id	sid	eid	entity	type
app01-3929	1	1	acta polytechnica ctu proceedings	PERSON
app01-3929	1	2	acta polytechnica ctu	PERSON
app01-3929	1	3	6:28–33	CARDINAL
app01-3929	1	4	2016	DATE
app01-3929	1	5	czech technical university	ORG
app01-3929	1	6	prague	GPE
app01-3929	1	7	2016	CARDINAL
app01-3929	1	8	martin	PERSON
app01-3929	1	9	christoph stephan	PERSON
app01-3929	1	10	christian	NORP
app01-3929	1	11	fabian sauer	PERSON
app01-3929	1	12	roland zink faculty	FAC
app01-3929	1	13	deggendorf institute of technology	ORG
app01-3929	1	14	94469	CARDINAL
app01-3929	1	15	germany	GPE
app01-3929	2	1	one	CARDINAL
app01-3929	2	2	microsoft	ORG
app01-3929	3	1	today	DATE
app01-3929	4	1	2016	DATE
app01-3929	4	2	1	CARDINAL
app01-3929	4	3	5	CARDINAL
app01-3929	4	4	one	CARDINAL
app01-3929	5	1	three	CARDINAL
app01-3929	6	1	up to eight meters	QUANTITY
app01-3929	7	1	microsoft kinect	ORG
app01-3929	7	2	3d	CARDINAL
app01-3929	8	1	1	CARDINAL
app01-3929	9	1	first	ORDINAL
app01-3929	9	2	bmw	PRODUCT
app01-3929	9	3	google	ORG
app01-3929	10	1	1	CARDINAL
app01-3929	11	1	2	CARDINAL
app01-3929	12	1	3	CARDINAL
app01-3929	16	1	galileo	PRODUCT
app01-3929	19	1	4	CARDINAL
app01-3929	19	2	one	CARDINAL
app01-3929	19	3	2016	DATE
app01-3929	20	1	three	CARDINAL
app01-3929	20	2	1	CARDINAL
app01-3929	20	3	3d	CARDINAL
app01-3929	20	4	2	CARDINAL
app01-3929	20	5	3	CARDINAL
app01-3929	21	1	four	CARDINAL
app01-3929	21	2	1	CARDINAL
app01-3929	21	3	5	CARDINAL
app01-3929	23	1	one	CARDINAL
app01-3929	25	1	freescale	LOC
app01-3929	26	1	2	CARDINAL
app01-3929	27	1	first	ORDINAL
app01-3929	29	1	2d	DATE
app01-3929	29	2	3d	CARDINAL
app01-3929	30	1	three	CARDINAL
app01-3929	30	2	• 3d	CARDINAL
app01-3929	30	3	•	CARDINAL
app01-3929	30	4	•	CARDINAL
app01-3929	31	1	28	CARDINAL
app01-3929	32	1	6/2016	CARDINAL
app01-3929	32	2	3d	CARDINAL
app01-3929	32	3	1	CARDINAL
app01-3929	35	1	three	CARDINAL
app01-3929	35	2	1	CARDINAL
app01-3929	36	1	first	ORDINAL
app01-3929	37	1	second	ORDINAL
app01-3929	37	2	2d	DATE
app01-3929	38	1	third	ORDINAL
app01-3929	39	1	three	CARDINAL
app01-3929	40	1	3	CARDINAL
app01-3929	40	2	2002	DATE
app01-3929	40	3	sebastian thrun	PERSON
app01-3929	40	4	5	CARDINAL
app01-3929	41	1	•	CARDINAL
app01-3929	41	2	•	CARDINAL
app01-3929	41	3	•	CARDINAL
app01-3929	41	4	•	CARDINAL
app01-3929	43	1	5	CARDINAL
app01-3929	43	2	6	CARDINAL
app01-3929	44	1	1989	DATE
app01-3929	45	1	6	CARDINAL
app01-3929	45	2	998	CARDINAL
app01-3929	47	1	4	CARDINAL
app01-3929	47	2	2	CARDINAL
app01-3929	48	1	kleiner	PERSON
app01-3929	48	2	dornhege	PERSON
app01-3929	48	3	two	CARDINAL
app01-3929	49	1	first	ORDINAL
app01-3929	49	2	second	ORDINAL
app01-3929	49	3	7	CARDINAL
app01-3929	50	1	hornung et al	PERSON
app01-3929	51	1	6	CARDINAL
app01-3929	55	1	8	CARDINAL
app01-3929	55	2	stanley	ORG
app01-3929	55	3	2005	DATE
app01-3929	55	4	darpa grand challenge	ORG
app01-3929	56	1	stanford university	ORG
app01-3929	56	2	2	CARDINAL
app01-3929	59	1	4.	CARDINAL
app01-3929	59	2	3d	CARDINAL
app01-3929	59	3	3d	CARDINAL
app01-3929	61	1	first	ORDINAL
app01-3929	61	2	microsoft	ORG
app01-3929	61	3	israeli	NORP
app01-3929	61	4	3d	CARDINAL
app01-3929	61	5	2013	DATE
app01-3929	62	1	microsoft	ORG
app01-3929	62	2	9	CARDINAL
app01-3929	63	1	4.1	CARDINAL
app01-3929	63	2	three	CARDINAL
app01-3929	63	3	2	CARDINAL
app01-3929	64	1	3d	CARDINAL
app01-3929	72	1	3	CARDINAL
app01-3929	75	1	29	CARDINAL
app01-3929	75	2	c. stephan	PERSON
app01-3929	75	3	c. böhm et	PERSON
app01-3929	75	4	acta polytechnica ctu	PERSON
app01-3929	75	5	3	CARDINAL
app01-3929	75	6	3d	CARDINAL
app01-3929	76	1	11	CARDINAL
app01-3929	76	2	12	CARDINAL
app01-3929	77	1	4.2	CARDINAL
app01-3929	78	1	3d	CARDINAL
app01-3929	79	1	two	CARDINAL
app01-3929	81	1	one	CARDINAL
app01-3929	82	1	10	CARDINAL
app01-3929	84	1	3	CARDINAL
app01-3929	87	1	13	CARDINAL
app01-3929	89	1	5	CARDINAL
app01-3929	92	1	3d	CARDINAL
app01-3929	93	1	4	CARDINAL
app01-3929	94	1	four	CARDINAL
app01-3929	94	2	~pcoeff	ORG
app01-3929	95	1	4	CARDINAL
app01-3929	97	1	11	CARDINAL
app01-3929	97	2	12	CARDINAL
app01-3929	98	1	1	CARDINAL
app01-3929	101	1	first	ORDINAL
app01-3929	105	1	512	CARDINAL
app01-3929	105	2	424	CARDINAL
app01-3929	105	3	3d-pixels	MONEY
app01-3929	107	1	about half	CARDINAL
app01-3929	108	1	about eight meters	QUANTITY
app01-3929	111	1	a few hundred	CARDINAL
app01-3929	112	1	one	CARDINAL
app01-3929	113	1	•	CARDINAL
app01-3929	113	2	one	CARDINAL
app01-3929	113	3	•	CARDINAL
app01-3929	113	4	•	CARDINAL
app01-3929	115	1	30	CARDINAL
app01-3929	116	1	6/2016	CARDINAL
app01-3929	119	1	maxheight	TIME
app01-3929	121	1	maxdistance	PERSON
app01-3929	123	1	first	ORDINAL
app01-3929	123	2	three	CARDINAL
app01-3929	124	1	2	CARDINAL
app01-3929	124	2	0	CARDINAL
app01-3929	125	1	~n	DATE
app01-3929	125	2	3	CARDINAL
app01-3929	125	3	4	CARDINAL
app01-3929	125	4	2	CARDINAL
app01-3929	125	5	− fv2v	PERSON
app01-3929	126	1	~n	DATE
app01-3929	126	2	3	CARDINAL
app01-3929	126	3	4	CARDINAL
app01-3929	127	1	|~vorig|	CARDINAL
app01-3929	127	2	5	CARDINAL
app01-3929	127	3	three	CARDINAL
app01-3929	127	4	only two	CARDINAL
app01-3929	127	5	3d	CARDINAL
app01-3929	128	1	three	CARDINAL
app01-3929	128	2	two	CARDINAL
app01-3929	130	1	two	CARDINAL
app01-3929	130	2	two	CARDINAL
app01-3929	131	1	two	CARDINAL
app01-3929	131	2	three	CARDINAL
app01-3929	133	1	0	CARDINAL
app01-3929	133	2	0;−1	PERSON
app01-3929	133	3	−1	DATE
app01-3929	133	4	0	CARDINAL
app01-3929	133	5	0	DATE
app01-3929	134	1	4	CARDINAL
app01-3929	135	1	6	CARDINAL
app01-3929	135	2	fv2v	PRODUCT
app01-3929	136	1	fv2v	PERSON
app01-3929	137	1	6	CARDINAL
app01-3929	138	1	6	CARDINAL
app01-3929	139	1	ic	PERSON
app01-3929	140	1	5	CARDINAL
app01-3929	141	1	first	ORDINAL
app01-3929	142	1	first	ORDINAL
app01-3929	142	2	2d	DATE
app01-3929	143	1	three	CARDINAL
app01-3929	143	2	•	CARDINAL
app01-3929	143	3	•	CARDINAL
app01-3929	143	4	•	CARDINAL
app01-3929	144	1	6.1	CARDINAL
app01-3929	145	1	6.2	CARDINAL
app01-3929	146	1	5	CARDINAL
app01-3929	148	1	one	CARDINAL
app01-3929	151	1	0.5	CARDINAL
app01-3929	151	2	0.585	CARDINAL
app01-3929	151	3	8	CARDINAL
app01-3929	152	1	31	CARDINAL
app01-3929	152	2	c. stephan	PERSON
app01-3929	152	3	c. böhm et	PERSON
app01-3929	152	4	acta polytechnica ctu proceedings g(x	PERSON
app01-3929	152	5	6	CARDINAL
app01-3929	153	1	2d	DATE
app01-3929	154	1	7	CARDINAL
app01-3929	157	1	6.2	CARDINAL
app01-3929	160	1	1 2πσ2	CARDINAL
app01-3929	160	2	2σ2	CARDINAL
app01-3929	160	3	7	CARDINAL
app01-3929	160	4	7	CARDINAL
app01-3929	160	5	two	CARDINAL
app01-3929	161	1	σ	ORG
app01-3929	162	1	6	CARDINAL
app01-3929	162	2	two	CARDINAL
app01-3929	166	1	14	CARDINAL
app01-3929	166	2	15	CARDINAL
app01-3929	167	1	7	CARDINAL
app01-3929	167	2	three	CARDINAL
app01-3929	173	1	third	ORDINAL
app01-3929	175	1	1 2 3	CARDINAL
app01-3929	175	2	7	CARDINAL
app01-3929	175	3	three	CARDINAL
app01-3929	175	4	1	CARDINAL
app01-3929	175	5	2	CARDINAL
app01-3929	175	6	3	CARDINAL
app01-3929	175	7	6.3	CARDINAL
app01-3929	178	1	0	CARDINAL
app01-3929	178	2	255	CARDINAL
app01-3929	182	1	7	CARDINAL
app01-3929	183	1	1	CARDINAL
app01-3929	183	2	5	CARDINAL
app01-3929	183	3	3d	CARDINAL
app01-3929	184	1	32	CARDINAL
app01-3929	185	1	6/2016	CARDINAL
app01-3929	188	1	uav	ORG
app01-3929	189	1	1	CARDINAL
app01-3929	189	2	a. m. kessler	PERSON
app01-3929	190	1	elon musk	PERSON
app01-3929	190	2	u.s.	GPE
app01-3929	190	3	summer	DATE
app01-3929	190	4	the new york times	ORG
app01-3929	190	5	2015	DATE
app01-3929	191	1	2	CARDINAL
app01-3929	191	2	a. fisher	PERSON
app01-3929	192	1	google	ORG
app01-3929	192	2	the new york times	ORG
app01-3929	192	3	2013	DATE
app01-3929	193	1	3	CARDINAL
app01-3929	193	2	a. geiger	PERSON
app01-3929	193	3	p. lenz	PERSON
app01-3929	193	4	r. urtasun	PERSON
app01-3929	194	1	kitti vision benchmark	ORG
app01-3929	196	1	3354–3361.	DATE
app01-3929	196	2	2012	DATE
app01-3929	197	1	doi:10.1109	NORP
app01-3929	198	1	4	CARDINAL
app01-3929	198	2	m. bloesch	PERSON
app01-3929	198	3	c. gehring	PERSON
app01-3929	199	1	2014	DATE
app01-3929	201	1	5	CARDINAL
app01-3929	201	2	s. thrun	PERSON
app01-3929	201	3	the new millennium	DATE
app01-3929	203	1	1	CARDINAL
app01-3929	205	1	1–35.	DATE
app01-3929	206	1	2002	DATE
app01-3929	207	1	6	CARDINAL
app01-3929	207	2	m. herbert	PERSON
app01-3929	207	3	c. caillas	PERSON
app01-3929	207	4	e. krotkov	PERSON
app01-3929	208	1	997–1002. 1989	DATE
app01-3929	209	1	doi:10.1109/robot.1989.100111	ORG
app01-3929	210	1	7	CARDINAL
app01-3929	210	2	a. kleiner	PERSON
app01-3929	210	3	c. dornhege	PERSON
app01-3929	212	1	24(8-9):723–745, 2007	DATE
app01-3929	214	1	8	CARDINAL
app01-3929	214	2	s. thrun	PERSON
app01-3929	214	3	m. montemerlo	PERSON
app01-3929	214	4	h. dahlkamp	PERSON
app01-3929	215	1	23(9):661–692	GPE
app01-3929	215	2	2006	DATE
app01-3929	217	1	9	CARDINAL
app01-3929	217	2	2016	DATE
app01-3929	219	1	710008223	CARDINAL
app01-3929	220	1	10	CARDINAL
app01-3929	220	2	2015	DATE
app01-3929	222	1	661209488	DATE
app01-3929	223	1	11	CARDINAL
app01-3929	224	1	3d	CARDINAL
app01-3929	225	1	12	CARDINAL
app01-3929	226	1	microsoft 3d	ORG
app01-3929	227	1	13	CARDINAL
app01-3929	227	2	m. bloesch	PERSON
app01-3929	227	3	d. rodriguez	GPE
app01-3929	229	1	388–394	CARDINAL
app01-3929	229	2	2015	DATE
app01-3929	230	1	doi:10.1109/icar.2015.7251485	ORG
app01-3929	231	1	14	CARDINAL
app01-3929	231	2	m. s. nixon	PERSON
app01-3929	231	3	a. s. aguado	PERSON
app01-3929	233	1	newnes	ORG
app01-3929	233	2	oxford	NORP
app01-3929	233	3	boston	GPE
app01-3929	233	4	1st	ORDINAL
app01-3929	233	5	2002	DATE
app01-3929	234	1	oclc	PERSON
app01-3929	235	1	15	CARDINAL
app01-3929	235	2	l. g. shapiro	PERSON
app01-3929	235	3	g. c. stockman	PERSON
app01-3929	237	1	prentice hall	ORG
app01-3929	237	2	nj	GPE
app01-3929	237	3	2001	DATE
app01-3929	238	1	33	CARDINAL
app01-3929	238	2	acta polytechnica ctu	PERSON
app01-3929	238	3	6:28–33	CARDINAL
app01-3929	238	4	2016 1	DATE
app01-3929	238	5	2	CARDINAL
app01-3929	238	6	3	CARDINAL
app01-3929	238	7	4 3d	CARDINAL
app01-3929	238	8	4.1	CARDINAL
app01-3929	238	9	4.2 3d	CARDINAL
app01-3929	238	10	5	CARDINAL
app01-3929	238	11	6	CARDINAL
app01-3929	238	12	6.1	CARDINAL
app01-3929	238	13	6.2	CARDINAL
app01-3929	238	14	6.3	CARDINAL
app01-3929	238	15	7	CARDINAL