61265	4	41	detection	detection	NOUN
hm50tq61265	4	42	and	and	CCONJ
hm50tq61265	4	43	semantic	semantic	ADJ
hm50tq61265	4	44	segmentation	segmentation	NOUN
hm50tq61265	4	45	difficult	difficult	ADJ
hm50tq61265	4	46	.	.	PUNCT
hm50tq61265	5	1	using	use	VERB
hm50tq61265	5	2	only	only	ADJ
hm50tq61265	5	3	visual	visual	ADJ
hm50tq61265	5	4	information	information	NOUN
hm50tq61265	5	5	can	can	AUX
hm50tq61265	5	6	create	create	VERB
hm50tq61265	5	7	gaps	gap	NOUN
hm50tq61265	5	8	in	in	ADP
hm50tq61265	5	9	important	important	ADJ
hm50tq61265	5	10	3d	3d	DET
hm50tq61265	5	11	information	information	NOUN
hm50tq61265	5	12	that	that	PRON
hm50tq61265	5	13	may	may	AUX
hm50tq61265	5	14	be	be	AUX
hm50tq61265	5	15	needed	need	VERB
hm50tq61265	5	16	in	in	ADP
hm50tq61265	5	17	higher	high	ADJ
hm50tq61265	5	18	level	level	NOUN
hm50tq61265	5	19	processing.to	processing.to	NUM
hm50tq61265	5	20	address	address	NOUN
hm50tq61265	5	21	this	this	DET
hm50tq61265	5	22	issue	issue	NOUN
hm50tq61265	5	23	,	,	PUNCT
hm50tq61265	5	24	there	there	PRON
hm50tq61265	5	25	are	be	VERB
hm50tq61265	5	26	several	several	ADJ
hm50tq61265	5	27	aspects	aspect	NOUN
hm50tq61265	5	28	that	that	PRON
hm50tq61265	5	29	can	can	AUX
hm50tq61265	5	30	be	be	AUX
hm50tq61265	5	31	considered	consider	VERB
hm50tq61265	5	32	.	.	PUNCT
hm50tq61265	6	1	first	first	ADV
hm50tq61265	6	2	,	,	PUNCT
hm50tq61265	6	3	for	for	ADP
hm50tq61265	6	4	image	image	NOUN
hm50tq61265	6	5	acquisition	acquisition	NOUN
hm50tq61265	6	6	,	,	PUNCT
hm50tq61265	6	7	exposure	exposure	NOUN
hm50tq61265	6	8	strategies	strategy	NOUN
hm50tq61265	6	9	can	can	AUX
hm50tq61265	6	10	be	be	AUX
hm50tq61265	6	11	developed	develop	VERB
hm50tq61265	6	12	driven	drive	VERB
hm50tq61265	6	13	by	by	ADP
hm50tq61265	6	14	specific	specific	ADJ
hm50tq61265	6	15	machine	machine	NOUN
hm50tq61265	6	16	perception	perception	NOUN
hm50tq61265	6	17	tasks	task	NOUN
hm50tq61265	6	18	.	.	PUNCT
hm50tq61265	7	1	then	then	ADV
hm50tq61265	7	2	image	image	NOUN
hm50tq61265	7	3	processing	processing	NOUN
hm50tq61265	7	4	modules	module	NOUN
hm50tq61265	7	5	,	,	PUNCT
hm50tq61265	7	6	such	such	ADJ
hm50tq61265	7	7	as	as	ADP
hm50tq61265	7	8	denoising	denoise	VERB
hm50tq61265	7	9	,	,	PUNCT
hm50tq61265	7	10	deblurring	deblurring	NOUN
hm50tq61265	7	11	and	and	CCONJ
hm50tq61265	7	12	image	image	NOUN
hm50tq61265	7	13	enhancement	enhancement	NOUN
hm50tq61265	7	14	,	,	PUNCT
hm50tq61265	7	15	can	can	AUX
hm50tq61265	7	16	be	be	AUX
hm50tq61265	7	17	implemented	implement	VERB
hm50tq61265	7	18	to	to	PART
hm50tq61265	7	19	improve	improve	VERB
hm50tq61265	7	20	quality	quality	NOUN
hm50tq61265	7	21	of	of	ADP
hm50tq61265	7	22	the	the	DET
hm50tq61265	7	23	captured	capture	VERB
hm50tq61265	7	24	images	image	NOUN
hm50tq61265	7	25	.	.	PUNCT
hm50tq61265	8	1	sensor	sensor	NOUN
hm50tq61265	8	2	fusion	fusion	NOUN
hm50tq61265	8	3	is	be	AUX
hm50tq61265	8	4	also	also	ADV
hm50tq61265	8	5	a	a	DET
hm50tq61265	8	6	popular	popular	ADJ
hm50tq61265	8	7	solution	solution	NOUN
hm50tq61265	8	8	to	to	PART
hm50tq61265	8	9	provide	provide	VERB
hm50tq61265	8	10	comprehensive	comprehensive	ADJ
hm50tq61265	8	11	and	and	CCONJ
hm50tq61265	8	12	accurate	accurate	ADJ
hm50tq61265	8	13	information	information	NOUN
hm50tq61265	8	14	about	about	ADP
hm50tq61265	8	15	the	the	DET
hm50tq61265	8	16	environment	environment	NOUN
hm50tq61265	8	17	.	.	PUNCT
hm50tq61265	9	1	in	in	ADP
hm50tq61265	9	2	this	this	DET
hm50tq61265	9	3	dissertation	dissertation	NOUN
hm50tq61265	9	4	,	,	PUNCT
hm50tq61265	9	5	we	we	PRON
hm50tq61265	9	6	first	first	ADV
hm50tq61265	9	7	explore	explore	VERB
hm50tq61265	9	8	exposure	exposure	NOUN
hm50tq61265	9	9	strategies	strategy	NOUN
hm50tq61265	9	10	for	for	ADP
hm50tq61265	9	11	two	two	NUM
hm50tq61265	9	12	vision	vision	NOUN
hm50tq61265	9	13	-	-	PUNCT
hm50tq61265	9	14	based	base	VERB
hm50tq61265	9	15	machine	machine	NOUN
hm50tq61265	9	16	perception	perception	NOUN
hm50tq61265	9	17	scenarios	scenario	NOUN
hm50tq61265	9	18	,	,	PUNCT
hm50tq61265	9	19	and	and	CCONJ
hm50tq61265	9	20	then	then	ADV
hm50tq61265	9	21	develop	develop	VERB
hm50tq61265	9	22	system	system	NOUN
hm50tq61265	9	23	for	for	ADP
hm50tq61265	9	24	sensor	sensor	NOUN
hm50tq61265	9	25	fusion	fusion	NOUN
hm50tq61265	9	26	of	of	ADP
hm50tq61265	9	27	2d	2d	NOUN
hm50tq61265	9	28	lidar	lidar	NOUN
hm50tq61265	9	29	and	and	CCONJ
hm50tq61265	9	30	intensity	intensity	NOUN
hm50tq61265	9	31	camera.as	camera.as	NUM
hm50tq61265	9	32	the	the	DET
hm50tq61265	9	33	first	first	ADJ
hm50tq61265	9	34	contribution	contribution	NOUN
hm50tq61265	9	35	,	,	PUNCT
hm50tq61265	9	36	a	a	DET
hm50tq61265	9	37	noise	noise	NOUN
hm50tq61265	9	38	-	-	PUNCT
hm50tq61265	9	39	aware	aware	ADJ
hm50tq61265	9	40	exposure	exposure	NOUN
hm50tq61265	9	41	strategy	strategy	NOUN
hm50tq61265	9	42	network	network	NOUN
hm50tq61265	9	43	is	be	AUX
hm50tq61265	9	44	proposed	propose	VERB
hm50tq61265	9	45	for	for	ADP
hm50tq61265	9	46	high	high	ADJ
hm50tq61265	9	47	dynamic	dynamic	ADJ
hm50tq61265	9	48	range	range	NOUN
hm50tq61265	9	49	(	(	PUNCT
hm50tq61265	9	50	hdr	hdr	NOUN
hm50tq61265	9	51	)	)	PUNCT
hm50tq61265	9	52	imaging	imaging	NOUN
hm50tq61265	9	53	.	.	PUNCT
hm50tq61265	10	1	the	the	DET
hm50tq61265	10	2	network	network	NOUN
hm50tq61265	10	3	predicts	predict	VERB
hm50tq61265	10	4	the	the	DET
hm50tq61265	10	5	exposure	exposure	NOUN
hm50tq61265	10	6	settings	setting	NOUN
hm50tq61265	10	7	for	for	ADP
hm50tq61265	10	8	a	a	DET
hm50tq61265	10	9	3	3	NUM
hm50tq61265	10	10	-	-	PUNCT
hm50tq61265	10	11	shot	shot	NOUN
hm50tq61265	10	12	bracketing	bracketing	NOUN
hm50tq61265	10	13	.	.	PUNCT
hm50tq61265	11	1	these	these	DET
hm50tq61265	11	2	differently	differently	ADV
hm50tq61265	11	3	exposed	expose	VERB
hm50tq61265	11	4	images	image	NOUN
hm50tq61265	11	5	can	can	AUX
hm50tq61265	11	6	then	then	ADV
hm50tq61265	11	7	be	be	AUX
hm50tq61265	11	8	fused	fuse	VERB
hm50tq61265	11	9	into	into	ADP
hm50tq61265	11	10	an	an	DET
hm50tq61265	11	11	hdr	hdr	NOUN
hm50tq61265	11	12	image	image	NOUN
hm50tq61265	11	13	with	with	ADP
hm50tq61265	11	14	optimal	optimal	ADJ
hm50tq61265	11	15	tone	tone	NOUN
hm50tq61265	11	16	and	and	CCONJ
hm50tq61265	11	17	noise	noise	NOUN
hm50tq61265	11	18	.	.	PUNCT
hm50tq61265	12	1	the	the	DET
hm50tq61265	12	2	lightweight	lightweight	ADJ
hm50tq61265	12	3	network	network	NOUN
hm50tq61265	12	4	can	can	AUX
hm50tq61265	12	5	not	not	PART
hm50tq61265	12	6	only	only	ADV
hm50tq61265	12	7	generalize	generalize	VERB
hm50tq61265	12	8	well	well	ADV
hm50tq61265	12	9	to	to	ADP
hm50tq61265	12	10	different	different	ADJ
hm50tq61265	12	11	scenes	scene	NOUN
hm50tq61265	12	12	,	,	PUNCT
hm50tq61265	12	13	but	but	CCONJ
hm50tq61265	12	14	also	also	ADV
hm50tq61265	12	15	be	be	AUX
hm50tq61265	12	16	computed	compute	VERB
hm50tq61265	12	17	efficiently	efficiently	ADV
hm50tq61265	12	18	without	without	ADP
hm50tq61265	12	19	requiring	require	VERB
hm50tq61265	12	20	raw	raw	ADJ
hm50tq61265	12	21	data	datum	NOUN
hm50tq61265	12	22	in	in	ADP
hm50tq61265	12	23	the	the	DET
hm50tq61265	12	24	inference	inference	NOUN
hm50tq61265	12	25	stage	stage	NOUN
hm50tq61265	12	26	,	,	PUNCT
hm50tq61265	12	27	which	which	PRON
hm50tq61265	12	28	allows	allow	VERB
hm50tq61265	12	29	the	the	DET
hm50tq61265	12	30	system	system	NOUN
hm50tq61265	12	31	to	to	PART
hm50tq61265	12	32	be	be	AUX
hm50tq61265	12	33	a	a	DET
hm50tq61265	12	34	practical	practical	ADJ
hm50tq61265	12	35	solution	solution	NOUN
hm50tq61265	12	36	for	for	ADP
hm50tq61265	12	37	low	low	ADJ
hm50tq61265	12	38	-	-	PUNCT
hm50tq61265	12	39	cost	cost	NOUN
hm50tq61265	12	40	and	and	CCONJ
hm50tq61265	12	41	power	power	NOUN
hm50tq61265	12	42	-	-	PUNCT
hm50tq61265	12	43	efficient	efficient	ADJ
hm50tq61265	12	44	cameras	camera	NOUN
hm50tq61265	12	45	.	.	PUNCT
hm50tq61265	13	1	however	however	ADV
hm50tq61265	13	2	,	,	PUNCT
hm50tq61265	13	3	in	in	ADP
hm50tq61265	13	4	scenarios	scenario	NOUN
hm50tq61265	13	5	where	where	SCONJ
hm50tq61265	13	6	the	the	DET
hm50tq61265	13	7	camera	camera	NOUN
hm50tq61265	13	8	or	or	CCONJ
hm50tq61265	13	9	objects	object	NOUN
hm50tq61265	13	10	are	be	AUX
hm50tq61265	13	11	moving	move	VERB
hm50tq61265	13	12	,	,	PUNCT
hm50tq61265	13	13	the	the	DET
hm50tq61265	13	14	use	use	NOUN
hm50tq61265	13	15	of	of	ADP
hm50tq61265	13	16	exposure	exposure	NOUN
hm50tq61265	13	17	bracketing	bracketing	NOUN
hm50tq61265	13	18	may	may	AUX
hm50tq61265	13	19	introduce	introduce	VERB
hm50tq61265	13	20	motion	motion	NOUN
hm50tq61265	13	21	artifacts	artifact	NOUN
hm50tq61265	13	22	.	.	PUNCT
hm50tq61265	14	1	thus	thus	ADV
hm50tq61265	14	2	,	,	PUNCT
hm50tq61265	14	3	we	we	PRON
hm50tq61265	14	4	develop	develop	VERB
hm50tq61265	14	5	a	a	DET
hm50tq61265	14	6	learning	learning	NOUN
hm50tq61265	14	7	-	-	PUNCT
hm50tq61265	14	8	based	base	VERB
hm50tq61265	14	9	auto	auto	NOUN
hm50tq61265	14	10	-	-	PUNCT
hm50tq61265	14	11	exposure	exposure	NOUN
hm50tq61265	14	12	strategy	strategy	NOUN
hm50tq61265	14	13	for	for	ADP
hm50tq61265	14	14	robust	robust	ADJ
hm50tq61265	14	15	visual	visual	ADJ
hm50tq61265	14	16	odometry	odometry	NOUN
hm50tq61265	14	17	in	in	ADP
hm50tq61265	14	18	hdr	hdr	NOUN
hm50tq61265	14	19	environments	environment	NOUN
hm50tq61265	14	20	as	as	ADP
hm50tq61265	14	21	the	the	DET
hm50tq61265	14	22	second	second	ADJ
hm50tq61265	14	23	contribution	contribution	NOUN
hm50tq61265	14	24	of	of	ADP
hm50tq61265	14	25	this	this	DET
hm50tq61265	14	26	study	study	NOUN
hm50tq61265	14	27	.	.	PUNCT
hm50tq61265	15	1	the	the	DET
hm50tq61265	15	2	auto	auto	NOUN
hm50tq61265	15	3	-	-	PUNCT
hm50tq61265	15	4	exposure	exposure	NOUN
hm50tq61265	15	5	control	control	NOUN
hm50tq61265	15	6	network	network	NOUN
hm50tq61265	15	7	is	be	AUX
hm50tq61265	15	8	designed	design	VERB
hm50tq61265	15	9	to	to	PART
hm50tq61265	15	10	predict	predict	VERB
hm50tq61265	15	11	the	the	DET
hm50tq61265	15	12	exposure	exposure	NOUN
hm50tq61265	15	13	value	value	NOUN
hm50tq61265	15	14	for	for	ADP
hm50tq61265	15	15	the	the	DET
hm50tq61265	15	16	next	next	ADJ
hm50tq61265	15	17	image	image	NOUN
hm50tq61265	15	18	by	by	ADP
hm50tq61265	15	19	leveraging	leverage	VERB
hm50tq61265	15	20	a	a	DET
hm50tq61265	15	21	sequence	sequence	NOUN
hm50tq61265	15	22	of	of	ADP
hm50tq61265	15	23	recent	recent	ADJ
hm50tq61265	15	24	images	image	NOUN
hm50tq61265	15	25	,	,	PUNCT
hm50tq61265	15	26	which	which	PRON
hm50tq61265	15	27	enables	enable	VERB
hm50tq61265	15	28	the	the	DET
hm50tq61265	15	29	camera	camera	NOUN
hm50tq61265	15	30	to	to	PART
hm50tq61265	15	31	adapt	adapt	VERB
hm50tq61265	15	32	to	to	ADP
hm50tq61265	15	33	the	the	DET
hm50tq61265	15	34	changes	change	NOUN
hm50tq61265	15	35	in	in	ADP
hm50tq61265	15	36	lighting	lighting	NOUN
hm50tq61265	15	37	conditions	condition	NOUN
hm50tq61265	15	38	and	and	CCONJ
hm50tq61265	15	39	capture	capture	VERB
hm50tq61265	15	40	well	well	ADV
hm50tq61265	15	41	-	-	PUNCT
hm50tq61265	15	42	exposed	expose	VERB
hm50tq61265	15	43	images	image	NOUN
hm50tq61265	15	44	with	with	ADP
hm50tq61265	15	45	sufficient	sufficient	ADJ
hm50tq61265	15	46	and	and	CCONJ
hm50tq61265	15	47	equally	equally	ADV
hm50tq61265	15	48	distributing	distribute	VERB
hm50tq61265	15	49	features	feature	NOUN
hm50tq61265	15	50	in	in	ADP
hm50tq61265	15	51	space	space	NOUN
hm50tq61265	15	52	for	for	ADP
hm50tq61265	15	53	localization	localization	NOUN
hm50tq61265	15	54	.	.	PUNCT
hm50tq61265	16	1	experiments	experiment	NOUN
hm50tq61265	16	2	on	on	ADP
hm50tq61265	16	3	challenging	challenge	VERB
hm50tq61265	16	4	scenes	scene	NOUN
hm50tq61265	16	5	reveal	reveal	VERB
hm50tq61265	16	6	the	the	DET
hm50tq61265	16	7	advantages	advantage	NOUN
hm50tq61265	16	8	of	of	ADP
hm50tq61265	16	9	the	the	DET
hm50tq61265	16	10	proposed	propose	VERB
hm50tq61265	16	11	method	method	NOUN
hm50tq61265	16	12	when	when	SCONJ
hm50tq61265	16	13	compared	compare	VERB
hm50tq61265	16	14	with	with	ADP
hm50tq61265	16	15	other	other	ADJ
hm50tq61265	16	16	state	state	NOUN
hm50tq61265	16	17	-	-	PUNCT
hm50tq61265	16	18	of	of	ADP
hm50tq61265	16	19	-	-	PUNCT
hm50tq61265	16	20	the	the	DET
hm50tq61265	16	21	-	-	PUNCT
hm50tq61265	16	22	art	art	NOUN
hm50tq61265	16	23	methods	method	NOUN
hm50tq61265	16	24	in	in	ADP
hm50tq61265	16	25	terms	term	NOUN
hm50tq61265	16	26	of	of	ADP
hm50tq61265	16	27	localization	localization	NOUN
hm50tq61265	16	28	performance	performance	NOUN
hm50tq61265	16	29	and	and	CCONJ
hm50tq61265	16	30	processing	process	VERB
hm50tq61265	16	31	time.as	time.as	NUM
hm50tq61265	16	32	the	the	DET
hm50tq61265	16	33	third	third	ADJ
hm50tq61265	16	34	contribution	contribution	NOUN
hm50tq61265	16	35	,	,	PUNCT
hm50tq61265	16	36	a	a	DET
hm50tq61265	16	37	system	system	NOUN
hm50tq61265	16	38	is	be	AUX
hm50tq61265	16	39	developed	develop	VERB
hm50tq61265	16	40	based	base	VERB
hm50tq61265	16	41	on	on	ADP
hm50tq61265	16	42	sensor	sensor	NOUN
hm50tq61265	16	43	fusion	fusion	NOUN
hm50tq61265	16	44	and	and	CCONJ
hm50tq61265	16	45	applied	apply	VERB
hm50tq61265	16	46	to	to	ADP
hm50tq61265	16	47	indoor	indoor	ADJ
hm50tq61265	16	48	layout	layout	NOUN
hm50tq61265	16	49	estimation	estimation	NOUN
hm50tq61265	16	50	.	.	PUNCT
hm50tq61265	17	1	the	the	DET
hm50tq61265	17	2	proposed	propose	VERB
hm50tq61265	17	3	system	system	NOUN
hm50tq61265	17	4	is	be	AUX
hm50tq61265	17	5	equipped	equip	VERB
hm50tq61265	17	6	with	with	ADP
hm50tq61265	17	7	a	a	DET
hm50tq61265	17	8	2d	2d	NOUN
hm50tq61265	17	9	lidar	lidar	NOUN
hm50tq61265	17	10	scanning	scan	VERB
hm50tq61265	17	11	parallel	parallel	NOUN
hm50tq61265	17	12	to	to	ADP
hm50tq61265	17	13	the	the	DET
hm50tq61265	17	14	ground	ground	NOUN
hm50tq61265	17	15	and	and	CCONJ
hm50tq61265	17	16	an	an	DET
hm50tq61265	17	17	intensity	intensity	NOUN
hm50tq61265	17	18	camera	camera	NOUN
hm50tq61265	17	19	with	with	ADP
hm50tq61265	17	20	a	a	DET
hm50tq61265	17	21	fixed	fix	VERB
hm50tq61265	17	22	relative	relative	ADJ
hm50tq61265	17	23	position	position	NOUN
hm50tq61265	17	24	.	.	PUNCT
hm50tq61265	18	1	by	by	ADP
hm50tq61265	18	2	aligning	align	VERB
hm50tq61265	18	3	the	the	DET
hm50tq61265	18	4	lidar	lidar	NOUN
hm50tq61265	18	5	points	point	NOUN
hm50tq61265	18	6	,	,	PUNCT
hm50tq61265	18	7	as	as	SCONJ
hm50tq61265	18	8	samples	sample	NOUN
hm50tq61265	18	9	of	of	ADP
hm50tq61265	18	10	the	the	DET
hm50tq61265	18	11	room	room	NOUN
hm50tq61265	18	12	contour	contour	NOUN
hm50tq61265	18	13	,	,	PUNCT
hm50tq61265	18	14	to	to	ADP
hm50tq61265	18	15	ground	ground	NOUN
hm50tq61265	18	16	--	--	PUNCT
hm50tq61265	18	17	wall	wall	NOUN
hm50tq61265	18	18	boundaries	boundary	NOUN
hm50tq61265	18	19	in	in	ADP
hm50tq61265	18	20	the	the	DET
hm50tq61265	18	21	images	image	NOUN
hm50tq61265	18	22	,	,	PUNCT
hm50tq61265	18	23	layout	layout	NOUN
hm50tq61265	18	24	estimation	estimation	NOUN
hm50tq61265	18	25	and	and	CCONJ
hm50tq61265	18	26	semantic	semantic	ADJ
hm50tq61265	18	27	segmentation	segmentation	NOUN
hm50tq61265	18	28	can	can	AUX
hm50tq61265	18	29	be	be	AUX
hm50tq61265	18	30	done	do	VERB
hm50tq61265	18	31	without	without	ADP
hm50tq61265	18	32	offline	offline	ADJ
hm50tq61265	18	33	calibration	calibration	NOUN
hm50tq61265	18	34	.	.	PUNCT
hm50tq61265	19	1	the	the	DET
hm50tq61265	19	2	localization	localization	NOUN
hm50tq61265	19	3	and	and	CCONJ
hm50tq61265	19	4	mapping	mapping	NOUN
hm50tq61265	19	5	is	be	AUX
hm50tq61265	19	6	refined	refine	VERB
hm50tq61265	19	7	using	use	VERB
hm50tq61265	19	8	the	the	DET
hm50tq61265	19	9	fused	fuse	VERB
hm50tq61265	19	10	data	datum	NOUN
hm50tq61265	19	11	,	,	PUNCT
hm50tq61265	19	12	which	which	PRON
hm50tq61265	19	13	enables	enable	VERB
hm50tq61265	19	14	the	the	DET
hm50tq61265	19	15	system	system	NOUN
hm50tq61265	19	16	to	to	PART
hm50tq61265	19	17	work	work	VERB
hm50tq61265	19	18	reliably	reliably	ADV
hm50tq61265	19	19	in	in	ADP
hm50tq61265	19	20	scenes	scene	NOUN
hm50tq61265	19	21	with	with	ADP
hm50tq61265	19	22	poor	poor	ADJ
hm50tq61265	19	23	lighting	lighting	NOUN
hm50tq61265	19	24	and	and	CCONJ
hm50tq61265	19	25	low	low	ADJ
hm50tq61265	19	26	texture	texture	NOUN
hm50tq61265	19	27	or	or	CCONJ
hm50tq61265	19	28	geometric	geometric	ADJ
hm50tq61265	19	29	features	feature	NOUN
hm50tq61265	19	30	.	.	PUNCT
hm50tq61265	20	1	in	in	ADP
hm50tq61265	20	2	summary	summary	NOUN
hm50tq61265	20	3	,	,	PUNCT
hm50tq61265	20	4	this	this	DET
hm50tq61265	20	5	dissertation	dissertation	NOUN
hm50tq61265	20	6	improves	improve	VERB
hm50tq61265	20	7	machine	machine	NOUN
hm50tq61265	20	8	perception	perception	NOUN
hm50tq61265	20	9	performance	performance	NOUN
hm50tq61265	20	10	in	in	ADP
hm50tq61265	20	11	challenging	challenge	VERB
hm50tq61265	20	12	environments	environment	NOUN
hm50tq61265	20	13	by	by	ADP
hm50tq61265	20	14	introducing	introduce	VERB
hm50tq61265	20	15	new	new	ADJ
hm50tq61265	20	16	methods	method	NOUN
hm50tq61265	20	17	and	and	CCONJ
hm50tq61265	20	18	systems	system	NOUN
hm50tq61265	20	19	.	.	PUNCT
hm50tq61265	21	1	the	the	DET
hm50tq61265	21	2	proposed	propose	VERB
hm50tq61265	21	3	methods	method	NOUN
hm50tq61265	21	4	address	address	VERB
hm50tq61265	21	5	exposure	exposure	NOUN
hm50tq61265	21	6	strategies	strategy	NOUN
hm50tq61265	21	7	for	for	ADP
hm50tq61265	21	8	(	(	PUNCT
hm50tq61265	21	9	1	1	NUM
hm50tq61265	21	10	)	)	PUNCT
hm50tq61265	21	11	tone	tone	NOUN
hm50tq61265	21	12	and	and	CCONJ
hm50tq61265	21	13	noise	noise	NOUN
hm50tq61265	21	14	optimization	optimization	NOUN
hm50tq61265	21	15	,	,	PUNCT
hm50tq61265	21	16	and	and	CCONJ
hm50tq61265	21	17	(	(	PUNCT
hm50tq61265	21	18	2	2	X
hm50tq61265	21	19	)	)	PUNCT
hm50tq61265	21	20	robust	robust	ADJ
hm50tq61265	21	21	visual	visual	ADJ
hm50tq61265	21	22	odometry	odometry	NOUN
hm50tq61265	21	23	.	.	PUNCT
hm50tq61265	22	1	additionally	additionally	ADV
hm50tq61265	22	2	,	,	PUNCT
hm50tq61265	22	3	we	we	PRON
hm50tq61265	22	4	leverage	leverage	VERB
hm50tq61265	22	5	2d	2d	NUM
hm50tq61265	22	6	lidar	lidar	NOUN
hm50tq61265	22	7	as	as	ADP
hm50tq61265	22	8	a	a	DET
hm50tq61265	22	9	supplementary	supplementary	ADJ
hm50tq61265	22	10	sensor	sensor	NOUN
hm50tq61265	22	11	to	to	PART
hm50tq61265	22	12	assist	assist	VERB
hm50tq61265	22	13	with	with	ADP
hm50tq61265	22	14	indoor	indoor	ADJ
hm50tq61265	22	15	layout	layout	NOUN
hm50tq61265	22	16	estimation	estimation	NOUN
hm50tq61265	22	17	in	in	ADP
hm50tq61265	22	18	situations	situation	NOUN
hm50tq61265	22	19	where	where	SCONJ
hm50tq61265	22	20	visual	visual	ADJ
hm50tq61265	22	21	-	-	PUNCT
hm50tq61265	22	22	based	base	VERB
hm50tq61265	22	23	methods	method	NOUN
hm50tq61265	22	24	may	may	AUX
hm50tq61265	22	25	struggle	struggle	VERB
hm50tq61265	22	26	.	.	PUNCT
hm50tq61265	23	1	comparative	comparative	ADJ
hm50tq61265	23	2	experiments	experiment	NOUN
hm50tq61265	23	3	on	on	ADP
hm50tq61265	23	4	various	various	ADJ
hm50tq61265	23	5	scenes	scene	NOUN
hm50tq61265	23	6	are	be	AUX
hm50tq61265	23	7	conducted	conduct	VERB
hm50tq61265	23	8	to	to	PART
hm50tq61265	23	9	demonstrate	demonstrate	VERB
hm50tq61265	23	10	the	the	DET
hm50tq61265	23	11	superior	superior	ADJ
hm50tq61265	23	12	performance	performance	NOUN
hm50tq61265	23	13	of	of	ADP
hm50tq61265	23	14	the	the	DET
hm50tq61265	23	15	proposed	propose	VERB
hm50tq61265	23	16	methods	method	NOUN
hm50tq61265	23	17	.	.	PUNCT