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Second , we devise a new track clustering cost function that includes occlusion reasoning , in the form of depth ordering constraints , as well as motion similarity along the tracks .
 part of: occlusion reasoning, track clustering cost function; feature of: depth ordering constraints, occlusion reasoning; part of: motion similarity, track clustering cost function
Given a phrase that describes the relationship between two words, extract the words and the lexical relationship between them. The output format should be "relation1: word1, word2; relation2: word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
Answer:
 part of: occlusion reasoning, track clustering cost function; feature of: depth ordering constraints, occlusion reasoning; part of: motion similarity, track clustering cost function