id	sid	eid	entity	type
cana-2647	1	1	1074	CARDINAL
cana-2647	1	2	32	CARDINAL
cana-2647	2	1	3s	CARDINAL
cana-2647	2	2	2025	CARDINAL
cana-2647	2	3	341	CARDINAL
cana-2647	2	4	1b	CARDINAL
cana-2647	3	1	deena divya nayomi	PERSON
cana-2647	3	2	2v	CARDINAL
cana-2647	4	1	1research	CARDINAL
cana-2647	4	2	department of computer science	ORG
cana-2647	4	3	mohan babu university	PERSON
cana-2647	4	4	sree vidyanikethan engineering college	ORG
cana-2647	4	5	tirupati	GPE
cana-2647	4	6	andhra pradesh	ORG
cana-2647	4	7	india	GPE
cana-2647	7	1	2associate	CARDINAL
cana-2647	7	2	mohan babu university	PERSON
cana-2647	7	3	sree vidyanikethan engineering college	ORG
cana-2647	7	4	tirupati	GPE
cana-2647	7	5	andhra pradesh	ORG
cana-2647	7	6	india	GPE
cana-2647	8	1	21	CARDINAL
cana-2647	8	2	30	CARDINAL
cana-2647	8	3	20-11-2024	CARDINAL
cana-2647	12	1	2.3 meters	QUANTITY
cana-2647	12	2	1.2 meters	QUANTITY
cana-2647	13	1	up to 500	CARDINAL
cana-2647	17	1	1	CARDINAL
cana-2647	20	1	1	CARDINAL
cana-2647	20	2	2	CARDINAL
cana-2647	22	1	dfl	ORG
cana-2647	23	1	1074	CARDINAL
cana-2647	23	2	32	CARDINAL
cana-2647	24	1	3s	CARDINAL
cana-2647	24	2	2025	CARDINAL
cana-2647	24	3	342	CARDINAL
cana-2647	24	4	dfl-dds	ORG
cana-2647	24	5	2	CARDINAL
cana-2647	25	1	3	CARDINAL
cana-2647	26	1	4	CARDINAL
cana-2647	26	2	5	CARDINAL
cana-2647	28	1	6	CARDINAL
cana-2647	30	1	1][6	CARDINAL
cana-2647	31	1	5	CARDINAL
cana-2647	37	1	kitti	ORG
cana-2647	37	2	5	CARDINAL
cana-2647	40	1	2	CARDINAL
cana-2647	41	1	4	CARDINAL
cana-2647	41	2	wang et al	PERSON
cana-2647	42	1	5	CARDINAL
cana-2647	42	2	parker et al	PERSON
cana-2647	43	1	8	CARDINAL
cana-2647	44	1	9	CARDINAL
cana-2647	44	2	leung et al	PERSON
cana-2647	45	1	10	CARDINAL
cana-2647	46	1	ashour et al	PERSON
cana-2647	47	1	4	CARDINAL
cana-2647	47	2	62.8%	PERCENT
cana-2647	48	1	wang et al	PERSON
cana-2647	49	1	5	CARDINAL
cana-2647	49	2	20–30 cm	QUANTITY
cana-2647	50	1	parker et al	PERSON
cana-2647	51	1	8	CARDINAL
cana-2647	53	1	leung et al	PERSON
cana-2647	54	1	10	CARDINAL
cana-2647	55	1	li et al	PERSON
cana-2647	56	1	11	CARDINAL
cana-2647	56	2	movahedian	NORP
cana-2647	57	1	12	CARDINAL
cana-2647	57	2	zhou et al	PERSON
cana-2647	58	1	7	CARDINAL
cana-2647	58	2	su et al	PERSON
cana-2647	59	1	2	CARDINAL
cana-2647	60	1	li et al	PERSON
cana-2647	61	1	11	CARDINAL
cana-2647	63	1	movahedian et al	PERSON
cana-2647	64	1	12	CARDINAL
cana-2647	64	2	up to 83%	PERCENT
cana-2647	65	1	zhou et al	PERSON
cana-2647	66	1	7	CARDINAL
cana-2647	67	1	su et al	PERSON
cana-2647	68	1	2	CARDINAL
cana-2647	68	2	1074	CARDINAL
cana-2647	68	3	32	CARDINAL
cana-2647	69	1	3s	CARDINAL
cana-2647	69	2	2025	CARDINAL
cana-2647	69	3	343	CARDINAL
cana-2647	71	1	fu et al	PERSON
cana-2647	72	1	13	CARDINAL
cana-2647	72	2	santos et al	PERSON
cana-2647	73	1	14	CARDINAL
cana-2647	73	2	lee et al	PERSON
cana-2647	74	1	15	CARDINAL
cana-2647	75	1	fu et al	PERSON
cana-2647	76	1	13	CARDINAL
cana-2647	76	2	7.21	CARDINAL
cana-2647	76	3	0.74	CARDINAL
cana-2647	76	4	m. santos et al	PERSON
cana-2647	77	1	14	CARDINAL
cana-2647	79	1	lee et al	PERSON
cana-2647	80	1	15	CARDINAL
cana-2647	81	1	al-hattab et al	PERSON
cana-2647	82	1	16	CARDINAL
cana-2647	83	1	17	CARDINAL
cana-2647	85	1	16	CARDINAL
cana-2647	87	1	mohammadabadi et al	PERSON
cana-2647	88	1	17	CARDINAL
cana-2647	88	2	up to 50%	PERCENT
cana-2647	90	1	barbieri et al	PERSON
cana-2647	91	1	1	CARDINAL
cana-2647	92	1	18	CARDINAL
cana-2647	93	1	barbieri et al	PERSON
cana-2647	94	1	1	CARDINAL
cana-2647	97	1	18	CARDINAL
cana-2647	101	1	3	CARDINAL
cana-2647	101	2	3.1	CARDINAL
cana-2647	102	1	gnss	ORG
cana-2647	104	1	five	CARDINAL
cana-2647	112	1	1074	CARDINAL
cana-2647	112	2	32	CARDINAL
cana-2647	113	1	3s	CARDINAL
cana-2647	113	2	2025	CARDINAL
cana-2647	113	3	344	CARDINAL
cana-2647	120	1	3.2	CARDINAL
cana-2647	120	2	three	CARDINAL
cana-2647	121	1	gnss	ORG
cana-2647	132	1	three	CARDINAL
cana-2647	133	1	3.3	CARDINAL
cana-2647	136	1	𝐴	ORG
cana-2647	138	1	− 𝐻𝑥𝑘+1	PERSON
cana-2647	140	1	1074	CARDINAL
cana-2647	140	2	32	CARDINAL
cana-2647	141	1	3s	CARDINAL
cana-2647	141	2	2025	CARDINAL
cana-2647	141	3	345	CARDINAL
cana-2647	149	1	1	CARDINAL
cana-2647	150	1	2	CARDINAL
cana-2647	152	1	3	CARDINAL
cana-2647	153	1	4.	CARDINAL
cana-2647	156	1	3.4	CARDINAL
cana-2647	161	1	1074	CARDINAL
cana-2647	161	2	32	CARDINAL
cana-2647	162	1	3s	CARDINAL
cana-2647	162	2	2025	CARDINAL
cana-2647	162	3	346	CARDINAL
cana-2647	166	1	∗ 𝐶𝑡−1	ORG
cana-2647	167	1	∗ tanh(𝐶𝑡	DATE
cana-2647	167	2	𝐶𝑡	PERSON
cana-2647	168	1	gcns map	PERSON
cana-2647	170	1	𝜎(	CARDINAL
cana-2647	173	1	softmax	PERSON
cana-2647	173	2	√𝑑𝑘	DATE
cana-2647	176	1	3.4.1	CARDINAL
cana-2647	178	1	1	CARDINAL
cana-2647	179	1	𝐶𝑡 = lstm(𝑥𝑡	PERSON
cana-2647	182	1	2	CARDINAL
cana-2647	182	2	2	CARDINAL
cana-2647	182	3	1074	CARDINAL
cana-2647	182	4	32	CARDINAL
cana-2647	183	1	3s	CARDINAL
cana-2647	183	2	2025	CARDINAL
cana-2647	183	3	347	CARDINAL
cana-2647	184	1	𝜎(	CARDINAL
cana-2647	185	1	3	CARDINAL
cana-2647	185	2	softmax	PERSON
cana-2647	185	3	√𝑑𝑘	DATE
cana-2647	186	1	4.	CARDINAL
cana-2647	188	1	3.5	CARDINAL
cana-2647	198	1	3.6	CARDINAL
cana-2647	205	1	1074	CARDINAL
cana-2647	205	2	32	CARDINAL
cana-2647	206	1	3s	CARDINAL
cana-2647	206	2	2025	CARDINAL
cana-2647	206	3	348	CARDINAL
cana-2647	208	1	1	CARDINAL
cana-2647	212	1	1	CARDINAL
cana-2647	212	2	0	CARDINAL
cana-2647	213	1	2	CARDINAL
cana-2647	214	1	1,2	CARDINAL
cana-2647	214	2	3	CARDINAL
cana-2647	218	1	5	CARDINAL
cana-2647	218	2	1	CARDINAL
cana-2647	218	3	6	CARDINAL
cana-2647	220	1	8	CARDINAL
cana-2647	220	2	3.7	CARDINAL
cana-2647	221	1	gnss	ORG
cana-2647	231	1	1074	CARDINAL
cana-2647	231	2	32	CARDINAL
cana-2647	232	1	3s	CARDINAL
cana-2647	232	2	2025	CARDINAL
cana-2647	232	3	349	CARDINAL
cana-2647	233	1	1	CARDINAL
cana-2647	233	2	1	CARDINAL
cana-2647	241	1	4	CARDINAL
cana-2647	242	1	three	CARDINAL
cana-2647	245	1	1074	CARDINAL
cana-2647	245	2	32	CARDINAL
cana-2647	247	1	3s	CARDINAL
cana-2647	247	2	2025	CARDINAL
cana-2647	247	3	350	CARDINAL
cana-2647	252	1	4.1	CARDINAL
cana-2647	254	1	traci	PERSON
cana-2647	261	1	4.2	CARDINAL
cana-2647	263	1	18	CARDINAL
cana-2647	265	1	2.3 meters	QUANTITY
cana-2647	265	2	3.1 meters	QUANTITY
cana-2647	265	3	4.7 meters	QUANTITY
cana-2647	266	1	1.2 meters	QUANTITY
cana-2647	266	2	1.8 meters	QUANTITY
cana-2647	266	3	2.5 meters	QUANTITY
cana-2647	266	4	1	CARDINAL
cana-2647	267	1	1074	CARDINAL
cana-2647	267	2	32	CARDINAL
cana-2647	269	1	3s	CARDINAL
cana-2647	269	2	2025	CARDINAL
cana-2647	269	3	351	CARDINAL
cana-2647	270	1	1	CARDINAL
cana-2647	270	2	st-ftl	PERSON
cana-2647	270	3	canyon 2.3	DATE
cana-2647	270	4	3.1 4.7	QUANTITY
cana-2647	270	5	1.2 1.8 2.5	CARDINAL
cana-2647	270	6	2	CARDINAL
cana-2647	270	7	2	CARDINAL
cana-2647	273	1	2	CARDINAL
cana-2647	274	1	dflf	ORG
cana-2647	274	2	only 1.5%	PERCENT
cana-2647	274	3	st-ftl’s	GPE
cana-2647	274	4	3.8%	PERCENT
cana-2647	274	5	7.4%	PERCENT
cana-2647	275	1	dflf	ORG
cana-2647	276	1	2	CARDINAL
cana-2647	276	2	2.3 2.4	PERCENT
cana-2647	276	3	1.5	CARDINAL
cana-2647	276	4	st-ftl	GPE
cana-2647	276	5	3.1 3.3	CARDINAL
cana-2647	276	6	3.8	CARDINAL
cana-2647	276	7	4.7	CARDINAL
cana-2647	276	8	5.0 7.4	CARDINAL
cana-2647	276	9	1074	CARDINAL
cana-2647	276	10	32	CARDINAL
cana-2647	278	1	3s	CARDINAL
cana-2647	278	2	2025	CARDINAL
cana-2647	278	3	352	CARDINAL
cana-2647	278	4	3	CARDINAL
cana-2647	278	5	3	CARDINAL
cana-2647	280	1	3	CARDINAL
cana-2647	280	2	4	CARDINAL
cana-2647	281	1	100	CARDINAL
cana-2647	281	2	2.3 meters	QUANTITY
cana-2647	281	3	3.4 meters	QUANTITY
cana-2647	281	4	5.1 meters	QUANTITY
cana-2647	282	1	500	CARDINAL
cana-2647	282	2	dflf	ORG
cana-2647	282	3	2.8 meters	QUANTITY
cana-2647	282	4	4.6 meters	QUANTITY
cana-2647	282	5	6.8 meters	QUANTITY
cana-2647	284	1	3	CARDINAL
cana-2647	284	2	dflf	GPE
cana-2647	284	3	st-ftl	GPE
cana-2647	284	4	st-ftl	PERSON
cana-2647	284	5	100	CARDINAL
cana-2647	284	6	2.8	CARDINAL
cana-2647	284	7	4.6 6.8	CARDINAL
cana-2647	284	8	1074	CARDINAL
cana-2647	284	9	32	CARDINAL
cana-2647	285	1	3s	CARDINAL
cana-2647	285	2	2025	CARDINAL
cana-2647	285	3	353	CARDINAL
cana-2647	285	4	4	CARDINAL
cana-2647	285	5	4	CARDINAL
cana-2647	286	1	2.3 meters	QUANTITY
cana-2647	286	2	st-ftl	GPE
cana-2647	286	3	3.1 meters	QUANTITY
cana-2647	286	4	4.7 meters	QUANTITY
cana-2647	287	1	3.0 meters	QUANTITY
cana-2647	287	2	4.2 meters	QUANTITY
cana-2647	287	3	6.3 meters	QUANTITY
cana-2647	288	1	4	CARDINAL
cana-2647	288	2	st-ftl	PERSON
cana-2647	288	3	canyon 2.3	DATE
cana-2647	288	4	3.1 4.7	CARDINAL
cana-2647	288	5	3.0 4.2 6.3	CARDINAL
cana-2647	288	6	1074	CARDINAL
cana-2647	288	7	32	CARDINAL
cana-2647	289	1	3s	CARDINAL
cana-2647	289	2	2025	CARDINAL
cana-2647	289	3	354	CARDINAL
cana-2647	289	4	5	CARDINAL
cana-2647	289	5	5	CARDINAL
cana-2647	292	1	dflf	ORG
cana-2647	293	1	st-ftl	PERSON
cana-2647	297	1	5	CARDINAL
cana-2647	299	1	gcns	PERSON
cana-2647	300	1	2.3 meters	QUANTITY
cana-2647	300	2	1.2 meters	QUANTITY
cana-2647	301	1	100 to 500	CARDINAL
cana-2647	304	1	1074	CARDINAL
cana-2647	304	2	32	CARDINAL
cana-2647	305	1	3s	CARDINAL
cana-2647	305	2	2025	CARDINAL
cana-2647	305	3	355	CARDINAL
cana-2647	311	1	1	CARDINAL
cana-2647	311	2	luca	ORG
cana-2647	311	3	mattia brambilla	PERSON
cana-2647	311	4	monica nicoli	PERSON
cana-2647	313	1	2024	CARDINAL
cana-2647	314	1	374-378	CARDINAL
cana-2647	314	2	2024	DATE
cana-2647	315	1	2	CARDINAL
cana-2647	315	2	yipeng zhou	PERSON
cana-2647	315	3	laizhong cui	PERSON
cana-2647	317	1	2022	CARDINAL
cana-2647	317	2	30th	ORDINAL
cana-2647	317	3	111	CARDINAL
cana-2647	317	4	2022	CARDINAL
cana-2647	318	1	3	CARDINAL
cana-2647	318	2	philippe xu	PERSON
cana-2647	320	1	38	CARDINAL
cana-2647	320	2	4 (	CARDINAL
cana-2647	320	3	2021	DATE
cana-2647	320	4	552	CARDINAL
cana-2647	321	1	4	CARDINAL
cana-2647	321	2	mahmoud	PERSON
cana-2647	321	3	ahmed hamdi	PERSON
cana-2647	321	4	rui guo	PERSON
cana-2647	323	1	2020	DATE
cana-2647	323	2	92nd	ORDINAL
cana-2647	323	3	1-7	DATE
cana-2647	323	4	2020	DATE
cana-2647	324	1	5	CARDINAL
cana-2647	324	2	wang	ORG
cana-2647	324	3	d.	NORP
cana-2647	324	4	k. o'keefe	PERSON
cana-2647	324	5	m. g. petovello	PERSON
cana-2647	326	1	2013	DATE
cana-2647	327	1	793-803	QUANTITY
cana-2647	328	1	2013	DATE
cana-2647	329	1	6	CARDINAL
cana-2647	329	2	bekir sait	ORG
cana-2647	329	3	mohamed abdallah	PERSON
cana-2647	331	1	arxiv preprint arxiv:2001.01911	ORG
cana-2647	331	2	2020	DATE
cana-2647	332	1	zhou	PERSON
cana-2647	332	2	xiaokang	PERSON
cana-2647	332	3	qiuyue yang	PERSON
cana-2647	332	4	qiang liu	PERSON
cana-2647	332	5	wei liang	PERSON
cana-2647	332	6	kevin wang	PERSON
cana-2647	332	7	zhi liu	PERSON
cana-2647	332	8	jianhua ma	PERSON
cana-2647	332	9	qun jin	PERSON
cana-2647	334	1	105	CARDINAL
cana-2647	334	2	2024): 102182	DATE
cana-2647	335	1	8	CARDINAL
cana-2647	335	2	parker	ORG
cana-2647	335	3	ryan	PERSON
cana-2647	337	1	1-5	CARDINAL
cana-2647	337	2	2006	DATE
cana-2647	338	1	9	CARDINAL
cana-2647	338	2	francesco	ORG
cana-2647	338	3	pedro rosa	PERSON
cana-2647	338	4	miguel l. pardal	PERSON
cana-2647	338	5	mirco marchetti	PERSON
cana-2647	340	1	2023	CARDINAL
cana-2647	340	2	97th	ORDINAL
cana-2647	340	3	(vtc2023-spring	DATE
cana-2647	341	1	16	CARDINAL
cana-2647	341	2	2023	CARDINAL
cana-2647	342	1	10	CARDINAL
cana-2647	342	2	leung	PERSON
cana-2647	342	3	keith yk	PERSON
cana-2647	342	4	timothy d. barfoot	PERSON
cana-2647	342	5	hugh ht liu	PERSON
cana-2647	344	1	2009	DATE
cana-2647	344	2	3135-3141	DATE
cana-2647	344	3	2009	DATE
cana-2647	345	1	11	CARDINAL
cana-2647	345	2	liu	PERSON
cana-2647	345	3	zehui dong	PERSON
cana-2647	345	4	zhiwei xu	PERSON
cana-2647	345	5	siyuan liu	PERSON
cana-2647	345	6	jie tian	PERSON
cana-2647	347	1	arxiv	ORG
cana-2647	347	2	2022	CARDINAL
cana-2647	348	1	12	CARDINAL
cana-2647	348	2	movahedian	NORP
cana-2647	348	3	mahdi	NORP
cana-2647	348	4	majid ghaderi	PERSON
cana-2647	350	1	2023 19th	DATE
cana-2647	350	2	cnsm	PERSON
cana-2647	351	1	1-9	CARDINAL
cana-2647	351	2	2023	CARDINAL
cana-2647	352	1	13	CARDINAL
cana-2647	352	2	huiyuan	NORP
cana-2647	352	3	jun guan	PERSON
cana-2647	352	4	feng jing	PERSON
cana-2647	352	5	chuanming wang	PERSON
cana-2647	352	6	huadong ma	PERSON
cana-2647	354	1	china	GPE
cana-2647	354	2	18	CARDINAL
cana-2647	354	3	6 (	CARDINAL
cana-2647	354	4	2021	CARDINAL
cana-2647	354	5	89-99	DATE
cana-2647	355	1	14	CARDINAL
cana-2647	355	2	frances a.	PERSON
cana-2647	355	3	ademar t. akabane	PERSON
cana-2647	355	4	roberto s. yokoyama	PERSON
cana-2647	355	5	antonio af loureiro	PERSON
cana-2647	355	6	leandro a. villas	PERSON
cana-2647	357	1	2016	CARDINAL
cana-2647	357	2	84th	ORDINAL
cana-2647	357	3	vtc-fall	DATE
cana-2647	357	4	1-5	CARDINAL
cana-2647	357	5	2016	DATE
cana-2647	358	1	15	CARDINAL
cana-2647	358	2	jung-hoon kim	PERSON
cana-2647	358	3	jung-woo kim	PERSON
cana-2647	358	4	seung-woo	PERSON
cana-2647	360	1	2018	DATE
cana-2647	360	2	2183-2189	CARDINAL
cana-2647	360	3	2018	DATE
cana-2647	361	1	1074	CARDINAL
cana-2647	361	2	32	CARDINAL
cana-2647	362	1	3s	CARDINAL
cana-2647	362	2	2025	CARDINAL
cana-2647	362	3	356	CARDINAL
cana-2647	363	1	16	CARDINAL
cana-2647	363	2	mohammad	PERSON
cana-2647	363	3	maen takruri	GPE
cana-2647	363	4	hussain attia	PERSON
cana-2647	363	5	huthaifa al-omari	PERSON
cana-2647	365	1	2017	CARDINAL
cana-2647	366	1	1-5	CARDINAL
cana-2647	366	2	2017	DATE
cana-2647	367	1	17	CARDINAL
cana-2647	367	2	peyman hadi	PERSON
cana-2647	369	1	2014 ieee 25th	DATE
cana-2647	369	2	annual	DATE
cana-2647	369	3	1448-1452	CARDINAL
cana-2647	369	4	2014	DATE
cana-2647	370	1	18	CARDINAL
cana-2647	370	2	xiangjie	GPE
cana-2647	370	3	haoran gao	PERSON
cana-2647	370	4	guojiang shen	PERSON
cana-2647	370	5	gaohui duan	PERSON
cana-2647	370	6	k. das	PERSON
cana-2647	372	1	9	CARDINAL
cana-2647	372	2	1 (	CARDINAL
cana-2647	372	3	2021	CARDINAL
cana-2647	372	4	197	CARDINAL