id	sid	eid	entity	type
fcis-1089	1	1	2832-6024	DATE
fcis-1089	2	1	1	CARDINAL
fcis-1089	2	2	1	CARDINAL
fcis-1089	2	3	2022 18	DATE
fcis-1089	2	4	zijie zhang	PERSON
fcis-1089	3	1	1,2	CARDINAL
fcis-1089	3	2	1	CARDINAL
fcis-1089	3	3	sichuan university of science	ORG
fcis-1089	3	4	644000	DATE
fcis-1089	3	5	china	GPE
fcis-1089	3	6	2	CARDINAL
fcis-1089	3	7	sichuan province	GPE
fcis-1089	3	8	644000	DATE
fcis-1089	3	9	china	GPE
fcis-1089	4	1	zijie zhang	PERSON
fcis-1089	4	2	459741358@qq.com	CARDINAL
fcis-1089	8	1	1	CARDINAL
fcis-1089	10	1	3-d	QUANTITY
fcis-1089	12	1	1	CARDINAL
fcis-1089	14	1	rgb	ORG
fcis-1089	14	2	2	CARDINAL
fcis-1089	14	3	recent years	DATE
fcis-1089	14	4	3dof to 6dof	DATE
fcis-1089	14	5	2d	DATE
fcis-1089	14	6	3d	CARDINAL
fcis-1089	14	7	3	CARDINAL
fcis-1089	15	1	2	CARDINAL
fcis-1089	15	2	the past 10 years	DATE
fcis-1089	16	1	the landmark achievement	ORG
fcis-1089	16	2	4	CARDINAL
fcis-1089	16	3	andrew davison	PERSON
fcis-1089	16	4	first	ORDINAL
fcis-1089	16	5	5	CARDINAL
fcis-1089	19	1	6	CARDINAL
fcis-1089	19	2	2011	DATE
fcis-1089	20	1	six degrees	QUANTITY
fcis-1089	21	1	first	ORDINAL
fcis-1089	21	2	georg klein	PERSON
fcis-1089	21	3	two	CARDINAL
fcis-1089	21	4	two	CARDINAL
fcis-1089	23	1	8	CARDINAL
fcis-1089	23	2	first	ORDINAL
fcis-1089	23	3	3d	CARDINAL
fcis-1089	24	1	3-d	QUANTITY
fcis-1089	24	2	5	CARDINAL
fcis-1089	25	1	lsdslam	PERSON
fcis-1089	26	1	9	CARDINAL
fcis-1089	26	2	2014	DATE
fcis-1089	28	1	10	CARDINAL
fcis-1089	28	2	three	CARDINAL
fcis-1089	31	1	3	CARDINAL
fcis-1089	32	1	3.1	CARDINAL
fcis-1089	32	2	2-d/3-d	QUANTITY
fcis-1089	37	1	three	CARDINAL
fcis-1089	37	2	19	CARDINAL
fcis-1089	37	3	11	CARDINAL
fcis-1089	38	1	12	CARDINAL
fcis-1089	38	2	two	CARDINAL
fcis-1089	38	3	two	CARDINAL
fcis-1089	39	1	3.2	CARDINAL
fcis-1089	44	1	recent years	DATE
fcis-1089	46	1	12	CARDINAL
fcis-1089	49	1	kelc	PERSON
fcis-1089	49	2	rgb-dslam	ORG
fcis-1089	50	1	13	CARDINAL
fcis-1089	52	1	4	CARDINAL
fcis-1089	52	2	4.1	CARDINAL
fcis-1089	53	1	14	CARDINAL
fcis-1089	54	1	15	CARDINAL
fcis-1089	55	1	more than 10 years	DATE
fcis-1089	57	1	128	CARDINAL
fcis-1089	59	1	3	CARDINAL
fcis-1089	61	1	1o0	CARDINAL
fcis-1089	61	2	10	CARDINAL
fcis-1089	63	1	16	CARDINAL
fcis-1089	66	1	4.2	CARDINAL
fcis-1089	69	1	1	CARDINAL
fcis-1089	72	1	second	ORDINAL
fcis-1089	72	2	two	CARDINAL
fcis-1089	73	1	3	CARDINAL
fcis-1089	77	1	4.3	CARDINAL
fcis-1089	78	1	3d	CARDINAL
fcis-1089	83	1	first	ORDINAL
fcis-1089	86	1	4.4	CARDINAL
fcis-1089	87	1	3-d	QUANTITY
fcis-1089	89	1	3-d	QUANTITY
fcis-1089	95	1	18	CARDINAL
fcis-1089	96	1	17	CARDINAL
fcis-1089	97	1	20 5	DATE
fcis-1089	97	2	5.1	CARDINAL
fcis-1089	99	1	two	CARDINAL
fcis-1089	104	1	3-d	QUANTITY
fcis-1089	105	1	two	CARDINAL
fcis-1089	105	2	first	ORDINAL
fcis-1089	105	3	second	ORDINAL
fcis-1089	107	1	19	CARDINAL
fcis-1089	110	1	5.2	CARDINAL
fcis-1089	114	1	season	DATE
fcis-1089	115	1	6	CARDINAL
fcis-1089	115	2	the past decade	DATE
fcis-1089	115	3	3d	CARDINAL
fcis-1089	119	1	1	CARDINAL
fcis-1089	119	2	park songhao	GPE
fcis-1089	120	1	2016	DATE
fcis-1089	120	2	11	CARDINAL
fcis-1089	120	3	6	CARDINAL
fcis-1089	120	4	768-776	QUANTITY
fcis-1089	121	1	2	CARDINAL
fcis-1089	121	2	liu haomin	PERSON
fcis-1089	121	3	zhang guofeng	PERSON
fcis-1089	122	1	2016	DATE
fcis-1089	122	2	28	CARDINAL
fcis-1089	122	3	6	CARDINAL
fcis-1089	122	4	35	CARDINAL
fcis-1089	123	1	3	CARDINAL
fcis-1089	123	2	zhao yang	PERSON
fcis-1089	123	3	liu guoliang	PERSON
fcis-1089	123	4	tian guoliang	PERSON
fcis-1089	123	5	2017	DATE
fcis-1089	123	6	39	DATE
fcis-1089	123	7	6	CARDINAL
fcis-1089	123	8	77-85	DATE
fcis-1089	123	9	4	CARDINAL
fcis-1089	123	10	molton n	PERSON
fcis-1089	125	1	2007	DATE
fcis-1089	125	2	29(6):10521067	CARDINAL
fcis-1089	125	3	5	CARDINAL
fcis-1089	125	4	j. davison	PERSON
fcis-1089	126	1	bacelona	GPE
fcis-1089	126	2	spain	GPE
fcis-1089	126	3	2011	DATE
fcis-1089	126	4	2320	CARDINAL
fcis-1089	127	1	6	CARDINAL
fcis-1089	127	2	i. high-precision	PERSON
fcis-1089	128	1	the international journal of robotics research	ORG
fcis-1089	128	2	2013	DATE
fcis-1089	128	3	690	CARDINAL
fcis-1089	129	1	7	CARDINAL
fcis-1089	129	2	davison	PERSON
fcis-1089	130	1	2011	DATE
fcis-1089	130	2	2320	CARDINAL
fcis-1089	131	1	8	CARDINAL
fcis-1089	131	2	kim	PERSON
fcis-1089	131	3	kinectfusion	PERSON
fcis-1089	131	4	3d	CARDINAL
fcis-1089	131	5	camera[c]//proceedings	ORG
fcis-1089	131	6	24th	ORDINAL
fcis-1089	132	1	2011	DATE
fcis-1089	132	2	559-568	CARDINAL
fcis-1089	133	1	9	CARDINAL
fcis-1089	133	2	engel j	PERSON
fcis-1089	133	3	d. lsd-slam	PERSON
fcis-1089	134	1	springer, cham	ORG
fcis-1089	134	2	2014	DATE
fcis-1089	134	3	834	CARDINAL
fcis-1089	135	1	10	CARDINAL
fcis-1089	135	2	klein g	PERSON
fcis-1089	135	3	murray d. parallel	PERSON
fcis-1089	136	1	nara	GPE
fcis-1089	136	2	japan	GPE
fcis-1089	136	3	2007	DATE
fcis-1089	136	4	225	CARDINAL
fcis-1089	137	1	11	CARDINAL
fcis-1089	137	2	fischer	ORG
fcis-1089	137	3	castro g	PERSON
fcis-1089	139	1	2017	CARDINAL
fcis-1089	139	2	93	CARDINAL
fcis-1089	139	3	27	CARDINAL
fcis-1089	140	1	12	CARDINAL
fcis-1089	140	2	elliott s r	PERSON
fcis-1089	140	3	engel j.	PERSON
fcis-1089	141	1	2008	DATE
fcis-1089	141	2	481	CARDINAL
fcis-1089	142	1	13	CARDINAL
fcis-1089	142	2	zell a.	ORG
fcis-1089	143	1	2013	DATE
fcis-1089	143	2	1062-1068	CARDINAL
fcis-1089	144	1	14	CARDINAL
fcis-1089	144	2	s. sift:	PERSON
fcis-1089	145	1	2003	DATE
fcis-1089	145	2	3812-3814	DATE
fcis-1089	146	1	21	CARDINAL
fcis-1089	147	1	15	CARDINAL
fcis-1089	147	2	tami t.	PERSON
fcis-1089	148	1	4	CARDINAL
fcis-1089	149	1	2010	DATE
fcis-1089	149	2	181	CARDINAL
fcis-1089	150	1	16	CARDINAL
fcis-1089	150	2	chen weidong	PERSON
fcis-1089	150	3	zhang fei	PERSON
fcis-1089	150	4	2005	DATE
fcis-1089	150	5	3	CARDINAL
fcis-1089	150	6	455-460	QUANTITY
fcis-1089	150	7	17	CARDINAL
fcis-1089	150	8	kümmerle	PERSON
fcis-1089	150	9	strasdat h	ORG
fcis-1089	151	1	shanghai	GPE
fcis-1089	151	2	china	GPE
fcis-1089	152	1	2011	DATE
fcis-1089	152	2	9-13	CARDINAL
fcis-1089	153	1	18	CARDINAL
fcis-1089	153	2	j j.	PERSON
fcis-1089	153	3	levenberg-marquardt	ORG
fcis-1089	153	4	theory[m]//numerical	ORG
fcis-1089	154	1	springer, berlin	GPE
fcis-1089	154	2	heidelberg	GPE
fcis-1089	154	3	1978	DATE
fcis-1089	154	4	105	CARDINAL
fcis-1089	155	1	19	CARDINAL
fcis-1089	155	2	zheng zhiqiang	PERSON
fcis-1089	155	3	zhang hui analysis	PERSON
fcis-1089	155	4	2008	DATE
fcis-1089	155	5	3	CARDINAL
fcis-1089	155	6	323	CARDINAL