id	sid	eid	entity	type
app01-3401	1	1	acta polytechnica ctu proceedings doi:10.14311	PERSON
app01-3401	1	2	acta polytechnica ctu proceedings	PERSON
app01-3401	1	3	2:45–50	CARDINAL
app01-3401	1	4	2015	DATE
app01-3401	1	5	czech technical university	ORG
app01-3401	1	6	prague	GPE
app01-3401	1	7	2015	CARDINAL
app01-3401	1	8	thomas fischera	PERSON
app01-3401	1	9	jan	GPE
app01-3401	1	10	university of buenos aires	ORG
app01-3401	1	11	2160	CARDINAL
app01-3401	1	12	de buenos aires	ORG
app01-3401	1	13	argentina b department of computer science	ORG
app01-3401	1	14	czech technical university	ORG
app01-3401	1	15	prague	GPE
app01-3401	1	16	2	CARDINAL
app01-3401	1	17	prague	GPE
app01-3401	1	18	czech	NORP
app01-3401	1	19	∗	CARDINAL
app01-3401	4	1	six	CARDINAL
app01-3401	4	2	four	CARDINAL
app01-3401	7	1	1	CARDINAL
app01-3401	7	2	the last decade	DATE
app01-3401	8	1	1	CARDINAL
app01-3401	8	2	2	CARDINAL
app01-3401	8	3	3	CARDINAL
app01-3401	8	4	4	CARDINAL
app01-3401	13	1	5	CARDINAL
app01-3401	13	2	6	CARDINAL
app01-3401	14	1	8	CARDINAL
app01-3401	14	2	9	CARDINAL
app01-3401	15	1	10	CARDINAL
app01-3401	15	2	11	CARDINAL
app01-3401	15	3	12	CARDINAL
app01-3401	21	1	4	CARDINAL
app01-3401	24	1	section 2	LAW
app01-3401	24	2	section 3	LAW
app01-3401	25	1	section 4	LAW
app01-3401	26	1	section 5	LAW
app01-3401	27	1	section 6	LAW
app01-3401	28	1	2	CARDINAL
app01-3401	30	1	13	CARDINAL
app01-3401	31	1	more than thirty	CARDINAL
app01-3401	32	1	45	CARDINAL
app01-3401	32	2	t. fischer	PERSON
app01-3401	32	3	j. faigl acta polytechnica ctu	PERSON
app01-3401	33	1	14	CARDINAL
app01-3401	36	1	15	CARDINAL
app01-3401	40	1	6dof	CARDINAL
app01-3401	41	1	3	CARDINAL
app01-3401	44	1	5	CARDINAL
app01-3401	47	1	6	CARDINAL
app01-3401	49	1	7	CARDINAL
app01-3401	50	1	11	CARDINAL
app01-3401	52	1	9	CARDINAL
app01-3401	54	1	12	CARDINAL
app01-3401	55	1	10	CARDINAL
app01-3401	57	1	gftt	PERSON
app01-3401	57	2	8	CARDINAL
app01-3401	59	1	six	CARDINAL
app01-3401	60	1	4	CARDINAL
app01-3401	60	2	4	CARDINAL
app01-3401	60	3	1	CARDINAL
app01-3401	61	1	two	CARDINAL
app01-3401	61	2	1	CARDINAL
app01-3401	61	3	2	CARDINAL
app01-3401	65	1	levenberg-marquardt	ORG
app01-3401	68	1	levenberg-marquardt	ORG
app01-3401	69	1	4	CARDINAL
app01-3401	71	1	5	CARDINAL
app01-3401	71	2	kitti vision benchmark	ORG
app01-3401	71	3	16	CARDINAL
app01-3401	72	1	1	CARDINAL
app01-3401	73	1	almost 4 km	QUANTITY
app01-3401	74	1	46	CARDINAL
app01-3401	75	1	2/2015	CARDINAL
app01-3401	77	1	1	CARDINAL
app01-3401	77	2	1	CARDINAL
app01-3401	77	3	100	CARDINAL
app01-3401	77	4	1000	CARDINAL
app01-3401	77	5	1	CARDINAL
app01-3401	77	6	0.2	CARDINAL
app01-3401	77	7	20	CARDINAL
app01-3401	77	8	32	CARDINAL
app01-3401	77	9	25	CARDINAL
app01-3401	77	10	60	CARDINAL
app01-3401	77	11	100	CARDINAL
app01-3401	77	12	2000	DATE
app01-3401	77	13	1	CARDINAL
app01-3401	77	14	50	CARDINAL
app01-3401	77	15	2000	CARDINAL
app01-3401	77	16	15.0	CARDINAL
app01-3401	77	17	1	CARDINAL
app01-3401	81	1	4	CARDINAL
app01-3401	81	2	2.2	CARDINAL
app01-3401	85	1	2	CARDINAL
app01-3401	87	1	1	CARDINAL
app01-3401	88	1	nearly 4 km	QUANTITY
app01-3401	90	1	2	CARDINAL
app01-3401	91	1	2	CARDINAL
app01-3401	92	1	3	CARDINAL
app01-3401	94	1	two	CARDINAL
app01-3401	95	1	first	ORDINAL
app01-3401	95	2	47	CARDINAL
app01-3401	95	3	t. fischer	PERSON
app01-3401	95	4	j. faigl acta polytechnica ctu	PERSON
app01-3401	95	5	3	CARDINAL
app01-3401	96	1	second	ORDINAL
app01-3401	97	1	first	ORDINAL
app01-3401	98	1	second	ORDINAL
app01-3401	99	1	990 455	PRODUCT
app01-3401	99	2	1 314 356	QUANTITY
app01-3401	99	3	1 581 876	CARDINAL
app01-3401	99	4	1 893 372	CARDINAL
app01-3401	99	5	2 059 879	QUANTITY
app01-3401	99	6	2 420	CARDINAL
app01-3401	99	7	652	CARDINAL
app01-3401	99	8	2	CARDINAL
app01-3401	99	9	447 418	PRODUCT
app01-3401	99	10	3 207 003	QUANTITY
app01-3401	99	11	5 192 885	QUANTITY
app01-3401	99	12	2	CARDINAL
app01-3401	101	1	two	CARDINAL
app01-3401	104	1	x∗k	TIME
app01-3401	105	1	εt	ORG
app01-3401	105	2	‖(tk tk+1	DATE
app01-3401	106	1	rk	ORG
app01-3401	109	1	4	CARDINAL
app01-3401	109	2	5	CARDINAL
app01-3401	110	1	5	CARDINAL
app01-3401	110	2	4	CARDINAL
app01-3401	112	1	4	CARDINAL
app01-3401	112	2	5	CARDINAL
app01-3401	112	3	k = ‖tk	ORG
app01-3401	112	4	6	CARDINAL
app01-3401	112	5	7	CARDINAL
app01-3401	112	6	48	CARDINAL
app01-3401	113	1	2/2015	CARDINAL
app01-3401	113	2	6	CARDINAL
app01-3401	113	3	7	CARDINAL
app01-3401	113	4	6	CARDINAL
app01-3401	114	1	4	CARDINAL
app01-3401	115	1	kitti	ORG
app01-3401	120	1	17	CARDINAL
app01-3401	122	1	czech	NORP
app01-3401	122	2	argentinian	NORP
app01-3401	122	3	the argentinian project arc/14/06	ORG
app01-3401	122	4	the czech ministry of education	ORG
app01-3401	124	1	j. faigl	PERSON
app01-3401	124	2	the czech science foundation	ORG
app01-3401	125	1	gj15-09600y	ORG
app01-3401	126	1	1	CARDINAL
app01-3401	126	2	g. klein	PERSON
app01-3401	126	3	d. murray	PERSON
app01-3401	128	1	ismar	GPE
app01-3401	129	1	1–10	CARDINAL
app01-3401	130	1	washington	GPE
app01-3401	130	2	dc	GPE
app01-3401	130	3	usa	GPE
app01-3401	130	4	2007	DATE
app01-3401	131	1	doi:10.1109	NORP
app01-3401	132	1	2	CARDINAL
app01-3401	132	2	c. mei, g. sibley	PERSON
app01-3401	132	3	m. cummins	PERSON
app01-3401	133	1	rslam	PERSON
app01-3401	134	1	94(2):198–214, 2011	DATE
app01-3401	135	1	010-0361-7	CARDINAL
app01-3401	136	1	3	CARDINAL
app01-3401	136	2	r. mur-artal	PERSON
app01-3401	136	3	j. m. m. montiel	PERSON
app01-3401	136	4	j. d. tardós	PERSON
app01-3401	138	1	corr abs/1502.00956	PERSON
app01-3401	138	2	2015	DATE
app01-3401	139	1	doi:10.1109	NORP
app01-3401	140	1	4	CARDINAL
app01-3401	140	2	t. fischer	PERSON
app01-3401	140	3	j. civera	PERSON
app01-3401	141	1	iros. 2015	DATE
app01-3401	143	1	5	CARDINAL
app01-3401	145	1	2004	DATE
app01-3401	146	1	doi:10.1023	GPE
app01-3401	148	1	6	CARDINAL
app01-3401	148	2	l. van gool	PERSON
app01-3401	151	1	3951	CARDINAL
app01-3401	153	1	springer berlin heidelberg	PERSON
app01-3401	153	2	2006	DATE
app01-3401	155	1	7	CARDINAL
app01-3401	155	2	m. agrawal	PERSON
app01-3401	155	3	k. konolige	PERSON
app01-3401	155	4	m. blas	PERSON
app01-3401	158	1	5305	CARDINAL
app01-3401	159	1	102–115	CARDINAL
app01-3401	160	1	springer berlin heidelberg	ORG
app01-3401	160	2	2008	DATE
app01-3401	162	1	8	CARDINAL
app01-3401	162	2	j. shi	PERSON
app01-3401	162	3	c. tomasi	PERSON
app01-3401	165	1	593–600	CARDINAL
app01-3401	165	2	1994	DATE
app01-3401	166	1	doi:10.1109	NORP
app01-3401	167	1	9	CARDINAL
app01-3401	167	2	e. rosten	PERSON
app01-3401	167	3	t. drummond	PERSON
app01-3401	170	1	3951	CARDINAL
app01-3401	171	1	430–443	CARDINAL
app01-3401	172	1	springer berlin heidelberg	PERSON
app01-3401	172	2	2006	DATE
app01-3401	174	1	10	CARDINAL
app01-3401	174	2	e. rublee	PERSON
app01-3401	174	3	k. konolige	PERSON
app01-3401	174	4	g. bradski	PERSON
app01-3401	176	1	iccv	GPE
app01-3401	177	1	2564–2571.	DATE
app01-3401	178	1	2011	DATE
app01-3401	179	1	doi:10.1109/iccv.2011.6126544	ORG
app01-3401	180	1	11	CARDINAL
app01-3401	180	2	m. calonder	PERSON
app01-3401	180	3	c. strecha	GPE
app01-3401	182	1	6314	CARDINAL
app01-3401	183	1	778–792	TIME
app01-3401	183	2	springer berlin heidelberg	PERSON
app01-3401	183	3	2010	DATE
app01-3401	185	1	12	CARDINAL
app01-3401	185	2	s. leutenegger	PERSON
app01-3401	185	3	m. chli	PERSON
app01-3401	185	4	r. siegwart	PERSON
app01-3401	187	1	iccv	GPE
app01-3401	188	1	2548–2555	CARDINAL
app01-3401	189	1	2011	DATE
app01-3401	190	1	doi:10.1109/iccv.2011.6126542.	ORG
app01-3401	191	1	49	CARDINAL
app01-3401	192	1	http://dx.doi.org/10.1109/iccv.2011.6126542 t. pire	PERSON
app01-3401	192	2	t. fischer	PERSON
app01-3401	192	3	j. faigl acta polytechnica ctu	PERSON
app01-3401	192	4	13	CARDINAL
app01-3401	192	5	t. krajník	PERSON
app01-3401	192	6	m. nitche	PERSON
app01-3401	194	1	european	NORP
app01-3401	195	1	2015	DATE
app01-3401	197	1	14	CARDINAL
app01-3401	201	1	2013	DATE
app01-3401	202	1	doi:10.1109	NORP
app01-3401	203	1	15	CARDINAL
app01-3401	203	2	a. schmidt	PERSON
app01-3401	203	3	m. kraft	PERSON
app01-3401	203	4	m. fularz	PERSON
app01-3401	203	5	z. domagala	PERSON
app01-3401	205	1	7(1):11–20, 2013	DATE
app01-3401	206	1	16	CARDINAL
app01-3401	206	2	a. geiger	PERSON
app01-3401	206	3	p. lenz	PERSON
app01-3401	206	4	c. stiller	PERSON
app01-3401	206	5	r. urtasun	PERSON
app01-3401	207	1	kitti	ORG
app01-3401	208	1	32(11):1231	CARDINAL
app01-3401	208	2	1237, 2013	DATE
app01-3401	210	1	17	CARDINAL
app01-3401	210	2	r. arroyo	PERSON
app01-3401	210	3	l. bergasa	PERSON
app01-3401	212	1	iros	DATE
app01-3401	213	1	3089–3094	CARDINAL
app01-3401	214	1	2014	DATE
app01-3401	215	1	doi:10.1109/	ORG
app01-3401	217	1	50	CARDINAL
app01-3401	218	1	polytechnica ctu proceedings	ORG
app01-3401	218	2	2:45–50	CARDINAL
app01-3401	218	3	2015 1	DATE
app01-3401	218	4	2	CARDINAL
app01-3401	218	5	3	CARDINAL
app01-3401	218	6	4	CARDINAL
app01-3401	218	7	5	CARDINAL
app01-3401	218	8	6	CARDINAL