id	sid	eid	entity	type
ajst-32395	1	1	215	CARDINAL
ajst-32395	1	2	northeastern university	ORG
ajst-32395	1	3	beijing	GPE
ajst-32395	1	4	china	GPE
ajst-32395	6	1	roughly 0.08–0.22	CARDINAL
ajst-32395	10	1	1	CARDINAL
ajst-32395	12	1	one	CARDINAL
ajst-32395	14	1	steering‑wheel	CARDINAL
ajst-32395	14	2	fault‑detection	CARDINAL
ajst-32395	14	3	99.84%	PERCENT
ajst-32395	14	4	one hundred percent	PERCENT
ajst-32395	14	5	1	CARDINAL
ajst-32395	15	1	around eight	CARDINAL
ajst-32395	16	1	2	CARDINAL
ajst-32395	17	1	3	CARDINAL
ajst-32395	20	1	216	CARDINAL
ajst-32395	22	1	first	ORDINAL
ajst-32395	24	1	2.	CARDINAL
ajst-32395	24	2	one	CARDINAL
ajst-32395	29	1	low‑light	CARDINAL
ajst-32395	32	1	imus	ORG
ajst-32395	33	1	more than one hundred	MONEY
ajst-32395	33	2	4	CARDINAL
ajst-32395	41	1	one	CARDINAL
ajst-32395	44	1	217	CARDINAL
ajst-32395	46	1	iso 26262	ORG
ajst-32395	51	1	telephoto	ORG
ajst-32395	52	1	at least one	CARDINAL
ajst-32395	56	1	3	CARDINAL
ajst-32395	57	1	raw‑data	LOC
ajst-32395	58	1	kalman	PERSON
ajst-32395	58	2	non‑gaussian	ORG
ajst-32395	61	1	shafer	GPE
ajst-32395	63	1	first	ORDINAL
ajst-32395	65	1	1–3	CARDINAL
ajst-32395	67	1	learning‑based	GPE
ajst-32395	67	2	multi‑sensor	GPE
ajst-32395	67	3	eight four percent	PERCENT
ajst-32395	67	4	one hundred percent	PERCENT
ajst-32395	68	1	1	CARDINAL
ajst-32395	70	1	about eight	CARDINAL
ajst-32395	70	2	0.801	CARDINAL
ajst-32395	70	3	0.882	CARDINAL
ajst-32395	70	4	2	CARDINAL
ajst-32395	72	1	a little over eight meters	QUANTITY
ajst-32395	72	2	eighty	CARDINAL
ajst-32395	72	3	218	CARDINAL
ajst-32395	72	4	three and a	DATE
ajst-32395	72	5	fifteen	CARDINAL
ajst-32395	72	6	3	CARDINAL
ajst-32395	74	1	raw‑level	ORG
ajst-32395	77	1	mis‑calibration	ORG
ajst-32395	80	1	one	CARDINAL
ajst-32395	81	1	shafer	GPE
ajst-32395	83	1	one‑class	ORG
ajst-32395	88	1	1	CARDINAL
ajst-32395	90	1	iou	GPE
ajst-32395	92	1	3	CARDINAL
ajst-32395	94	1	softmax	PERSON
ajst-32395	101	1	5	CARDINAL
ajst-32395	102	1	219	CARDINAL
ajst-32395	103	1	one hundred percent	PERCENT
ajst-32395	107	1	two‑speed	ORG
ajst-32395	107	2	6	CARDINAL
ajst-32395	108	1	1	CARDINAL
ajst-32395	109	1	≈ 99.84%	PERCENT
ajst-32395	109	2	73–100%	PERCENT
ajst-32395	109	3	multisensor detector	PERSON
ajst-32395	109	4	1	CARDINAL
ajst-32395	109	5	kitti	ORG
ajst-32395	109	6	iou	PERSON
ajst-32395	109	7	0.801→0.882	DATE
ajst-32395	109	8	0.666→0.888	CARDINAL
ajst-32395	109	9	≈	CARDINAL
ajst-32395	109	10	fda	ORG
ajst-32395	109	11	2	CARDINAL
ajst-32395	109	12	8.247 m	QUANTITY
ajst-32395	109	13	max	PERSON
ajst-32395	109	14	3.353	CARDINAL
ajst-32395	109	15	max	PERSON
ajst-32395	109	16	15.347	PRODUCT
ajst-32395	109	17	3	CARDINAL
ajst-32395	109	18	1	CARDINAL
ajst-32395	109	19	three	CARDINAL
ajst-32395	111	1	iou	PERSON
ajst-32395	111	2	eight to twenty‑two	CARDINAL
ajst-32395	112	1	one	CARDINAL
ajst-32395	113	1	7	CARDINAL
ajst-32395	118	1	8	CARDINAL
ajst-32395	119	1	three	CARDINAL
ajst-32395	120	1	220	CARDINAL
ajst-32395	131	1	second	ORDINAL
ajst-32395	132	1	iou	PERSON
ajst-32395	132	2	ten	CARDINAL
ajst-32395	135	1	third	ORDINAL
ajst-32395	136	1	one	CARDINAL
ajst-32395	142	1	5	CARDINAL
ajst-32395	143	1	first	ORDINAL
ajst-32395	144	1	9	CARDINAL
ajst-32395	145	1	second	ORDINAL
ajst-32395	147	1	10	CARDINAL
ajst-32395	148	1	third	ORDINAL
ajst-32395	150	1	fourth	ORDINAL
ajst-32395	153	1	221	CARDINAL
ajst-32395	154	1	2024–2025	CARDINAL
ajst-32395	154	2	5	CARDINAL
ajst-32395	156	1	1	CARDINAL
ajst-32395	159	1	one	CARDINAL
ajst-32395	184	1	222 6	CARDINAL
ajst-32395	186	1	redundancy‑aware	ORG
ajst-32395	193	1	night	TIME
ajst-32395	199	1	redundancy‑aware	ORG
ajst-32395	203	1	1	CARDINAL
ajst-32395	203	2	s.	GPE
ajst-32395	203	3	hamid, h.	ORG
ajst-32395	203	4	fallah	ORG
ajst-32395	203	5	s. multi	PERSON
ajst-32395	204	1	21	CARDINAL
ajst-32395	204	2	7):2547	CARDINAL
ajst-32395	204	3	2021	DATE
ajst-32395	205	1	2	CARDINAL
ajst-32395	205	2	pan, h.	ORG
ajst-32395	205	3	sun	PERSON
ajst-32395	205	4	w.	PERSON
ajst-32395	205	5	gao	PERSON
ajst-32395	207	1	chinese	NORP
ajst-32395	207	2	34	CARDINAL
ajst-32395	207	3	6):115	CARDINAL
ajst-32395	207	4	2021	DATE
ajst-32395	208	1	3	CARDINAL
ajst-32395	210	1	journal of intelligent & robotic systems	ORG
ajst-32395	210	2	2024	DATE
ajst-32395	211	1	4	CARDINAL
ajst-32395	211	2	f.	PERSON
ajst-32395	211	3	bernardino	GPE
ajst-32395	211	4	j., durães	ORG
ajst-32395	211	5	j., cunha	PERSON
ajst-32395	211	6	j.	PERSON
ajst-32395	212	1	24	CARDINAL
ajst-32395	212	2	16):5108	CARDINAL
ajst-32395	212	3	2024	DATE
ajst-32395	213	1	5	CARDINAL
ajst-32395	213	2	k.	PERSON
ajst-32395	213	3	walsh	PERSON
ajst-32395	213	4	j.	PERSON
ajst-32395	214	1	25	CARDINAL
ajst-32395	214	2	3	CARDINAL
ajst-32395	214	3	2025	DATE
ajst-32395	215	1	6	CARDINAL
ajst-32395	215	2	gao	PERSON
ajst-32395	215	3	k.	PERSON
ajst-32395	215	4	wang	PERSON
ajst-32395	215	5	l. multisensor	PERSON
ajst-32395	216	1	2024	DATE
ajst-32395	217	1	7	CARDINAL
ajst-32395	217	2	ali, a.	PERSON
ajst-32395	217	3	muthanna	PERSON
ajst-32395	218	1	2025	DATE
ajst-32395	219	1	223	CARDINAL
ajst-32395	220	1	8	CARDINAL
ajst-32395	220	2	f. multi	PERSON
ajst-32395	221	1	2025	CARDINAL
ajst-32395	222	1	9	CARDINAL
ajst-32395	222	2	a.	PERSON
ajst-32395	223	1	multisensor	PRODUCT
ajst-32395	224	1	2022	CARDINAL
ajst-32395	225	1	10	CARDINAL
ajst-32395	225	2	j. a.	PERSON
ajst-32395	226	1	39	CARDINAL
ajst-32395	226	2	10):9821–9836, 2012	DATE