id	sid	eid	entity	type
app01-3396	1	1	acta polytechnica ctu proceedings	PERSON
app01-3396	1	2	2:22–28	CARDINAL
app01-3396	1	3	2015	DATE
app01-3396	1	4	czech technical university	ORG
app01-3396	1	5	prague	GPE
app01-3396	1	6	2015	CARDINAL
app01-3396	1	7	jelinek central european institute of technology	ORG
app01-3396	1	8	brno university of technology	ORG
app01-3396	1	9	10	CARDINAL
app01-3396	1	10	brno	GPE
app01-3396	1	11	czech	NORP
app01-3396	2	1	the brno university of technology	ORG
app01-3396	7	1	1	CARDINAL
app01-3396	7	2	a number of years	DATE
app01-3396	9	1	1	CARDINAL
app01-3396	10	1	the years	DATE
app01-3396	11	1	2	CARDINAL
app01-3396	11	2	3	CARDINAL
app01-3396	11	3	4	CARDINAL
app01-3396	12	1	today	DATE
app01-3396	12	2	3d	CARDINAL
app01-3396	13	1	today	DATE
app01-3396	13	2	two	CARDINAL
app01-3396	13	3	1	CARDINAL
app01-3396	16	1	5	CARDINAL
app01-3396	16	2	rao	NORP
app01-3396	19	1	2	CARDINAL
app01-3396	32	1	one	CARDINAL
app01-3396	32	2	3d	CARDINAL
app01-3396	36	1	6	CARDINAL
app01-3396	38	1	only one	CARDINAL
app01-3396	39	1	22	CARDINAL
app01-3396	40	1	2/2015	CARDINAL
app01-3396	42	1	icp	ORG
app01-3396	43	1	7	CARDINAL
app01-3396	44	1	8	CARDINAL
app01-3396	46	1	9	CARDINAL
app01-3396	46	2	10	CARDINAL
app01-3396	47	1	icp	ORG
app01-3396	49	1	two	CARDINAL
app01-3396	51	1	11	CARDINAL
app01-3396	52	1	12	CARDINAL
app01-3396	52	2	13	CARDINAL
app01-3396	53	1	14	CARDINAL
app01-3396	55	1	2d	DATE
app01-3396	55	2	3d	CARDINAL
app01-3396	56	1	first	ORDINAL
app01-3396	56	2	hundreds or thousands	CARDINAL
app01-3396	56	3	tens	CARDINAL
app01-3396	62	1	1	CARDINAL
app01-3396	63	1	3d	CARDINAL
app01-3396	63	2	15	CARDINAL
app01-3396	65	1	16	CARDINAL
app01-3396	65	2	3d	CARDINAL
app01-3396	68	1	17	CARDINAL
app01-3396	69	1	2	CARDINAL
app01-3396	70	1	1	CARDINAL
app01-3396	71	1	one	CARDINAL
app01-3396	75	1	32	CARDINAL
app01-3396	75	2	approximately two thousand	CARDINAL
app01-3396	75	3	thirty two	CARDINAL
app01-3396	76	1	2d	DATE
app01-3396	80	1	32	CARDINAL
app01-3396	80	2	hdl	ORG
app01-3396	80	3	16	CARDINAL
app01-3396	80	4	32	CARDINAL
app01-3396	85	1	between two	CARDINAL
app01-3396	88	1	1	CARDINAL
app01-3396	89	1	2.1	CARDINAL
app01-3396	91	1	first	ORDINAL
app01-3396	93	1	2a	CARDINAL
app01-3396	97	1	23	CARDINAL
app01-3396	97	2	jelinek acta polytechnica ctu proceedings	ORG
app01-3396	97	3	cartesian	NORP
app01-3396	97	4	1	CARDINAL
app01-3396	102	1	bush	PERSON
app01-3396	113	1	2b	CARDINAL
app01-3396	114	1	one	CARDINAL
app01-3396	115	1	three	CARDINAL
app01-3396	119	1	third	ORDINAL
app01-3396	119	2	more than one	CARDINAL
app01-3396	124	1	less than ten	CARDINAL
app01-3396	127	1	re24	PRODUCT
app01-3396	128	1	2/2015	CARDINAL
app01-3396	136	1	2	CARDINAL
app01-3396	138	1	one	CARDINAL
app01-3396	148	1	last decades	DATE
app01-3396	149	1	18	CARDINAL
app01-3396	150	1	hough	GPE
app01-3396	152	1	douglas-peucker	ORG
app01-3396	152	2	19	CARDINAL
app01-3396	152	3	20	CARDINAL
app01-3396	155	1	1	CARDINAL
app01-3396	165	1	2c	CARDINAL
app01-3396	166	1	2.2	CARDINAL
app01-3396	167	1	first	ORDINAL
app01-3396	169	1	first	ORDINAL
app01-3396	170	1	one	CARDINAL
app01-3396	176	1	first	ORDINAL
app01-3396	176	2	second	ORDINAL
app01-3396	177	1	at least 25	CARDINAL
app01-3396	177	2	jelinek acta polytechnica ctu	ORG
app01-3396	177	3	one	CARDINAL
app01-3396	177	4	two	CARDINAL
app01-3396	177	5	one	CARDINAL
app01-3396	178	1	three	CARDINAL
app01-3396	182	1	second	ORDINAL
app01-3396	182	2	one	CARDINAL
app01-3396	183	1	more than one	CARDINAL
app01-3396	185	1	second	ORDINAL
app01-3396	193	1	3	CARDINAL
app01-3396	193	2	two	CARDINAL
app01-3396	194	1	first	ORDINAL
app01-3396	196	1	two	CARDINAL
app01-3396	197	1	3	CARDINAL
app01-3396	199	1	six	CARDINAL
app01-3396	201	1	one	CARDINAL
app01-3396	201	2	one	CARDINAL
app01-3396	202	1	zero	CARDINAL
app01-3396	205	1	at least two	CARDINAL
app01-3396	212	1	3	CARDINAL
app01-3396	218	1	2.3	CARDINAL
app01-3396	222	1	one	CARDINAL
app01-3396	223	1	26	CARDINAL
app01-3396	224	1	2/2015	CARDINAL
app01-3396	224	2	4	CARDINAL
app01-3396	227	1	2d	DATE
app01-3396	232	1	2d	DATE
app01-3396	232	2	fig	ORG
app01-3396	233	1	4	CARDINAL
app01-3396	235	1	2a	CARDINAL
app01-3396	236	1	one	CARDINAL
app01-3396	237	1	2d	DATE
app01-3396	237	2	fig	ORG
app01-3396	238	1	4	CARDINAL
app01-3396	239	1	2.4	CARDINAL
app01-3396	243	1	orpheus x3	PERSON
app01-3396	243	2	four	CARDINAL
app01-3396	244	1	32	CARDINAL
app01-3396	246	1	first	ORDINAL
app01-3396	247	1	2a	CARDINAL
app01-3396	248	1	2d	DATE
app01-3396	249	1	ten	CARDINAL
app01-3396	249	2	60 centimeters	QUANTITY
app01-3396	251	1	fig	ORG
app01-3396	252	1	2a	CARDINAL
app01-3396	253	1	second	ORDINAL
app01-3396	254	1	4	CARDINAL
app01-3396	255	1	46.710 meters	QUANTITY
app01-3396	255	2	33	CARDINAL
app01-3396	256	1	only 6 mm	QUANTITY
app01-3396	256	2	20 mm	QUANTITY
app01-3396	258	1	two	CARDINAL
app01-3396	259	1	first	ORDINAL
app01-3396	260	1	second	ORDINAL
app01-3396	260	2	one	CARDINAL
app01-3396	260	3	first	ORDINAL
app01-3396	263	1	3	CARDINAL
app01-3396	265	1	1	CARDINAL
app01-3396	266	1	10	CARDINAL
app01-3396	266	2	12	CARDINAL
app01-3396	267	1	16	CARDINAL
app01-3396	269	1	2d	DATE
app01-3396	269	2	fig.	ORG
app01-3396	270	1	4	CARDINAL
app01-3396	275	1	polygon	ORG
app01-3396	276	1	second	ORDINAL
app01-3396	277	1	27	CARDINAL
app01-3396	277	2	jelinek acta polytechnica ctu proceedings environment	ORG
app01-3396	280	1	central european institute of technology	ORG
app01-3396	280	2	european regional development fund	ORG
app01-3396	281	1	1	CARDINAL
app01-3396	281	2	m. dissanayake	PERSON
app01-3396	281	3	newman	ORG
app01-3396	281	4	s. clark	PERSON
app01-3396	283	1	17(3):229–241, 2001	DATE
app01-3396	285	1	2	CARDINAL
app01-3396	285	2	h. durrant-whyte	PERSON
app01-3396	285	3	t. bailey	GPE
app01-3396	286	1	i. ieee robotics & automation magazine 13(2):99–110, 2006	ORG
app01-3396	287	1	doi:10.1109/mra.2006.1638022	ORG
app01-3396	288	1	3	CARDINAL
app01-3396	288	2	h. durrant-whyte	PERSON
app01-3396	290	1	ieee robotics & automation magazine 13(3):108–117, 2006	ORG
app01-3396	291	1	doi:10.1109	NORP
app01-3396	292	1	4	CARDINAL
app01-3396	292	2	s. thrun	PERSON
app01-3396	292	3	w. burgard	PERSON
app01-3396	292	4	d. fox.	PERSON
app01-3396	294	1	the mit press	ORG
app01-3396	294	2	2005	DATE
app01-3396	295	1	5	CARDINAL
app01-3396	295	2	m. montemerlo	PERSON
app01-3396	295	3	s. thrun	PERSON
app01-3396	295	4	d. koller	PERSON
app01-3396	296	1	fastslam	ORG
app01-3396	297	1	aaai/iaai 2002	ORG
app01-3396	298	1	6	CARDINAL
app01-3396	298	2	h. j. sohn	PERSON
app01-3396	298	3	b. k. kim	PERSON
app01-3396	300	1	56(3):301–318	CARDINAL
app01-3396	300	2	2009	DATE
app01-3396	301	1	009-9313	CARDINAL
app01-3396	302	1	7	CARDINAL
app01-3396	302	2	l. oswald	PERSON
app01-3396	303	1	2010	DATE
app01-3396	304	1	8	CARDINAL
app01-3396	304	2	s. rusinkiewicz	PERSON
app01-3396	304	3	m. levoy	PERSON
app01-3396	305	1	icp	ORG
app01-3396	306	1	third	ORDINAL
app01-3396	306	2	3-d	QUANTITY
app01-3396	307	1	145–152	CARDINAL
app01-3396	308	1	doi:10.1109	NORP
app01-3396	309	1	9	CARDINAL
app01-3396	309	2	h. mckay	PERSON
app01-3396	310	1	3-d	QUANTITY
app01-3396	311	1	14(2):239–256, 1992	DATE
app01-3396	313	1	10	CARDINAL
app01-3396	314	1	z. zhang	PERSON
app01-3396	316	1	13(2):119–152	CARDINAL
app01-3396	316	2	1994	DATE
app01-3396	317	1	11	CARDINAL
app01-3396	317	2	h. pottmann	PERSON
app01-3396	317	3	s. leopoldseder	PERSON
app01-3396	317	4	m. hofer	PERSON
app01-3396	317	5	icp	ORG
app01-3396	318	1	95(1):54–71, 2004	DATE
app01-3396	319	1	doi:10.1016/j.cviu.2004.04.002	PERSON
app01-3396	320	1	12	CARDINAL
app01-3396	320	2	j. elseberg	PERSON
app01-3396	320	3	r. t. creed	PERSON
app01-3396	320	4	r. lakaemper	PERSON
app01-3396	321	1	2d	CARDINAL
app01-3396	322	1	2010	DATE
app01-3396	323	1	3924–3931, 2010	DATE
app01-3396	324	1	doi:10.1109	NORP
app01-3396	325	1	13	CARDINAL
app01-3396	325	2	q. li	PERSON
app01-3396	325	3	j. griffiths	PERSON
app01-3396	326	1	40(10-11):1171–1188	CARDINAL
app01-3396	327	1	doi:10.1016	PERSON
app01-3396	328	1	14	CARDINAL
app01-3396	328	2	e. tsardoulias	PERSON
app01-3396	328	3	l. petrou	PERSON
app01-3396	330	1	journal of intelligent & robotic	ORG
app01-3396	330	2	72(3-4):441–462, 2013	DATE
app01-3396	332	1	15	CARDINAL
app01-3396	332	2	m. alshawa	PERSON
app01-3396	333	1	linear	ORG
app01-3396	334	1	10):53–59, 2007	DATE
app01-3396	335	1	16	CARDINAL
app01-3396	335	2	b. kamgar-parsi	PERSON
app01-3396	335	3	b. kamgar-parsi	PERSON
app01-3396	336	1	3d	CARDINAL
app01-3396	337	1	26(5):582–93, 2004	DATE
app01-3396	338	1	doi:10.1109/tpami.2004.1273930	ORG
app01-3396	339	1	17	CARDINAL
app01-3396	339	2	k. demarsin	PERSON
app01-3396	339	3	d. vanderstraeten	PERSON
app01-3396	339	4	t. volodine	PERSON
app01-3396	339	5	d. roose	PERSON
app01-3396	341	1	39(4):276–283	DATE
app01-3396	341	2	2007	DATE
app01-3396	342	1	doi:10.1016	PERSON
app01-3396	343	1	18	CARDINAL
app01-3396	343	2	v. nguyen	PERSON
app01-3396	343	3	s. gächter	PERSON
app01-3396	343	4	a. martinelli	PERSON
app01-3396	344	1	2d	CARDINAL
app01-3396	345	1	2007	DATE
app01-3396	346	1	007-9034	CARDINAL
app01-3396	347	1	19	CARDINAL
app01-3396	347	2	d. h. douglas	PERSON
app01-3396	347	3	t. k. peucker.	PERSON
app01-3396	349	1	cartographica	PERSON
app01-3396	350	1	10(2):112–122, 1973	DATE
app01-3396	352	1	20	CARDINAL
app01-3396	352	2	w. shi	PERSON
app01-3396	352	3	c. cheung	PERSON
app01-3396	354	1	43(1):27–44, 2006	DATE
app01-3396	356	1	28	CARDINAL
app01-3396	356	2	http://dx.doi.org/10.1016/j.cviu.2004.04.002	PERSON
app01-3396	356	3	http://dx.doi.org/10.1007/s10846-012-9811-5	CARDINAL
app01-3396	356	4	2:22–28	CARDINAL
app01-3396	356	5	2015 1	DATE
app01-3396	356	6	2	CARDINAL
app01-3396	356	7	2.1	CARDINAL
app01-3396	356	8	2.2	CARDINAL
app01-3396	356	9	2.3	CARDINAL
app01-3396	356	10	2.4	CARDINAL
app01-3396	356	11	3	CARDINAL