id	sid	eid	entity	type
fcis-11271	1	1	2832-6024	DATE
fcis-11271	2	1	4	CARDINAL
fcis-11271	2	2	3	CARDINAL
fcis-11271	2	3	2023 144	CARDINAL
fcis-11271	2	4	dongyang xiao	PERSON
fcis-11271	2	5	chengdu university of technology	ORG
fcis-11271	2	6	china	GPE
fcis-11271	2	7	18282611441@126.com	CARDINAL
fcis-11271	2	8	autopilot	ORG
fcis-11271	3	1	recent years	DATE
fcis-11271	4	1	today	DATE
fcis-11271	5	1	recent years	DATE
fcis-11271	8	1	1	CARDINAL
fcis-11271	8	2	the mid-1980s	DATE
fcis-11271	9	1	the last two decades	DATE
fcis-11271	9	2	thorpe et al.	PERSON
fcis-11271	9	3	1991	DATE
fcis-11271	9	4	parma	PERSON
fcis-11271	9	5	1999	DATE
fcis-11271	9	6	ubm	GPE
fcis-11271	9	7	gregor et al.	PERSON
fcis-11271	9	8	1999	DATE
fcis-11271	10	1	2002	DATE
fcis-11271	11	1	three	CARDINAL
fcis-11271	11	2	the past decade	DATE
fcis-11271	12	1	first	ORDINAL
fcis-11271	12	2	the united states	GPE
fcis-11271	12	3	2004	DATE
fcis-11271	12	4	142-mile	QUANTITY
fcis-11271	12	5	10 hours	TIME
fcis-11271	13	1	the first few miles	TIME
fcis-11271	14	1	first	ORDINAL
fcis-11271	14	2	the 1980s	DATE
fcis-11271	16	1	first	ORDINAL
fcis-11271	17	1	second	ORDINAL
fcis-11271	22	1	only one	CARDINAL
fcis-11271	30	1	2	CARDINAL
fcis-11271	30	2	carl benz's	PERSON
fcis-11271	30	3	1886	DATE
fcis-11271	31	1	1925 to 2019	DATE
fcis-11271	32	1	1925	DATE
fcis-11271	32	2	houdina	PERSON
fcis-11271	32	3	american	NORP
fcis-11271	32	4	broadway	FAC
fcis-11271	32	5	new york city	GPE
fcis-11271	33	1	1986	DATE
fcis-11271	33	2	first	ORDINAL
fcis-11271	34	1	cmu	ORG
fcis-11271	34	2	the united states	GPE
fcis-11271	34	3	the bundeswehr university	ORG
fcis-11271	34	4	munich	GPE
fcis-11271	34	5	germany	GPE
fcis-11271	35	1	this day	DATE
fcis-11271	35	2	145	CARDINAL
fcis-11271	36	1	1995	DATE
fcis-11271	36	2	mitsubishi	ORG
fcis-11271	36	3	first	ORDINAL
fcis-11271	36	4	1999	DATE
fcis-11271	36	5	mercedes-benz	ORG
fcis-11271	37	1	2000	DATE
fcis-11271	38	1	today	DATE
fcis-11271	38	2	5cm	QUANTITY
fcis-11271	39	1	2019	DATE
fcis-11271	39	2	bosch	PERSON
fcis-11271	39	3	california	GPE
fcis-11271	40	1	3	CARDINAL
fcis-11271	40	2	3.1	CARDINAL
fcis-11271	44	1	two	CARDINAL
fcis-11271	46	1	localization	ORG
fcis-11271	52	1	two	CARDINAL
fcis-11271	54	1	two	CARDINAL
fcis-11271	56	1	one	CARDINAL
fcis-11271	59	1	at least 3	CARDINAL
fcis-11271	60	1	3.2	CARDINAL
fcis-11271	63	1	three	CARDINAL
fcis-11271	64	1	the united states	GPE
fcis-11271	64	2	2007	DATE
fcis-11271	65	1	three	CARDINAL
fcis-11271	70	1	two	CARDINAL
fcis-11271	71	1	3.3	CARDINAL
fcis-11271	86	1	146	CARDINAL
fcis-11271	87	1	4.	CARDINAL
fcis-11271	91	1	1	CARDINAL
fcis-11271	91	2	david acuna	PERSON
fcis-11271	91	3	huan ling	PERSON
fcis-11271	91	4	amlan kar	PERSON
fcis-11271	91	5	sanja fidler	PERSON
fcis-11271	92	1	polygon	ORG
fcis-11271	93	1	ieee conf	ORG
fcis-11271	95	1	2018	DATE
fcis-11271	96	1	2	CARDINAL
fcis-11271	96	2	sameer agarwal	PERSON
fcis-11271	96	3	noah snavely	PERSON
fcis-11271	96	4	ian simon	PERSON
fcis-11271	96	5	steven m. seitz	PERSON
fcis-11271	96	6	richard szeliski	PERSON
fcis-11271	97	1	rome	GPE
fcis-11271	97	2	a day	DATE
fcis-11271	99	1	the ieee international conf	ORG
fcis-11271	100	1	iccv	GPE
fcis-11271	101	1	2009	DATE
fcis-11271	102	1	3	CARDINAL
fcis-11271	102	2	hamed habibi aghdam	PERSON
fcis-11271	102	3	elnaz jahani	PERSON
fcis-11271	104	1	84	CARDINAL
fcis-11271	104	2	2016	DATE
fcis-11271	105	1	97	CARDINAL
fcis-11271	105	2	112	CARDINAL
fcis-11271	106	1	4	CARDINAL
fcis-11271	106	2	jos´e manuel alvarez	PERSON
fcis-11271	106	3	antonio m. l´opez	PERSON
fcis-11271	109	1	12.1	CARDINAL
fcis-11271	109	2	2011	DATE
fcis-11271	110	1	184–193	CARDINAL
fcis-11271	111	1	5	CARDINAL
fcis-11271	111	2	a. vision-	PERSON
fcis-11271	113	1	2000	DATE
fcis-11271	113	2	32	CARDINAL
fcis-11271	113	3	1-16	CARDINAL