id	sid	eid	entity	type
bracis-28413	1	1	first	ORDINAL
bracis-28413	1	2	12	CARDINAL
bracis-28413	1	3	2023	CARDINAL
bracis-28413	1	4	162–175	CARDINAL
bracis-28413	1	5	university of notre dame hesburgh	ORG
bracis-28413	1	6	pdf download book epub intelligent systems	ORG
bracis-28413	1	7	2023	CARDINAL
bracis-28413	1	8	pdf download book epub igor ferreira da costa	ORG
bracis-28413	1	9	wouter caarls	PERSON
bracis-28413	1	10	14197	DATE
bracis-28413	1	11	551	CARDINAL
bracis-28413	1	12	1	CARDINAL
bracis-28413	1	13	the past years	DATE
bracis-28413	2	1	rtk-gnss	ORG
bracis-28413	4	1	hough	PERSON
bracis-28413	5	1	rgb	ORG
bracis-28413	7	1	github	GPE
bracis-28413	7	2	two	CARDINAL
bracis-28413	9	1	the coordenação de aperfeiçoamento de pessoal de nível	ORG
bracis-28413	9	2	001	CARDINAL
bracis-28413	9	3	the national council for scientific	ORG
bracis-28413	9	4	314121/2021-8	DATE
bracis-28413	9	5	de apoio	PERSON
bracis-28413	10	1	university of notre dame hesburgh	ORG
bracis-28413	11	1	03 january 2017	DATE
bracis-28413	11	2	16 november 2019	DATE
bracis-28413	11	3	11	CARDINAL
bracis-28413	12	1	1	CARDINAL
bracis-28413	13	1	1	CARDINAL
bracis-28413	13	2	2	CARDINAL
bracis-28413	13	3	3	CARDINAL
bracis-28413	13	4	4	CARDINAL
bracis-28413	14	1	4	CARDINAL
bracis-28413	14	2	5	CARDINAL
bracis-28413	16	1	5	CARDINAL
bracis-28413	16	2	6	CARDINAL
bracis-28413	16	3	1	CARDINAL
bracis-28413	17	1	5	CARDINAL
bracis-28413	18	1	1	CARDINAL
bracis-28413	20	1	4	CARDINAL
bracis-28413	20	2	rgb	ORG
bracis-28413	21	1	6	CARDINAL
bracis-28413	23	1	9	CARDINAL
bracis-28413	23	2	10	CARDINAL
bracis-28413	24	1	cnn	ORG
bracis-28413	25	1	5	CARDINAL
bracis-28413	25	2	11	CARDINAL
bracis-28413	26	1	cnn	ORG
bracis-28413	28	1	2	CARDINAL
bracis-28413	29	1	three	CARDINAL
bracis-28413	29	2	one	CARDINAL
bracis-28413	29	3	two	CARDINAL
bracis-28413	29	4	intel	ORG
bracis-28413	29	5	rgb	PRODUCT
bracis-28413	29	6	two	CARDINAL
bracis-28413	29	7	intel	ORG
bracis-28413	29	8	18.04	CARDINAL
bracis-28413	29	9	ros melodic	ORG
bracis-28413	30	1	fig	PERSON
bracis-28413	31	1	1	CARDINAL
bracis-28413	33	1	2	CARDINAL
bracis-28413	33	2	jetson agx orin	PERSON
bracis-28413	34	1	20.04	CARDINAL
bracis-28413	34	2	ros noetic	ORG
bracis-28413	35	1	2	CARDINAL
bracis-28413	37	1	5	CARDINAL
bracis-28413	37	2	rgb	ORG
bracis-28413	38	1	the season	DATE
bracis-28413	39	1	leite	PERSON
bracis-28413	39	2	10	CARDINAL
bracis-28413	41	1	cnn	ORG
bracis-28413	41	2	rgb	ORG
bracis-28413	42	1	silva et al	PERSON
bracis-28413	43	1	9	CARDINAL
bracis-28413	44	1	rgb	ORG
bracis-28413	46	1	5	CARDINAL
bracis-28413	46	2	martins et al	PERSON
bracis-28413	47	1	11	CARDINAL
bracis-28413	48	1	one	CARDINAL
bracis-28413	50	1	12	CARDINAL
bracis-28413	51	1	one	CARDINAL
bracis-28413	53	1	3	CARDINAL
bracis-28413	53	2	two	CARDINAL
bracis-28413	54	1	3	CARDINAL
bracis-28413	54	2	rgb	ORG
bracis-28413	56	1	second	ORDINAL
bracis-28413	57	1	3	CARDINAL
bracis-28413	58	1	3.1	CARDINAL
bracis-28413	59	1	rgb	ORG
bracis-28413	59	2	8bpc	CARDINAL
bracis-28413	60	1	one	CARDINAL
bracis-28413	60	2	first	ORDINAL
bracis-28413	62	1	13	CARDINAL
bracis-28413	63	1	4	CARDINAL
bracis-28413	64	1	4	CARDINAL
bracis-28413	64	2	two	CARDINAL
bracis-28413	64	3	two	CARDINAL
bracis-28413	64	4	\(\left	PRODUCT
bracis-28413	65	1	\(\left	PRODUCT
bracis-28413	67	1	three	CARDINAL
bracis-28413	70	1	3.2	CARDINAL
bracis-28413	71	1	14	CARDINAL
bracis-28413	73	1	15	CARDINAL
bracis-28413	74	1	resnet50	WORK_OF_ART
bracis-28413	75	1	second	ORDINAL
bracis-28413	76	1	two	CARDINAL
bracis-28413	76	2	25	CARDINAL
bracis-28413	78	1	5	CARDINAL
bracis-28413	81	1	5	CARDINAL
bracis-28413	81	2	1	CARDINAL
bracis-28413	81	3	two	CARDINAL
bracis-28413	82	1	1	CARDINAL
bracis-28413	82	2	up to 500	CARDINAL
bracis-28413	83	1	\(10^{-5}\	PERSON
bracis-28413	85	1	two	CARDINAL
bracis-28413	86	1	3	CARDINAL
bracis-28413	88	1	4	CARDINAL
bracis-28413	89	1	two	CARDINAL
bracis-28413	89	2	1,8	CARDINAL
bracis-28413	89	3	one	CARDINAL
bracis-28413	89	4	0,15	CARDINAL
bracis-28413	90	1	6	CARDINAL
bracis-28413	92	1	6	CARDINAL
bracis-28413	92	2	five	CARDINAL
bracis-28413	92	3	six	CARDINAL
bracis-28413	92	4	50 cm	QUANTITY
bracis-28413	92	5	10	CARDINAL
bracis-28413	92	6	25	CARDINAL
bracis-28413	93	1	a given row	DATE
bracis-28413	94	1	15%	PERCENT
bracis-28413	95	1	7	CARDINAL
bracis-28413	96	1	five	CARDINAL
bracis-28413	97	1	$	MONEY
bracis-28413	97	2	1	CARDINAL
bracis-28413	97	3	\mu	ORG
bracis-28413	97	4	\sigma	ORG
bracis-28413	97	5	2	CARDINAL
bracis-28413	97	6	0\	TIME
bracis-28413	97	7	0.01\	CARDINAL
bracis-28413	99	1	5	CARDINAL
bracis-28413	99	2	5.1	CARDINAL
bracis-28413	99	3	8	CARDINAL
bracis-28413	104	1	9	CARDINAL
bracis-28413	113	1	5.2	CARDINAL
bracis-28413	115	1	11	CARDINAL
bracis-28413	118	1	10	CARDINAL
bracis-28413	118	2	cnn	ORG
bracis-28413	119	1	1	CARDINAL
bracis-28413	119	2	2	CARDINAL
bracis-28413	119	3	fig	ORG
bracis-28413	120	1	11	CARDINAL
bracis-28413	120	2	1	CARDINAL
bracis-28413	120	3	3	CARDINAL
bracis-28413	120	4	12	CARDINAL
bracis-28413	122	1	11	CARDINAL
bracis-28413	122	2	12	CARDINAL
bracis-28413	122	3	1	CARDINAL
bracis-28413	124	1	10	CARDINAL
bracis-28413	126	1	11	CARDINAL
bracis-28413	126	2	1	CARDINAL
bracis-28413	127	1	12	CARDINAL
bracis-28413	128	1	3	CARDINAL
bracis-28413	128	2	12	CARDINAL
bracis-28413	128	3	13	CARDINAL
bracis-28413	128	4	3	CARDINAL
bracis-28413	129	1	fifth	ORDINAL
bracis-28413	130	1	13	CARDINAL
bracis-28413	131	1	13	CARDINAL
bracis-28413	131	2	5	CARDINAL
bracis-28413	132	1	6	CARDINAL
bracis-28413	140	1	jesus et al	PERSON
bracis-28413	141	1	16	CARDINAL
bracis-28413	143	1	7	CARDINAL
bracis-28413	143	2	rgb	ORG
bracis-28413	145	1	three	CARDINAL
bracis-28413	147	1	less than 50	CARDINAL
bracis-28413	147	2	one	CARDINAL
bracis-28413	147	3	first	ORDINAL
bracis-28413	147	4	four	CARDINAL
bracis-28413	148	1	fifth	ORDINAL
bracis-28413	148	2	90 mm	QUANTITY
bracis-28413	149	1	70	CARDINAL
bracis-28413	149	2	between 30 and 40	CARDINAL
bracis-28413	156	1	ahmadi	PERSON
bracis-28413	156	2	nardi	PERSON
bracis-28413	156	3	l.	GPE
bracis-28413	156	4	chebrolu	GPE
bracis-28413	156	5	stachniss	PERSON
bracis-28413	157	1	2020	DATE
bracis-28413	157	2	2020	DATE
bracis-28413	157	3	nakarmi	ORG
bracis-28413	157	4	a.d.	GPE
bracis-28413	157	5	3d	CARDINAL
bracis-28413	158	1	biosys	PERSON
bracis-28413	159	1	eng	PERSON
bracis-28413	159	2	125	CARDINAL
bracis-28413	159	3	54–64	CARDINAL
bracis-28413	159	4	2014	DATE
bracis-28413	159	5	c.s.	GPE
bracis-28413	163	1	lett	PERSON
bracis-28413	164	1	1 (	PERCENT
bracis-28413	164	2	2018	DATE
bracis-28413	164	3	barbosa, g.b.p	PERSON
bracis-28413	166	1	dissertação de mestrado	PERSON
bracis-28413	166	2	engenharia elétrica	PERSON
bracis-28413	166	3	rio de janeiro	GPE
bracis-28413	166	4	rio de janeiro	GPE
bracis-28413	166	5	2022	CARDINAL
bracis-28413	166	6	v.r.	GPE
bracis-28413	166	7	bakken	GPE
bracis-28413	166	8	m., moore	PERSON
bracis-28413	167	1	20(18	DATE
bracis-28413	167	2	5249	DATE
bracis-28413	167	3	2020	DATE
bracis-28413	167	4	ahmadi, a.	PERSON
bracis-28413	167	5	halstead	ORG
bracis-28413	167	6	m., mccool	PERSON
bracis-28413	167	7	2021	CARDINAL
bracis-28413	167	8	mccarthy	PERSON
bracis-28413	167	9	c.	PERSON
bracis-28413	167	10	hancock	GPE
bracis-28413	171	1	119	CARDINAL
bracis-28413	171	2	254–266	CARDINAL
bracis-28413	171	3	2015	CARDINAL
bracis-28413	171	4	english	LANGUAGE
bracis-28413	171	5	a.	PERSON
bracis-28413	171	6	ross	GPE
bracis-28413	171	7	d.	NORP
bracis-28413	171	8	upcroft	GPE
bracis-28413	171	9	b.	GPE
bracis-28413	171	10	corke	GPE
bracis-28413	173	1	2015	CARDINAL
bracis-28413	173	2	2015	CARDINAL
bracis-28413	173	3	de silva	PERSON
bracis-28413	173	4	r.	NORP
bracis-28413	173	5	cielniak	PERSON
bracis-28413	173	6	wang	PERSON
bracis-28413	173	7	gao	PERSON
bracis-28413	173	8	j.	PERSON
bracis-28413	173	9	2022	CARDINAL
bracis-28413	173	10	leite	PERSON
bracis-28413	173	11	a.c.	GPE
bracis-28413	174	1	2019	CARDINAL
bracis-28413	175	1	2019	CARDINAL
bracis-28413	175	2	martins	PERSON
bracis-28413	175	3	f.f.	GPE
bracis-28413	175	4	sistema de navegação	PERSON
bracis-28413	175	5	agrícola	ORG
bracis-28413	176	1	brasileiro de automação inteligente	PERSON
bracis-28413	177	1	sba	GPE
bracis-28413	177	2	brasileira de automática	ORG
bracis-28413	177	3	2021	CARDINAL
bracis-28413	177	4	l.	PERSON
bracis-28413	177	5	körner	PERSON
bracis-28413	177	6	m.	PERSON
bracis-28413	177	7	2018	DATE
bracis-28413	177	8	wu	PERSON
bracis-28413	177	9	z.	PERSON
bracis-28413	177	10	yamaguchi	GPE
bracis-28413	177	11	k.	PERSON
bracis-28413	177	12	2017	CARDINAL
bracis-28413	177	13	chen	PERSON
bracis-28413	177	14	schroof	PERSON
bracis-28413	177	15	f.	PERSON
bracis-28413	177	16	adam, h.:	PERSON
bracis-28413	177	17	2018	DATE
bracis-28413	177	18	x.	GPE
bracis-28413	177	19	ren, s.	ORG
bracis-28413	177	20	sun	PERSON
bracis-28413	179	1	382–386	CARDINAL
bracis-28413	179	2	2016	CARDINAL
bracis-28413	179	3	jesus	PERSON
bracis-28413	179	4	j.c.	PERSON
bracis-28413	179	5	bottega	ORG
bracis-28413	179	6	j.a.	GPE
bracis-28413	179	7	cuadros	GPE
bracis-28413	179	8	m.a.	GPE
bracis-28413	179	9	d.f.	GPE
bracis-28413	181	1	2019 19th	DATE
bracis-28413	182	1	362–367	CARDINAL
bracis-28413	182	2	2019	CARDINAL
bracis-28413	182	3	rio de janeiro	GPE
bracis-28413	182	4	rio de janeiro	GPE
bracis-28413	182	5	rj	GPE
bracis-28413	182	6	brazil	GPE
bracis-28413	182	7	ferreira da costa &	PERSON
bracis-28413	182	8	wouter caarls	PERSON
bracis-28413	182	9	igor ferreira da costaview	PERSON
bracis-28413	182	10	wouter caarlsview	PERSON
bracis-28413	182	11	igor ferreira da costa	PERSON
bracis-28413	182	12	wouter caarls	PERSON
bracis-28413	183	1	university of são carlos	ORG
bracis-28413	183	2	são carlos	PERSON
bracis-28413	183	3	brazil	GPE
bracis-28413	183	4	c. naldi centro universitario da fei	ORG
bracis-28413	183	5	são bernardo	PERSON
bracis-28413	183	6	campo	ORG
bracis-28413	183	7	brazil	GPE
bracis-28413	183	8	reinaldo a. c. bianchi	PERSON
bracis-28413	183	9	2023	CARDINAL
bracis-28413	183	10	switzerland ag	ORG
bracis-28413	183	11	i.f.	GPE
bracis-28413	183	12	caarls	GPE
bracis-28413	183	13	w.	PERSON
bracis-28413	183	14	2023	CARDINAL
bracis-28413	185	1	naldi	ORG
bracis-28413	185	2	m.c.	GPE
bracis-28413	185	3	bianchi	GPE
bracis-28413	186	1	bracis 2023	ORG
bracis-28413	187	1	14197	DATE
bracis-28413	189	1	https://doi.org/10.1007/978-3-031-45392-2_11 download	ORG
bracis-28413	191	1	12	CARDINAL
bracis-28413	191	2	2023	CARDINAL
bracis-28413	191	3	978	CARDINAL
bracis-28413	191	4	978	CARDINAL
bracis-28413	192	1	bmc palgrave macmillan	ORG
bracis-28413	193	1	129.74.145.123	CARDINAL
bracis-28413	193	2	3005732405	CARDINAL
bracis-28413	193	3	8200828607	DATE
bracis-28413	193	4	3006206169	CARDINAL
bracis-28413	193	5	university of notre dame hesburgh	ORG
bracis-28413	193	6	3000184373	DATE
bracis-28413	194	1	2025	CARDINAL