id	sid	tid	token	lemma	pos
w3763487h4w	1	1	this	this	DET
w3763487h4w	1	2	work	work	NOUN
w3763487h4w	1	3	addresses	address	VERB
w3763487h4w	1	4	the	the	DET
w3763487h4w	1	5	problem	problem	NOUN
w3763487h4w	1	6	of	of	ADP
w3763487h4w	1	7	multimodal	multimodal	ADJ
w3763487h4w	1	8	image	image	NOUN
w3763487h4w	1	9	registration	registration	NOUN
w3763487h4w	1	10	.	.	PUNCT
w3763487h4w	2	1	registration	registration	NOUN
w3763487h4w	2	2	is	be	AUX
w3763487h4w	2	3	a	a	DET
w3763487h4w	2	4	building	building	NOUN
w3763487h4w	2	5	block	block	NOUN
w3763487h4w	2	6	in	in	ADP
w3763487h4w	2	7	many	many	ADJ
w3763487h4w	2	8	computer	computer	NOUN
w3763487h4w	2	9	vision	vision	NOUN
w3763487h4w	2	10	systems	system	NOUN
w3763487h4w	2	11	and	and	CCONJ
w3763487h4w	2	12	its	its	PRON
w3763487h4w	2	13	accuracy	accuracy	NOUN
w3763487h4w	2	14	has	have	VERB
w3763487h4w	2	15	a	a	DET
w3763487h4w	2	16	great	great	ADJ
w3763487h4w	2	17	effect	effect	NOUN
w3763487h4w	2	18	on	on	ADP
w3763487h4w	2	19	the	the	DET
w3763487h4w	2	20	performance	performance	NOUN
w3763487h4w	2	21	of	of	ADP
w3763487h4w	2	22	subsequent	subsequent	ADJ
w3763487h4w	2	23	applications	application	NOUN
w3763487h4w	2	24	.	.	PUNCT
w3763487h4w	3	1	the	the	DET
w3763487h4w	3	2	goal	goal	NOUN
w3763487h4w	3	3	is	be	AUX
w3763487h4w	3	4	to	to	PART
w3763487h4w	3	5	determine	determine	VERB
w3763487h4w	3	6	the	the	DET
w3763487h4w	3	7	transformation	transformation	NOUN
w3763487h4w	3	8	accounting	account	VERB
w3763487h4w	3	9	for	for	ADP
w3763487h4w	3	10	the	the	DET
w3763487h4w	3	11	misalignment	misalignment	NOUN
w3763487h4w	3	12	between	between	ADP
w3763487h4w	3	13	two	two	NUM
w3763487h4w	3	14	images	image	NOUN
w3763487h4w	3	15	.	.	PUNCT
w3763487h4w	4	1	in	in	ADP
w3763487h4w	4	2	general	general	ADJ
w3763487h4w	4	3	,	,	PUNCT
w3763487h4w	4	4	aligning	align	VERB
w3763487h4w	4	5	two	two	NUM
w3763487h4w	4	6	images	image	NOUN
w3763487h4w	4	7	amounts	amount	VERB
w3763487h4w	4	8	to	to	ADP
w3763487h4w	4	9	searching	search	VERB
w3763487h4w	4	10	for	for	ADP
w3763487h4w	4	11	the	the	DET
w3763487h4w	4	12	transformation	transformation	NOUN
w3763487h4w	4	13	in	in	ADP
w3763487h4w	4	14	the	the	DET
w3763487h4w	4	15	search	search	NOUN
w3763487h4w	4	16	space	space	NOUN
w3763487h4w	4	17	that	that	PRON
w3763487h4w	4	18	yields	yield	VERB
w3763487h4w	4	19	the	the	DET
w3763487h4w	4	20	maximum	maximum	ADJ
w3763487h4w	4	21	similarity	similarity	NOUN
w3763487h4w	4	22	.	.	PUNCT
w3763487h4w	5	1	in	in	ADP
w3763487h4w	5	2	most	most	ADJ
w3763487h4w	5	3	cases	case	NOUN
w3763487h4w	5	4	,	,	PUNCT
w3763487h4w	5	5	an	an	DET
w3763487h4w	5	6	exhaustive	exhaustive	ADJ
w3763487h4w	5	7	search	search	NOUN
w3763487h4w	5	8	is	be	AUX
w3763487h4w	5	9	intractable	intractable	ADJ
w3763487h4w	5	10	and	and	CCONJ
w3763487h4w	5	11	thus	thus	ADV
w3763487h4w	5	12	optimization	optimization	NOUN
w3763487h4w	5	13	techiniques	techinique	NOUN
w3763487h4w	5	14	are	be	AUX
w3763487h4w	5	15	often	often	ADV
w3763487h4w	5	16	applied	apply	VERB
w3763487h4w	5	17	.	.	PUNCT
w3763487h4w	6	1	however	however	ADV
w3763487h4w	6	2	,	,	PUNCT
w3763487h4w	6	3	any	any	DET
w3763487h4w	6	4	optimization	optimization	NOUN
w3763487h4w	6	5	algorithm	algorithm	PROPN
w3763487h4w	6	6	may	may	AUX
w3763487h4w	6	7	fail	fail	VERB
w3763487h4w	6	8	to	to	PART
w3763487h4w	6	9	converge	converge	VERB
w3763487h4w	6	10	to	to	ADP
w3763487h4w	6	11	the	the	DET
w3763487h4w	6	12	global	global	ADJ
w3763487h4w	6	13	extrema	extrema	NOUN
w3763487h4w	6	14	due	due	ADP
w3763487h4w	6	15	to	to	ADP
w3763487h4w	6	16	the	the	DET
w3763487h4w	6	17	lack	lack	NOUN
w3763487h4w	6	18	of	of	ADP
w3763487h4w	6	19	knowledge	knowledge	NOUN
w3763487h4w	6	20	on	on	ADP
w3763487h4w	6	21	the	the	DET
w3763487h4w	6	22	properties	property	NOUN
w3763487h4w	6	23	of	of	ADP
w3763487h4w	6	24	a	a	DET
w3763487h4w	6	25	similarity	similarity	NOUN
w3763487h4w	6	26	metric	metric	NOUN
w3763487h4w	6	27	as	as	ADP
w3763487h4w	6	28	a	a	DET
w3763487h4w	6	29	function	function	NOUN
w3763487h4w	6	30	of	of	ADP
w3763487h4w	6	31	transformation	transformation	NOUN
w3763487h4w	6	32	parameters	parameter	NOUN
w3763487h4w	6	33	.	.	PUNCT
w3763487h4w	7	1	a	a	DET
w3763487h4w	7	2	multimodal	multimodal	ADJ
w3763487h4w	7	3	image	image	NOUN
w3763487h4w	7	4	registration	registration	NOUN
w3763487h4w	7	5	framework	framework	NOUN
w3763487h4w	7	6	is	be	AUX
w3763487h4w	7	7	proposed	propose	VERB
w3763487h4w	7	8	in	in	ADP
w3763487h4w	7	9	which	which	PRON
w3763487h4w	7	10	an	an	DET
w3763487h4w	7	11	iterative	iterative	ADJ
w3763487h4w	7	12	process	process	NOUN
w3763487h4w	7	13	is	be	AUX
w3763487h4w	7	14	conducted	conduct	VERB
w3763487h4w	7	15	to	to	PART
w3763487h4w	7	16	search	search	VERB
w3763487h4w	7	17	the	the	DET
w3763487h4w	7	18	correspondences	correspondence	NOUN
w3763487h4w	7	19	for	for	ADP
w3763487h4w	7	20	mapping	mapping	NOUN
w3763487h4w	7	21	primitives	primitive	NOUN
w3763487h4w	7	22	by	by	ADP
w3763487h4w	7	23	employing	employ	VERB
w3763487h4w	7	24	global	global	ADJ
w3763487h4w	7	25	information	information	NOUN
w3763487h4w	7	26	.	.	PUNCT
w3763487h4w	8	1	this	this	DET
w3763487h4w	8	2	dissertation	dissertation	NOUN
w3763487h4w	8	3	mainly	mainly	ADV
w3763487h4w	8	4	considers	consider	VERB
w3763487h4w	8	5	two	two	NUM
w3763487h4w	8	6	mapping	mapping	NOUN
w3763487h4w	8	7	primitives	primitive	NOUN
w3763487h4w	8	8	,	,	PUNCT
w3763487h4w	8	9	keypoints	keypoint	NOUN
w3763487h4w	8	10	and	and	CCONJ
w3763487h4w	8	11	line	line	NOUN
w3763487h4w	8	12	segments	segment	NOUN
w3763487h4w	8	13	.	.	PUNCT
w3763487h4w	9	1	line	line	NOUN
w3763487h4w	9	2	segments	segment	NOUN
w3763487h4w	9	3	is	be	AUX
w3763487h4w	9	4	first	first	ADV
w3763487h4w	9	5	explored	explore	VERB
w3763487h4w	9	6	,	,	PUNCT
w3763487h4w	9	7	and	and	CCONJ
w3763487h4w	9	8	an	an	DET
w3763487h4w	9	9	approach	approach	NOUN
w3763487h4w	9	10	that	that	PRON
w3763487h4w	9	11	is	be	AUX
w3763487h4w	9	12	robust	robust	ADJ
w3763487h4w	9	13	to	to	PART
w3763487h4w	9	14	line	line	VERB
w3763487h4w	9	15	detection	detection	NOUN
w3763487h4w	9	16	errors	error	NOUN
w3763487h4w	9	17	is	be	AUX
w3763487h4w	9	18	proposed	propose	VERB
w3763487h4w	9	19	.	.	PUNCT
w3763487h4w	10	1	triplets	triplet	NOUN
w3763487h4w	10	2	(	(	PUNCT
w3763487h4w	10	3	quaternions	quaternion	NOUN
w3763487h4w	10	4	)	)	PUNCT
w3763487h4w	10	5	of	of	ADP
w3763487h4w	10	6	line	line	NOUN
w3763487h4w	10	7	segment	segment	NOUN
w3763487h4w	10	8	mappings	mapping	NOUN
w3763487h4w	10	9	are	be	AUX
w3763487h4w	10	10	tentatively	tentatively	ADV
w3763487h4w	10	11	formed	form	VERB
w3763487h4w	10	12	by	by	ADP
w3763487h4w	10	13	applying	apply	VERB
w3763487h4w	10	14	distance	distance	NOUN
w3763487h4w	10	15	and	and	CCONJ
w3763487h4w	10	16	orientation	orientation	NOUN
w3763487h4w	10	17	constraints	constraint	NOUN
w3763487h4w	10	18	.	.	PUNCT
w3763487h4w	11	1	a	a	DET
w3763487h4w	11	2	triplet	triplet	NOUN
w3763487h4w	11	3	(	(	PUNCT
w3763487h4w	11	4	quaternion	quaternion	NOUN
w3763487h4w	11	5	)	)	PUNCT
w3763487h4w	11	6	of	of	ADP
w3763487h4w	11	7	line	line	NOUN
w3763487h4w	11	8	segment	segment	NOUN
w3763487h4w	11	9	mappings	mapping	NOUN
w3763487h4w	11	10	determine	determine	VERB
w3763487h4w	11	11	an	an	DET
w3763487h4w	11	12	affine	affine	ADJ
w3763487h4w	11	13	transformation	transformation	NOUN
w3763487h4w	11	14	,	,	PUNCT
w3763487h4w	11	15	and	and	CCONJ
w3763487h4w	11	16	it	it	PRON
w3763487h4w	11	17	is	be	AUX
w3763487h4w	11	18	evaluated	evaluate	VERB
w3763487h4w	11	19	with	with	ADP
w3763487h4w	11	20	the	the	DET
w3763487h4w	11	21	similarity	similarity	NOUN
w3763487h4w	11	22	metric	metric	NOUN
w3763487h4w	11	23	between	between	ADP
w3763487h4w	11	24	the	the	DET
w3763487h4w	11	25	reference	reference	NOUN
w3763487h4w	11	26	image	image	NOUN
w3763487h4w	11	27	and	and	CCONJ
w3763487h4w	11	28	the	the	DET
w3763487h4w	11	29	transformed	transformed	ADJ
w3763487h4w	11	30	test	test	NOUN
w3763487h4w	11	31	image	image	NOUN
w3763487h4w	11	32	by	by	ADP
w3763487h4w	11	33	the	the	DET
w3763487h4w	11	34	determined	determined	ADJ
w3763487h4w	11	35	transformation	transformation	NOUN
w3763487h4w	11	36	.	.	PUNCT
w3763487h4w	12	1	the	the	DET
w3763487h4w	12	2	iterative	iterative	ADJ
w3763487h4w	12	3	process	process	NOUN
w3763487h4w	12	4	is	be	AUX
w3763487h4w	12	5	conducted	conduct	VERB
w3763487h4w	12	6	on	on	ADP
w3763487h4w	12	7	triplets	triplet	NOUN
w3763487h4w	12	8	(	(	PUNCT
w3763487h4w	12	9	quaternions	quaternion	NOUN
w3763487h4w	12	10	)	)	PUNCT
w3763487h4w	12	11	of	of	ADP
w3763487h4w	12	12	line	line	NOUN
w3763487h4w	12	13	segments	segment	NOUN
w3763487h4w	12	14	,	,	PUNCT
w3763487h4w	12	15	ending	end	VERB
w3763487h4w	12	16	with	with	ADP
w3763487h4w	12	17	the	the	DET
w3763487h4w	12	18	`	`	PUNCT
w3763487h4w	12	19	`	`	PUNCT
w3763487h4w	12	20	best	good	ADJ
w3763487h4w	12	21	'	'	PUNCT
w3763487h4w	12	22	matched	matched	ADJ
w3763487h4w	12	23	reference	reference	NOUN
w3763487h4w	12	24	correspondence	correspondence	NOUN
w3763487h4w	12	25	for	for	ADP
w3763487h4w	12	26	every	every	DET
w3763487h4w	12	27	test	test	NOUN
w3763487h4w	12	28	line	line	NOUN
w3763487h4w	12	29	segment	segment	NOUN
w3763487h4w	12	30	.	.	PUNCT
w3763487h4w	13	1	those	those	PRON
w3763487h4w	13	2	triplets	triplet	NOUN
w3763487h4w	13	3	(	(	PUNCT
w3763487h4w	13	4	quaternions	quaternion	NOUN
w3763487h4w	13	5	)	)	PUNCT
w3763487h4w	13	6	of	of	ADP
w3763487h4w	13	7	lines	line	NOUN
w3763487h4w	13	8	resulting	result	VERB
w3763487h4w	13	9	in	in	ADP
w3763487h4w	13	10	higher	high	ADJ
w3763487h4w	13	11	similarity	similarity	NOUN
w3763487h4w	13	12	metrics	metric	NOUN
w3763487h4w	13	13	are	be	AUX
w3763487h4w	13	14	preserved	preserve	VERB
w3763487h4w	13	15	,	,	PUNCT
w3763487h4w	13	16	and	and	CCONJ
w3763487h4w	13	17	their	their	PRON
w3763487h4w	13	18	intersections	intersection	NOUN
w3763487h4w	13	19	are	be	AUX
w3763487h4w	13	20	refined	refine	VERB
w3763487h4w	13	21	by	by	ADP
w3763487h4w	13	22	an	an	DET
w3763487h4w	13	23	iterative	iterative	ADJ
w3763487h4w	13	24	process	process	NOUN
w3763487h4w	13	25	or	or	CCONJ
w3763487h4w	13	26	ransac	ransac	NOUN
w3763487h4w	13	27	.	.	PUNCT
w3763487h4w	14	1	the	the	DET
w3763487h4w	14	2	iterative	iterative	ADJ
w3763487h4w	14	3	framework	framework	NOUN
w3763487h4w	14	4	is	be	AUX
w3763487h4w	14	5	also	also	ADV
w3763487h4w	14	6	applied	apply	VERB
w3763487h4w	14	7	to	to	ADP
w3763487h4w	14	8	keypoint	keypoint	NOUN
w3763487h4w	14	9	mappings	mapping	NOUN
w3763487h4w	14	10	.	.	PUNCT
w3763487h4w	15	1	it	it	PRON
w3763487h4w	15	2	consists	consist	VERB
w3763487h4w	15	3	of	of	ADP
w3763487h4w	15	4	three	three	NUM
w3763487h4w	15	5	basic	basic	ADJ
w3763487h4w	15	6	elements	element	NOUN
w3763487h4w	15	7	,	,	PUNCT
w3763487h4w	15	8	putatively	putatively	ADV
w3763487h4w	15	9	mapping	mapping	NOUN
w3763487h4w	15	10	primitives	primitive	NOUN
w3763487h4w	15	11	,	,	PUNCT
w3763487h4w	15	12	an	an	DET
w3763487h4w	15	13	iterative	iterative	ADJ
w3763487h4w	15	14	process	process	NOUN
w3763487h4w	15	15	,	,	PUNCT
w3763487h4w	15	16	and	and	CCONJ
w3763487h4w	15	17	a	a	DET
w3763487h4w	15	18	similarity	similarity	NOUN
w3763487h4w	15	19	metric	metric	NOUN
w3763487h4w	15	20	.	.	PUNCT
w3763487h4w	16	1	keypoints	keypoint	NOUN
w3763487h4w	16	2	including	include	VERB
w3763487h4w	16	3	scale	scale	ADJ
w3763487h4w	16	4	invariant	invariant	ADJ
w3763487h4w	16	5	feature	feature	NOUN
w3763487h4w	16	6	transform	transform	NOUN
w3763487h4w	16	7	(	(	PUNCT
w3763487h4w	16	8	sift	sift	VERB
w3763487h4w	16	9	)	)	PUNCT
w3763487h4w	16	10	and	and	CCONJ
w3763487h4w	16	11	partial	partial	ADJ
w3763487h4w	16	12	intensity	intensity	NOUN
w3763487h4w	16	13	invariant	invariant	ADJ
w3763487h4w	16	14	feature	feature	NOUN
w3763487h4w	16	15	descriptor	descriptor	NOUN
w3763487h4w	16	16	(	(	PUNCT
w3763487h4w	16	17	piifd	piifd	X
w3763487h4w	16	18	)	)	PUNCT
w3763487h4w	16	19	are	be	AUX
w3763487h4w	16	20	detected	detect	VERB
w3763487h4w	16	21	from	from	ADP
w3763487h4w	16	22	both	both	CCONJ
w3763487h4w	16	23	the	the	DET
w3763487h4w	16	24	reference	reference	NOUN
w3763487h4w	16	25	and	and	CCONJ
w3763487h4w	16	26	test	test	NOUN
w3763487h4w	16	27	images	image	NOUN
w3763487h4w	16	28	.	.	PUNCT
w3763487h4w	17	1	for	for	ADP
w3763487h4w	17	2	each	each	DET
w3763487h4w	17	3	test	test	NOUN
w3763487h4w	17	4	keypoint	keypoint	NOUN
w3763487h4w	17	5	,	,	PUNCT
w3763487h4w	17	6	a	a	DET
w3763487h4w	17	7	certain	certain	ADJ
w3763487h4w	17	8	number	number	NOUN
w3763487h4w	17	9	of	of	ADP
w3763487h4w	17	10	reference	reference	NOUN
w3763487h4w	17	11	keypoints	keypoint	NOUN
w3763487h4w	17	12	are	be	AUX
w3763487h4w	17	13	chosen	choose	VERB
w3763487h4w	17	14	as	as	ADP
w3763487h4w	17	15	mapping	mapping	NOUN
w3763487h4w	17	16	candidates	candidate	NOUN
w3763487h4w	17	17	according	accord	VERB
w3763487h4w	17	18	to	to	ADP
w3763487h4w	17	19	the	the	DET
w3763487h4w	17	20	keypoint	keypoint	NOUN
w3763487h4w	17	21	descriptor	descriptor	NOUN
w3763487h4w	17	22	distance	distance	NOUN
w3763487h4w	17	23	.	.	PUNCT
w3763487h4w	18	1	triplets	triplet	NOUN
w3763487h4w	18	2	of	of	ADP
w3763487h4w	18	3	keypoint	keypoint	NOUN
w3763487h4w	18	4	mappings	mapping	NOUN
w3763487h4w	18	5	are	be	AUX
w3763487h4w	18	6	then	then	ADV
w3763487h4w	18	7	formed	form	VERB
w3763487h4w	18	8	with	with	ADP
w3763487h4w	18	9	the	the	DET
w3763487h4w	18	10	geometrical	geometrical	ADJ
w3763487h4w	18	11	and	and	CCONJ
w3763487h4w	18	12	spatial	spatial	ADJ
w3763487h4w	18	13	constraint	constraint	NOUN
w3763487h4w	18	14	.	.	PUNCT
w3763487h4w	19	1	a	a	DET
w3763487h4w	19	2	triplet	triplet	NOUN
w3763487h4w	19	3	of	of	ADP
w3763487h4w	19	4	keypoint	keypoint	NOUN
w3763487h4w	19	5	mappings	mapping	NOUN
w3763487h4w	19	6	determine	determine	VERB
w3763487h4w	19	7	an	an	DET
w3763487h4w	19	8	affine	affine	ADJ
w3763487h4w	19	9	transformation	transformation	NOUN
w3763487h4w	19	10	,	,	PUNCT
w3763487h4w	19	11	and	and	CCONJ
w3763487h4w	19	12	then	then	ADV
w3763487h4w	19	13	it	it	PRON
w3763487h4w	19	14	is	be	AUX
w3763487h4w	19	15	evaluated	evaluate	VERB
w3763487h4w	19	16	with	with	ADP
w3763487h4w	19	17	the	the	DET
w3763487h4w	19	18	similarity	similarity	NOUN
w3763487h4w	19	19	metric	metric	NOUN
w3763487h4w	19	20	between	between	ADP
w3763487h4w	19	21	the	the	DET
w3763487h4w	19	22	reference	reference	NOUN
w3763487h4w	19	23	image	image	NOUN
w3763487h4w	19	24	and	and	CCONJ
w3763487h4w	19	25	the	the	DET
w3763487h4w	19	26	transformed	transformed	ADJ
w3763487h4w	19	27	test	test	NOUN
w3763487h4w	19	28	image	image	NOUN
w3763487h4w	19	29	by	by	ADP
w3763487h4w	19	30	the	the	DET
w3763487h4w	19	31	determined	determined	ADJ
w3763487h4w	19	32	transformation	transformation	NOUN
w3763487h4w	19	33	.	.	PUNCT
w3763487h4w	20	1	the	the	DET
w3763487h4w	20	2	iterative	iterative	ADJ
w3763487h4w	20	3	process	process	NOUN
w3763487h4w	20	4	is	be	AUX
w3763487h4w	20	5	conducted	conduct	VERB
w3763487h4w	20	6	on	on	ADP
w3763487h4w	20	7	triplets	triplet	NOUN
w3763487h4w	20	8	of	of	ADP
w3763487h4w	20	9	keypoint	keypoint	NOUN
w3763487h4w	20	10	mappings	mapping	NOUN
w3763487h4w	20	11	,	,	PUNCT
w3763487h4w	20	12	and	and	CCONJ
w3763487h4w	20	13	for	for	ADP
w3763487h4w	20	14	every	every	DET
w3763487h4w	20	15	test	test	NOUN
w3763487h4w	20	16	keypoint	keypoint	NOUN
w3763487h4w	20	17	updates	update	NOUN
w3763487h4w	20	18	and	and	CCONJ
w3763487h4w	20	19	stores	store	VERB
w3763487h4w	20	20	its	its	PRON
w3763487h4w	20	21	best	good	ADJ
w3763487h4w	20	22	matched	match	VERB
w3763487h4w	20	23	reference	reference	NOUN
w3763487h4w	20	24	keypoint	keypoint	NOUN
w3763487h4w	20	25	.	.	PUNCT
w3763487h4w	21	1	the	the	DET
w3763487h4w	21	2	similarity	similarity	NOUN
w3763487h4w	21	3	metric	metric	NOUN
w3763487h4w	21	4	is	be	AUX
w3763487h4w	21	5	defined	define	VERB
w3763487h4w	21	6	to	to	PART
w3763487h4w	21	7	be	be	AUX
w3763487h4w	21	8	the	the	DET
w3763487h4w	21	9	number	number	NOUN
w3763487h4w	21	10	of	of	ADP
w3763487h4w	21	11	overlapped	overlapped	ADJ
w3763487h4w	21	12	edge	edge	NOUN
w3763487h4w	21	13	pixels	pixel	NOUN
w3763487h4w	21	14	over	over	ADP
w3763487h4w	21	15	entire	entire	ADJ
w3763487h4w	21	16	images	image	NOUN
w3763487h4w	21	17	,	,	PUNCT
w3763487h4w	21	18	allowing	allow	VERB
w3763487h4w	21	19	for	for	SCONJ
w3763487h4w	21	20	global	global	ADJ
w3763487h4w	21	21	information	information	NOUN
w3763487h4w	21	22	to	to	PART
w3763487h4w	21	23	be	be	AUX
w3763487h4w	21	24	incorporated	incorporate	VERB
w3763487h4w	21	25	in	in	ADP
w3763487h4w	21	26	the	the	DET
w3763487h4w	21	27	evaluation	evaluation	NOUN
w3763487h4w	21	28	of	of	ADP
w3763487h4w	21	29	triplets	triplet	NOUN
w3763487h4w	21	30	of	of	ADP
w3763487h4w	21	31	mappings	mapping	NOUN
w3763487h4w	21	32	.	.	PUNCT
w3763487h4w	22	1	the	the	DET
w3763487h4w	22	2	output	output	NOUN
w3763487h4w	22	3	of	of	ADP
w3763487h4w	22	4	the	the	DET
w3763487h4w	22	5	framework	framework	NOUN
w3763487h4w	22	6	is	be	AUX
w3763487h4w	22	7	the	the	DET
w3763487h4w	22	8	'	'	PUNCT
w3763487h4w	22	9	best	good	ADJ
w3763487h4w	22	10	'	'	PUNCT
w3763487h4w	22	11	matched	match	VERB
w3763487h4w	22	12	reference	reference	NOUN
w3763487h4w	22	13	keypoint	keypoint	NOUN
w3763487h4w	22	14	for	for	ADP
w3763487h4w	22	15	every	every	DET
w3763487h4w	22	16	test	test	NOUN
w3763487h4w	22	17	keypoint	keypoint	NOUN
w3763487h4w	22	18	in	in	ADP
w3763487h4w	22	19	the	the	DET
w3763487h4w	22	20	sense	sense	NOUN
w3763487h4w	22	21	that	that	SCONJ
w3763487h4w	22	22	this	this	DET
w3763487h4w	22	23	matching	matching	NOUN
w3763487h4w	22	24	yields	yield	VERB
w3763487h4w	22	25	the	the	DET
w3763487h4w	22	26	maximum	maximum	ADJ
w3763487h4w	22	27	similarity	similarity	NOUN
w3763487h4w	22	28	.	.	PUNCT
w3763487h4w	23	1	in	in	ADP
w3763487h4w	23	2	addition	addition	NOUN
w3763487h4w	23	3	,	,	PUNCT
w3763487h4w	23	4	this	this	DET
w3763487h4w	23	5	work	work	NOUN
w3763487h4w	23	6	explores	explore	VERB
w3763487h4w	23	7	combining	combine	VERB
w3763487h4w	23	8	the	the	DET
w3763487h4w	23	9	advantages	advantage	NOUN
w3763487h4w	23	10	of	of	ADP
w3763487h4w	23	11	sift	sift	VERB
w3763487h4w	23	12	and	and	CCONJ
w3763487h4w	23	13	piifd	piifd	NOUN
w3763487h4w	23	14	to	to	PART
w3763487h4w	23	15	extract	extract	VERB
w3763487h4w	23	16	keypoints	keypoint	NOUN
w3763487h4w	23	17	more	more	ADV
w3763487h4w	23	18	suitable	suitable	ADJ
w3763487h4w	23	19	for	for	ADP
w3763487h4w	23	20	multimodal	multimodal	ADJ
w3763487h4w	23	21	images	image	NOUN
w3763487h4w	23	22	.	.	PUNCT
w3763487h4w	24	1	the	the	DET
w3763487h4w	24	2	presented	present	VERB
w3763487h4w	24	3	framework	framework	NOUN
w3763487h4w	24	4	is	be	AUX
w3763487h4w	24	5	open	open	ADJ
w3763487h4w	24	6	in	in	SCONJ
w3763487h4w	24	7	that	that	SCONJ
w3763487h4w	24	8	both	both	CCONJ
w3763487h4w	24	9	the	the	DET
w3763487h4w	24	10	similarity	similarity	NOUN
w3763487h4w	24	11	metric	metric	NOUN
w3763487h4w	24	12	and	and	CCONJ
w3763487h4w	24	13	mapping	mapping	NOUN
w3763487h4w	24	14	primitives	primitive	NOUN
w3763487h4w	24	15	can	can	AUX
w3763487h4w	24	16	be	be	AUX
w3763487h4w	24	17	substituted	substitute	VERB
w3763487h4w	24	18	for	for	ADP
w3763487h4w	24	19	any	any	DET
w3763487h4w	24	20	existing	exist	VERB
w3763487h4w	24	21	techniques	technique	NOUN
w3763487h4w	24	22	.	.	PUNCT
w3763487h4w	25	1	it	it	PRON
w3763487h4w	25	2	is	be	AUX
w3763487h4w	25	3	tested	test	VERB
w3763487h4w	25	4	on	on	ADP
w3763487h4w	25	5	indoor	indoor	ADJ
w3763487h4w	25	6	and	and	CCONJ
w3763487h4w	25	7	outdoor	outdoor	ADJ
w3763487h4w	25	8	eo	eo	PROPN
w3763487h4w	25	9	/	/	SYM
w3763487h4w	25	10	ir	ir	PROPN
w3763487h4w	25	11	image	image	NOUN
w3763487h4w	25	12	pairs	pair	NOUN
w3763487h4w	25	13	,	,	PUNCT
w3763487h4w	25	14	and	and	CCONJ
w3763487h4w	25	15	the	the	DET
w3763487h4w	25	16	experimental	experimental	ADJ
w3763487h4w	25	17	results	result	NOUN
w3763487h4w	25	18	show	show	VERB
w3763487h4w	25	19	that	that	SCONJ
w3763487h4w	25	20	the	the	DET
w3763487h4w	25	21	proposed	propose	VERB
w3763487h4w	25	22	registration	registration	NOUN
w3763487h4w	25	23	method	method	NOUN
w3763487h4w	25	24	can	can	AUX
w3763487h4w	25	25	robustly	robustly	ADV
w3763487h4w	25	26	align	align	VERB
w3763487h4w	25	27	eo	eo	PROPN
w3763487h4w	25	28	/	/	SYM
w3763487h4w	25	29	ir	ir	NOUN
w3763487h4w	25	30	images	image	NOUN
w3763487h4w	25	31	,	,	PUNCT
w3763487h4w	25	32	providing	provide	VERB
w3763487h4w	25	33	more	more	ADV
w3763487h4w	25	34	accurate	accurate	ADJ
w3763487h4w	25	35	registration	registration	NOUN
w3763487h4w	25	36	results	result	NOUN
w3763487h4w	25	37	on	on	ADP
w3763487h4w	25	38	multimodal	multimodal	ADJ
w3763487h4w	25	39	images	image	NOUN
w3763487h4w	25	40	than	than	ADP
w3763487h4w	25	41	utilizing	utilize	VERB
w3763487h4w	25	42	local	local	ADJ
w3763487h4w	25	43	information	information	NOUN
w3763487h4w	25	44	alone	alone	ADV
w3763487h4w	25	45	.	.	PUNCT