id	sid	eid	entity	type
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fcis-15765	2	2	3	CARDINAL
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fcis-15765	11	1	1	CARDINAL
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fcis-15765	20	1	6][7	CARDINAL
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fcis-15765	24	1	the past decade	DATE
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fcis-15765	40	2	two	CARDINAL
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fcis-15765	42	2	3d	CARDINAL
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fcis-15765	45	1	3d	CARDINAL
fcis-15765	45	2	two	CARDINAL
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fcis-15765	47	3	two	CARDINAL
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fcis-15765	54	2	3d	CARDINAL
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fcis-15765	71	4	rgb	ORG
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fcis-15765	74	1	rgb	ORG
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fcis-15765	80	1	kitti	ORG
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fcis-15765	81	1	27	CARDINAL
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fcis-15765	83	1	first	ORDINAL
fcis-15765	83	2	as many as 150,000	CARDINAL
fcis-15765	83	3	3d	CARDINAL
fcis-15765	83	4	28	CARDINAL
fcis-15765	83	5	second	ORDINAL
fcis-15765	83	6	29	CARDINAL
fcis-15765	84	1	eigen et al	ORG
fcis-15765	85	1	10	CARDINAL
fcis-15765	85	2	56	CARDINAL
fcis-15765	85	3	kitti	ORG
fcis-15765	85	4	two	CARDINAL
fcis-15765	85	5	28	CARDINAL
fcis-15765	85	6	28	CARDINAL
fcis-15765	86	1	1224	CARDINAL
fcis-15765	87	1	kitti	ORG
fcis-15765	87	2	30	CARDINAL
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fcis-15765	90	3	rgb	ORG
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fcis-15765	91	1	first	ORDINAL
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fcis-15765	94	2	rgb	ORG
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fcis-15765	100	2	months	DATE
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fcis-15765	102	1	3.2	CARDINAL
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fcis-15765	102	3	five	CARDINAL
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fcis-15765	108	1	1	CARDINAL
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fcis-15765	113	1	2	CARDINAL
fcis-15765	120	1		PERSON
fcis-15765	120	2	3	CARDINAL
fcis-15765	120	3	2	CARDINAL
fcis-15765	124	1		PERSON
fcis-15765	124	2	4	CARDINAL
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fcis-15765	140	1	rgb	ORG
fcis-15765	140	2	1	CARDINAL
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fcis-15765	143	2	three	CARDINAL
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fcis-15765	150	1	128	CARDINAL
fcis-15765	150	2	160	CARDINAL
fcis-15765	152	1	li et al	PERSON
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fcis-15765	153	2	cnn	ORG
fcis-15765	153	3	rgb	ORG
fcis-15765	155	1	11	CARDINAL
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fcis-15765	155	3	36	CARDINAL
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fcis-15765	161	1	ladicky et al	PERSON
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fcis-15765	162	2	liu et al	PERSON
fcis-15765	163	1	40	CARDINAL
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fcis-15765	167	2	first	ORDINAL
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fcis-15765	181	1	xie et al	PERSON
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fcis-15765	184	1	13	CARDINAL
fcis-15765	185	1	godard et al	PERSON
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fcis-15765	186	2	jaderberg et al	PERSON
fcis-15765	187	1	45	CARDINAL
fcis-15765	187	2	first	ORDINAL
fcis-15765	188	1	tosi et al	PERSON
fcis-15765	189	1	46	CARDINAL
fcis-15765	190	1	wong	PERSON
fcis-15765	190	2	47	CARDINAL
fcis-15765	195	1	2	CARDINAL
fcis-15765	195	2	zhou et al	PERSON
fcis-15765	196	1	14	CARDINAL
fcis-15765	197	1	three	CARDINAL
fcis-15765	197	2	fed	ORG
fcis-15765	198	1	cnn	ORG
fcis-15765	198	2	cnn	ORG
fcis-15765	198	3	first	ORDINAL
fcis-15765	200	1	48	CARDINAL
fcis-15765	202	1	14	CARDINAL
fcis-15765	202	2	prasad	ORG
fcis-15765	202	3	50	CARDINAL
fcis-15765	203	1	49	CARDINAL
fcis-15765	205	1	klodt	PERSON
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fcis-15765	205	3	14	CARDINAL
fcis-15765	206	1	first	ORDINAL
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fcis-15765	211	1	two	CARDINAL
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fcis-15765	214	2	first	ORDINAL
fcis-15765	218	1	mehta et al	PERSON
fcis-15765	219	1	54	CARDINAL
fcis-15765	223	1	2	CARDINAL
fcis-15765	223	2	zhou et al	PERSON
fcis-15765	224	1	14	CARDINAL
fcis-15765	224	2	6	CARDINAL
fcis-15765	227	1	32	CARDINAL
fcis-15765	231	1	1	CARDINAL
fcis-15765	231	2	zhou	PERSON
fcis-15765	231	3	koltun	PERSON
fcis-15765	232	1	2019	DATE
fcis-15765	232	2	4(30	CARDINAL
fcis-15765	232	3	eaaw6661	ORG
fcis-15765	233	1	2	CARDINAL
fcis-15765	233	2	lenz p	PERSON
fcis-15765	233	3	urtasun r.	NORP
fcis-15765	234	1	kitti vision benchmark	ORG
fcis-15765	235	1	2012	DATE
fcis-15765	235	2	3354-3361	CARDINAL
fcis-15765	236	1	3	CARDINAL
fcis-15765	236	2	kazmi w	PERSON
fcis-15765	236	3	alenyà g	PERSON
fcis-15765	237	1	isprs journal	ORG
fcis-15765	237	2	2014	DATE
fcis-15765	237	3	88	CARDINAL
fcis-15765	237	4	128	CARDINAL
fcis-15765	238	1	4	CARDINAL
fcis-15765	238	2	3d	CARDINAL
fcis-15765	239	1	isprs journal	ORG
fcis-15765	239	2	2009	DATE
fcis-15765	239	3	64(6	DATE
fcis-15765	239	4	529-540	CARDINAL
fcis-15765	240	1	5	CARDINAL
fcis-15765	241	1	2018	DATE
fcis-15765	241	2	6393-6401	DATE
fcis-15765	242	1	6	CARDINAL
fcis-15765	242	2	peng j	PERSON
fcis-15765	245	1	isprs journal	ORG
fcis-15765	245	2	2018	DATE
fcis-15765	245	3	139	CARDINAL
fcis-15765	245	4	133	CARDINAL
fcis-15765	246	1	7	CARDINAL
fcis-15765	246	2	bischof h.	PERSON
fcis-15765	247	1	isprs journal	ORG
fcis-15765	247	2	2018	DATE
fcis-15765	247	3	143	CARDINAL
fcis-15765	247	4	167	CARDINAL
fcis-15765	248	1	8	CARDINAL
fcis-15765	248	2	quint f	ORG
fcis-15765	249	1	isprs journal	ORG
fcis-15765	249	2	2016	DATE
fcis-15765	249	3	118	CARDINAL
fcis-15765	249	4	83-100	CARDINAL
fcis-15765	250	1	9	CARDINAL
fcis-15765	250	2	zhang x	PERSON
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fcis-15765	254	1	10	CARDINAL
fcis-15765	254	2	fergus r. depth	PERSON
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fcis-15765	255	2	27	DATE
fcis-15765	256	1	11	CARDINAL
fcis-15765	256	2	rupprecht c	ORG
fcis-15765	257	1	fourth	ORDINAL
fcis-15765	257	2	3d	CARDINAL
fcis-15765	257	3	3dv	ORDINAL
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fcis-15765	258	2	239	CARDINAL
fcis-15765	259	1	12	CARDINAL
fcis-15765	259	2	wang	PERSON
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fcis-15765	261	2	2002-2011	DATE
fcis-15765	262	1	13	CARDINAL
fcis-15765	262	2	bg v k	PERSON
fcis-15765	262	3	carneiro g	PERSON
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fcis-15765	263	4	14th	ORDINAL
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fcis-15765	263	9	2016	DATE
fcis-15765	263	10	14	CARDINAL
fcis-15765	264	1	2016	CARDINAL
fcis-15765	265	1	740	CARDINAL
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fcis-15765	268	1	2017	CARDINAL
fcis-15765	268	2	1851-1858	DATE
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fcis-15765	271	3	203(1153	DATE
fcis-15765	271	4	405	CARDINAL
fcis-15765	272	1	16	CARDINAL
fcis-15765	272	2	mancini f	PERSON
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fcis-15765	272	4	uav	ORG
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fcis-15765	273	2	5(12	DATE
fcis-15765	273	3	6880-6898	DATE
fcis-15765	274	1	17	CARDINAL
fcis-15765	274	2	montiel j m m	PERSON
fcis-15765	274	3	j d. orb-slam	PERSON
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fcis-15765	275	2	1147-1163	DATE
fcis-15765	276	1	18	CARDINAL
fcis-15765	276	2	kang	PERSON
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fcis-15765	277	2	19(5	DATE
fcis-15765	277	3	506	CARDINAL
fcis-15765	278	1	19	CARDINAL
fcis-15765	278	2	li y.	PERSON
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fcis-15765	279	2	185	CARDINAL
fcis-15765	280	1	20	CARDINAL
fcis-15765	280	2	wang h.	PERSON
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fcis-15765	281	2	2015	DATE
fcis-15765	281	3	29(2	DATE
fcis-15765	281	4	7075	DATE
fcis-15765	282	1	21	CARDINAL
fcis-15765	282	2	manière t	GPE
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fcis-15765	282	4	13th	ORDINAL
fcis-15765	283	1	1996	DATE
fcis-15765	283	2	1	CARDINAL
fcis-15765	283	3	161	CARDINAL
fcis-15765	284	1	22	CARDINAL
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fcis-15765	284	3	three	CARDINAL
fcis-15765	285	1	2020	DATE
fcis-15765	285	2	17(1): 1729881419896717	DATE
fcis-15765	286	1	23	CARDINAL
fcis-15765	286	2	laina	PERSON
fcis-15765	287	1	cnn	ORG
fcis-15765	288	1	2017	CARDINAL
fcis-15765	288	2	6243-6252	DATE
fcis-15765	289	1	24	CARDINAL
fcis-15765	289	2	k, tehrani h	ORG
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fcis-15765	290	2	1345-1350	CARDINAL
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fcis-15765	291	9	12	CARDINAL
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fcis-15765	292	3	746	CARDINAL
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fcis-15765	293	2	liu f	PERSON
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fcis-15765	295	2	lenz p	PERSON
fcis-15765	296	1	kitti	ORG
fcis-15765	297	1	the international journal of robotics research	ORG
fcis-15765	297	2	2013	DATE
fcis-15765	297	3	32(11	DATE
fcis-15765	297	4	1231-1237	DATE
fcis-15765	298	1	28	CARDINAL
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fcis-15765	298	6	2d	CARDINAL
fcis-15765	299	1	2016	CARDINAL
fcis-15765	299	2	3688-3697	DATE
fcis-15765	300	1	29	CARDINAL
fcis-15765	300	2	engel j	PERSON
fcis-15765	300	3	d. lsd-slam	PERSON
fcis-15765	301	1	2014	DATE
fcis-15765	301	2	834849	DATE
fcis-15765	302	1	30	CARDINAL
fcis-15765	302	2	cipolla r. geometric	PERSON
fcis-15765	303	1	2017	CARDINAL
fcis-15765	303	2	5974-5983	DATE
fcis-15765	304	1	33	CARDINAL
fcis-15765	305	1	3d	CARDINAL
fcis-15765	306	1	2008	DATE
fcis-15765	306	2	31(5	DATE
fcis-15765	306	3	824840	DATE
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fcis-15765	307	2	mac aodha o	ORG
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fcis-15765	308	2	270	CARDINAL
fcis-15765	309	1	9	CARDINAL
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fcis-15765	310	2	cordts m	ORG
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fcis-15765	312	1	2016	CARDINAL
fcis-15765	312	2	3213-3223	CARDINAL
fcis-15765	313	1	34	CARDINAL
fcis-15765	313	2	dos santos rosa n	PERSON
fcis-15765	313	3	grassi	PERSON
fcis-15765	313	4	19th	ORDINAL
fcis-15765	314	1	2019	DATE
fcis-15765	314	2	793-800	CARDINAL
fcis-15765	315	1	35	CARDINAL
fcis-15765	315	2	ott l. hilbert	PERSON
fcis-15765	316	1	the international journal of robotics research	ORG
fcis-15765	316	2	2016	DATE
fcis-15765	316	3	1717-1730	DATE
fcis-15765	317	1	36	CARDINAL
fcis-15765	317	2	dai	ORG
fcis-15765	318	1	2018	DATE
fcis-15765	318	2	83	CARDINAL
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fcis-15765	319	2	xian k	PERSON
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fcis-15765	321	1	2019	CARDINAL
fcis-15765	321	2	17601764	CARDINAL
fcis-15765	322	1	38	CARDINAL
fcis-15765	322	2	fergus r. predicting	PERSON
fcis-15765	323	1	2015	CARDINAL
fcis-15765	323	2	2650-2658	CARDINAL
fcis-15765	324	1	39	CARDINAL
fcis-15765	324	2	shi j	PERSON
fcis-15765	324	3	pollefeys m.	PERSON
fcis-15765	325	1	2014	DATE
fcis-15765	325	2	89-96	CARDINAL
fcis-15765	326	1	40	CARDINAL
fcis-15765	326	2	liu m	PERSON
fcis-15765	326	3	salzmann m	PERSON
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fcis-15765	328	1	716-723	CARDINAL
fcis-15765	329	1	41	CARDINAL
fcis-15765	330	1	2017	DATE
fcis-15765	330	2	30	DATE
fcis-15765	331	1	42	CARDINAL
fcis-15765	331	2	koltun	PERSON
fcis-15765	334	1	2021	CARDINAL
fcis-15765	334	2	1217912188	CARDINAL
fcis-15765	335	1	43	CARDINAL
fcis-15765	337	1	2021	CARDINAL
fcis-15765	337	2	4009-4018	DATE
fcis-15765	338	1	44	CARDINAL
fcis-15765	338	2	xie j	PERSON
fcis-15765	338	3	farhadi a. deep3d	PERSON
fcis-15765	338	4	2d	CARDINAL
fcis-15765	338	5	2016	DATE
fcis-15765	338	6	14th	ORDINAL
fcis-15765	338	7	european	NORP
fcis-15765	338	8	amsterdam	GPE
fcis-15765	338	9	netherlands	GPE
fcis-15765	338	10	october 11–14	DATE
fcis-15765	338	11	2016	DATE
fcis-15765	338	12	14	CARDINAL
fcis-15765	339	1	2016	CARDINAL
fcis-15765	339	2	842	CARDINAL
fcis-15765	340	1	45	CARDINAL
fcis-15765	340	2	jaderberg m	PERSON
fcis-15765	340	3	simonyan k	PERSON
fcis-15765	341	1	2015	DATE
fcis-15765	341	2	28	CARDINAL
fcis-15765	342	1	46	CARDINAL
fcis-15765	344	1	2019	DATE
fcis-15765	344	2	9799-9809	DATE
fcis-15765	345	1	47	CARDINAL
fcis-15765	345	2	s. bilateral cyclic constraint	ORG
fcis-15765	346	1	2019	DATE
fcis-15765	346	2	5644-5653	DATE
fcis-15765	347	1	48	CARDINAL
fcis-15765	348	1	2019	CARDINAL
fcis-15765	348	2	42104219	DATE
fcis-15765	349	1	49	CARDINAL
fcis-15765	349	2	mayer n	PERSON
fcis-15765	349	3	ilg e	ORG
fcis-15765	351	1	2016	CARDINAL
fcis-15765	351	2	4040-4048	CARDINAL
fcis-15765	352	1	50	CARDINAL
fcis-15765	352	2	bhowmick b.	PERSON
fcis-15765	352	3	2019	CARDINAL
fcis-15765	352	4	winter	DATE
fcis-15765	353	1	2019	DATE
fcis-15765	353	2	2087-2096	CARDINAL
fcis-15765	354	1	51	CARDINAL
fcis-15765	354	2	klodt m	PERSON
fcis-15765	354	3	vedaldi a.	PERSON
fcis-15765	354	4	european	NORP
fcis-15765	355	1	2018	DATE
fcis-15765	355	2	698	CARDINAL
fcis-15765	356	1	52	CARDINAL
fcis-15765	356	2	tardós j d. orb-slam2	PERSON
fcis-15765	356	3	rgb-d cameras[j	ORG
fcis-15765	357	1	2017	DATE
fcis-15765	357	2	33(5	CARDINAL
fcis-15765	357	3	1255-1262	DATE
fcis-15765	358	1	53	CARDINAL
fcis-15765	358	2	prediction[c]//	ORG
fcis-15765	358	3	the european conference on computer vision	ORG
fcis-15765	359	1	2018	DATE
fcis-15765	359	2	0	CARDINAL
fcis-15765	360	1	54	CARDINAL
fcis-15765	360	2	narayanan p j.	PERSON
fcis-15765	360	3	2018	DATE
fcis-15765	360	4	3d	CARDINAL
fcis-15765	360	5	3dv	ORDINAL
fcis-15765	361	1	2018	DATE
fcis-15765	361	2	314	CARDINAL
fcis-15765	362	1	55	CARDINAL
fcis-15765	363	1	china technological sciences	ORG
fcis-15765	363	2	2020	DATE
fcis-15765	363	3	63(9	CARDINAL
fcis-15765	363	4	1612-1627	DATE
fcis-15765	364	1	56	CARDINAL
fcis-15765	365	1	2022	CARDINAL
fcis-15765	365	2	5353	CARDINAL