id	sid	eid	entity	type
app01-3923	1	1	acta polytechnica ctu proceedings	PERSON
app01-3923	1	2	acta polytechnica ctu proceedings 6:1–5,	ORG
app01-3923	1	3	2016	DATE
app01-3923	1	4	czech technical university	ORG
app01-3923	1	5	prague	GPE
app01-3923	1	6	2016	CARDINAL
app01-3923	1	7	jan	CARDINAL
app01-3923	1	8	jan faigl czech technical university	GPE
app01-3923	1	9	2	CARDINAL
app01-3923	1	10	prague	GPE
app01-3923	1	11	czech	NORP
app01-3923	1	12	∗	CARDINAL
app01-3923	8	1	rgb-d	ORG
app01-3923	9	1	1	CARDINAL
app01-3923	11	1	1	CARDINAL
app01-3923	11	2	2	CARDINAL
app01-3923	12	1	3	CARDINAL
app01-3923	14	1	1	CARDINAL
app01-3923	15	1	2	CARDINAL
app01-3923	16	1	4	CARDINAL
app01-3923	19	1	centimeter	CARDINAL
app01-3923	19	2	4	CARDINAL
app01-3923	20	1	2	CARDINAL
app01-3923	20	2	5	CARDINAL
app01-3923	23	1	3	CARDINAL
app01-3923	23	2	1	CARDINAL
app01-3923	30	1	1	CARDINAL
app01-3923	30	2	j. bayer	PERSON
app01-3923	30	3	j. faigl acta polytechnica ctu	PERSON
app01-3923	30	4	6	CARDINAL
app01-3923	32	1	1	CARDINAL
app01-3923	33	1	6	CARDINAL
app01-3923	35	1	8	CARDINAL
app01-3923	35	2	microsoft	ORG
app01-3923	38	1	section 2	LAW
app01-3923	39	1	section 3	LAW
app01-3923	39	2	section 4. 2	LAW
app01-3923	43	1	2.1	CARDINAL
app01-3923	44	1	rpe	PERSON
app01-3923	44	2	2	CARDINAL
app01-3923	47	1	1	CARDINAL
app01-3923	47	2	q−1	PERSON
app01-3923	50	1	6	CARDINAL
app01-3923	51	1	rpe	ORG
app01-3923	51	2	q−1	PERSON
app01-3923	51	3	2	CARDINAL
app01-3923	52	1	1	CARDINAL
app01-3923	52	2	rpe	ORG
app01-3923	53	1	rpe	PERSON
app01-3923	54	1	3	CARDINAL
app01-3923	55	1	rgb	ORG
app01-3923	55	2	6	CARDINAL
app01-3923	58	1	7	CARDINAL
app01-3923	58	2	two	CARDINAL
app01-3923	58	3	logitech	ORG
app01-3923	59	1	centimeter	CARDINAL
app01-3923	61	1	rgb	ORG
app01-3923	61	2	640	CARDINAL
app01-3923	61	3	10	CARDINAL
app01-3923	61	4	second	ORDINAL
app01-3923	63	1	9	CARDINAL
app01-3923	64	1	3.1	CARDINAL
app01-3923	65	1	rgb	ORG
app01-3923	65	2	6	CARDINAL
app01-3923	66	1	first	ORDINAL
app01-3923	66	2	rgb	ORG
app01-3923	66	3	rgb	ORG
app01-3923	67	1	2	CARDINAL
app01-3923	68	1	6/2016	CARDINAL
app01-3923	68	2	rpet rpeφ	PERSON
app01-3923	68	3	dist	NORP
app01-3923	69	1	rpet rpeφ	PERSON
app01-3923	79	1	1 4.00	CARDINAL
app01-3923	79	2	0.92	CARDINAL
app01-3923	79	3	7.11	CARDINAL
app01-3923	79	4	1.13	CARDINAL
app01-3923	79	5	3.5	CARDINAL
app01-3923	79	6	2 4.32	CARDINAL
app01-3923	79	7	0.54	CARDINAL
app01-3923	79	8	12.54 8.13	CARDINAL
app01-3923	79	9	0.56	CARDINAL
app01-3923	79	10	8.93	CARDINAL
app01-3923	79	11	3 3.68	CARDINAL
app01-3923	79	12	0.40	CARDINAL
app01-3923	79	13	5.21 22.02	CARDINAL
app01-3923	79	14	0.87	CARDINAL
app01-3923	79	15	33.15	CARDINAL
app01-3923	81	1	5	CARDINAL
app01-3923	81	2	0.02 27.55	CARDINAL
app01-3923	81	3	1	CARDINAL
app01-3923	81	4	rgb	ORG
app01-3923	81	5	1 0.5	CARDINAL
app01-3923	82	1	1	CARDINAL
app01-3923	82	2	1.5	CARDINAL
app01-3923	82	3	-1	ORG
app01-3923	82	4	rgb	ORG
app01-3923	84	1	rgb	ORG
app01-3923	84	2	1 0.5	CARDINAL
app01-3923	85	1	1	CARDINAL
app01-3923	85	2	0.5 -0.5	CARDINAL
app01-3923	85	3	rgb	ORG
app01-3923	86	1	rgb	ORG
app01-3923	86	2	1	CARDINAL
app01-3923	86	3	2 x	QUANTITY
app01-3923	87	1	1	CARDINAL
app01-3923	87	2	1.5 1	CARDINAL
app01-3923	87	3	0.5	CARDINAL
app01-3923	87	4	rgb	ORG
app01-3923	88	1	2	CARDINAL
app01-3923	89	1	10	CARDINAL
app01-3923	90	1	np	ORG
app01-3923	91	1	11	CARDINAL
app01-3923	93	1	3.2	CARDINAL
app01-3923	95	1	1	CARDINAL
app01-3923	97	1	12	CARDINAL
app01-3923	99	1	9	CARDINAL
app01-3923	104	1	3.3	CARDINAL
app01-3923	105	1	5	CARDINAL
app01-3923	106	1	first	ORDINAL
app01-3923	106	2	three	CARDINAL
app01-3923	107	1	rgb	ORG
app01-3923	107	2	13	CARDINAL
app01-3923	107	3	600	CARDINAL
app01-3923	107	4	400	CARDINAL
app01-3923	107	5	16	CARDINAL
app01-3923	107	6	4	CARDINAL
app01-3923	107	7	1	CARDINAL
app01-3923	107	8	85%	PERCENT
app01-3923	107	9	inliers	ORG
app01-3923	107	10	1000	CARDINAL
app01-3923	107	11	3	CARDINAL
app01-3923	109	1	more than 4 hours	TIME
app01-3923	109	2	intel	ORG
app01-3923	111	1	400	CARDINAL
app01-3923	111	2	250	CARDINAL
app01-3923	111	3	3	CARDINAL
app01-3923	111	4	3	CARDINAL
app01-3923	111	5	1	CARDINAL
app01-3923	111	6	500	CARDINAL
app01-3923	111	7	10	CARDINAL
app01-3923	112	1	5.2	CARDINAL
app01-3923	112	2	second	ORDINAL
app01-3923	113	1	1	CARDINAL
app01-3923	115	1	3	CARDINAL
app01-3923	115	2	4	CARDINAL
app01-3923	115	3	5	CARDINAL
app01-3923	115	4	2	CARDINAL
app01-3923	115	5	3	CARDINAL
app01-3923	115	6	j. bayer	PERSON
app01-3923	115	7	j. faigl acta polytechnica ctu	PERSON
app01-3923	115	8	3.4	CARDINAL
app01-3923	116	1	1	CARDINAL
app01-3923	116	2	about 1%	PERCENT
app01-3923	116	3	1 cm	QUANTITY
app01-3923	118	1	14	CARDINAL
app01-3923	124	1	2c	CARDINAL
app01-3923	124	2	3	CARDINAL
app01-3923	125	1	4.19 cm	QUANTITY
app01-3923	125	2	0.94	CARDINAL
app01-3923	125	3	7.33 cm	QUANTITY
app01-3923	125	4	8.72 cm	QUANTITY
app01-3923	125	5	0.96	CARDINAL
app01-3923	125	6	13.73 cm	QUANTITY
app01-3923	130	1	4.	CARDINAL
app01-3923	133	1	rgb	ORG
app01-3923	135	1	1.5 1 0.5	QUANTITY
app01-3923	136	1	3	CARDINAL
app01-3923	137	1	rgb	ORG
app01-3923	139	1	the czech science foundation	ORG
app01-3923	139	2	15-09600y	DATE
app01-3923	141	1	1	CARDINAL
app01-3923	141	2	r. kümmerle	PERSON
app01-3923	141	3	c. dornhege	GPE
app01-3923	143	1	27(4):387–407	CARDINAL
app01-3923	143	2	2009	DATE
app01-3923	144	1	009-9155-6	DATE
app01-3923	145	1	2	CARDINAL
app01-3923	145	2	j. sturm	PERSON
app01-3923	145	3	n. engelhard	FAC
app01-3923	145	4	f. endres	PERSON
app01-3923	148	1	573–580	CARDINAL
app01-3923	148	2	2012	DATE
app01-3923	149	1	doi:10.1109/iros.2012.6385773	ORG
app01-3923	150	1	3	CARDINAL
app01-3923	150	2	s. thrun	PERSON
app01-3923	150	3	w. burgard	PERSON
app01-3923	150	4	d. fox.	PERSON
app01-3923	152	1	mit press	ORG
app01-3923	152	2	2005	DATE
app01-3923	154	1	4	CARDINAL
app01-3923	154	2	m. menze	PERSON
app01-3923	154	3	a. geiger	PERSON
app01-3923	156	1	3061–3070	CARDINAL
app01-3923	156	2	2015	DATE
app01-3923	157	1	doi:10.1109	NORP
app01-3923	158	1	5	CARDINAL
app01-3923	158	2	n. sünderhauf	PERSON
app01-3923	158	3	k. konolige	PERSON
app01-3923	158	4	s. lacroix	PERSON
app01-3923	158	5	p. protzel	ORG
app01-3923	160	1	157–163	CARDINAL
app01-3923	160	2	springer berlin heidelberg	PERSON
app01-3923	160	3	2006	DATE
app01-3923	161	1	540-30292-1_20	CARDINAL
app01-3923	162	1	6	CARDINAL
app01-3923	162	2	f. endres	PERSON
app01-3923	162	3	j. hess	PERSON
app01-3923	162	4	n. engelhard	PERSON
app01-3923	164	1	1691–1696	ORDINAL
app01-3923	164	2	2012	DATE
app01-3923	165	1	doi:10.1109/icra.2012.6225199	ORG
app01-3923	165	2	4	CARDINAL
app01-3923	167	1	6/2016	CARDINAL
app01-3923	167	2	t. krajník	PERSON
app01-3923	167	3	m. nitsche	PERSON
app01-3923	167	4	j. faigl	PERSON
app01-3923	169	1	journal of intelligent & robotic	ORG
app01-3923	169	2	76(3-4	DATE
app01-3923	169	3	2014	DATE
app01-3923	171	1	8	CARDINAL
app01-3923	171	2	s. bao	PERSON
app01-3923	173	1	intl	GPE
app01-3923	175	1	2025–2032. 2011	DATE
app01-3923	176	1	doi:10.1109/cvpr.2011.5995462	ORG
app01-3923	177	1	9	CARDINAL
app01-3923	177	2	m. quigley	PERSON
app01-3923	177	3	k. conley	PERSON
app01-3923	177	4	b. p. gerkey	PERSON
app01-3923	180	1	2009	DATE
app01-3923	181	1	10	CARDINAL
app01-3923	181	2	m. a. fischler	PERSON
app01-3923	181	3	r. c. bolles	PERSON
app01-3923	183	1	24(6):381–395, 1981	DATE
app01-3923	184	1	11	CARDINAL
app01-3923	184	2	r. kümmerle	PERSON
app01-3923	184	3	g. grisetti	PERSON
app01-3923	184	4	h. strasdat	PERSON
app01-3923	187	1	3607–3613. 2011	DATE
app01-3923	188	1	doi:10.1109/icra.2011.5979949	ORG
app01-3923	189	1	12	CARDINAL
app01-3923	189	2	j. mrva	PERSON
app01-3923	189	3	j. faigl	PERSON
app01-3923	191	1	10th	ORDINAL
app01-3923	192	1	240–245	CARDINAL
app01-3923	192	2	2015	DATE
app01-3923	193	1	doi:10.1109	NORP
app01-3923	194	1	13	CARDINAL
app01-3923	194	2	a. ess	PERSON
app01-3923	194	3	t. tuytelaars	PERSON
app01-3923	194	4	l. van gool	PERSON
app01-3923	195	1	110(3):346–359, 2008	DATE
app01-3923	196	1	doi:10.1016/j.cviu.2007.09.014	ORG
app01-3923	197	1	14	CARDINAL
app01-3923	197	2	j. faigl	PERSON
app01-3923	198	1	rgb	ORG
app01-3923	199	1	2273–2278	CARDINAL
app01-3923	199	2	2016	CARDINAL
app01-3923	201	1	polytechnica ctu proceedings 6:1–5	ORG
app01-3923	201	2	2016 1	DATE
app01-3923	201	3	2	CARDINAL
app01-3923	201	4	2.1	CARDINAL
app01-3923	201	5	3	CARDINAL
app01-3923	201	6	3.1	CARDINAL
app01-3923	201	7	rgb	ORG
app01-3923	201	8	3.2	CARDINAL
app01-3923	201	9	3.3	CARDINAL
app01-3923	201	10	3.4	CARDINAL
app01-3923	201	11	4	CARDINAL