id sid eid entity type fcis-1629 1 1 2832-6024 DATE fcis-1629 2 1 1 CARDINAL fcis-1629 2 2 2 CARDINAL fcis-1629 2 3 2022 CARDINAL fcis-1629 2 4 27 CARDINAL fcis-1629 2 5 3d CARDINAL fcis-1629 2 6 liu 1 PERSON fcis-1629 2 7 1 CARDINAL fcis-1629 2 8 1 CARDINAL fcis-1629 2 9 institute of xi'an ORG fcis-1629 2 10 xi’an GPE fcis-1629 2 11 710025 DATE fcis-1629 2 12 shanxi province GPE fcis-1629 2 13 china GPE fcis-1629 2 14 3d CARDINAL fcis-1629 3 1 3d CARDINAL fcis-1629 5 1 3d CARDINAL fcis-1629 5 2 3d CARDINAL fcis-1629 6 1 3d CARDINAL fcis-1629 7 1 3d CARDINAL fcis-1629 7 2 3d CARDINAL fcis-1629 8 1 1 CARDINAL fcis-1629 8 2 3d CARDINAL fcis-1629 9 1 3d CARDINAL fcis-1629 11 1 2d CARDINAL fcis-1629 11 2 3d CARDINAL fcis-1629 11 3 two CARDINAL fcis-1629 11 4 one CARDINAL fcis-1629 11 5 two CARDINAL fcis-1629 12 1 two CARDINAL fcis-1629 12 2 one CARDINAL fcis-1629 13 1 first ORDINAL fcis-1629 16 1 two CARDINAL fcis-1629 17 1 two CARDINAL fcis-1629 17 2 one CARDINAL fcis-1629 18 1 3d CARDINAL fcis-1629 18 2 one CARDINAL fcis-1629 18 3 3d CARDINAL fcis-1629 19 1 2d DATE fcis-1629 20 1 one CARDINAL fcis-1629 20 2 3d CARDINAL fcis-1629 21 1 one CARDINAL fcis-1629 21 2 3d CARDINAL fcis-1629 22 1 one CARDINAL fcis-1629 22 2 3d CARDINAL fcis-1629 23 1 centerpoint ORG fcis-1629 24 1 3d CARDINAL fcis-1629 25 1 3d CARDINAL fcis-1629 25 2 3d CARDINAL fcis-1629 26 1 3d CARDINAL fcis-1629 27 1 kitti ORG fcis-1629 28 1 three-fold CARDINAL fcis-1629 28 2 one CARDINAL fcis-1629 28 3 3d CARDINAL fcis-1629 28 4 3d CARDINAL fcis-1629 28 5 2d CARDINAL fcis-1629 30 1 kitti ORG fcis-1629 32 1 2 CARDINAL fcis-1629 32 2 first ORDINAL fcis-1629 32 3 3d CARDINAL fcis-1629 33 1 3d CARDINAL fcis-1629 34 1 2.1 CARDINAL fcis-1629 35 1 3d CARDINAL fcis-1629 36 1 first ORDINAL fcis-1629 36 2 3d CARDINAL fcis-1629 41 1 28 CARDINAL fcis-1629 44 1 1 CARDINAL fcis-1629 44 2 f$ MONEY fcis-1629 44 3 3d CARDINAL fcis-1629 46 1 1 CARDINAL fcis-1629 46 2 3d CARDINAL fcis-1629 48 1 𝐿𝑁 ORG fcis-1629 49 1 2 CARDINAL fcis-1629 49 2 πΉπ‘™βˆ’1 CARDINAL fcis-1629 50 1 𝐹𝑀𝑆𝐴 ORG fcis-1629 50 2 𝐿𝑁 ORG fcis-1629 50 3 1 CARDINAL fcis-1629 51 1 3d CARDINAL fcis-1629 51 2 2 CARDINAL fcis-1629 53 1 1 CARDINAL fcis-1629 53 2 kitti ORG fcis-1629 53 3 3d CARDINAL fcis-1629 53 4 two CARDINAL fcis-1629 53 5 82.79 MONEY fcis-1629 53 6 65.42 CARDINAL fcis-1629 53 7 60.33 MONEY fcis-1629 53 8 90.03 69.54 CARDINAL fcis-1629 53 9 two CARDINAL fcis-1629 53 10 83.37 MONEY fcis-1629 53 11 50.59 MONEY fcis-1629 53 12 66.64 CARDINAL fcis-1629 53 13 votr-tsd ORG fcis-1629 53 14 two CARDINAL fcis-1629 53 15 84.85 CARDINAL fcis-1629 53 16 67.42 CARDINAL fcis-1629 53 17 two CARDINAL fcis-1629 53 18 84.64 CARDINAL fcis-1629 53 19 66.87 CARDINAL fcis-1629 54 1 one CARDINAL fcis-1629 54 2 one CARDINAL fcis-1629 54 3 59.42 CARDINAL fcis-1629 54 4 cia ORG fcis-1629 54 5 one CARDINAL fcis-1629 54 6 second ORDINAL fcis-1629 54 7 78.36 CARDINAL fcis-1629 54 8 centerpoint ORG fcis-1629 54 9 one CARDINAL fcis-1629 54 10 88.46 MONEY fcis-1629 54 11 55.39 CARDINAL fcis-1629 54 12 one 81.22 CARDINAL fcis-1629 54 13 79.11 MONEY fcis-1629 54 14 69.30 MONEY fcis-1629 54 15 29 CARDINAL fcis-1629 54 16 2 CARDINAL fcis-1629 54 17 kitti ORG fcis-1629 54 18 two CARDINAL fcis-1629 54 19 95.33 CARDINAL fcis-1629 54 20 86.33 CARDINAL fcis-1629 54 21 two CARDINAL fcis-1629 54 22 92.88 MONEY fcis-1629 54 23 75.15 MONEY fcis-1629 54 24 70.38 CARDINAL fcis-1629 54 25 two CARDINAL fcis-1629 54 26 69.98 CARDINAL fcis-1629 54 27 two CARDINAL fcis-1629 54 28 91.17 95.44 MONEY fcis-1629 54 29 91.62 CARDINAL fcis-1629 54 30 one CARDINAL fcis-1629 54 31 79.90 55.58 CARDINAL fcis-1629 54 32 one CARDINAL fcis-1629 54 33 58.25 CARDINAL fcis-1629 54 34 cia ORG fcis-1629 54 35 one CARDINAL fcis-1629 54 36 second ORDINAL fcis-1629 54 37 one CARDINAL fcis-1629 54 38 70.35 66.38 CARDINAL fcis-1629 54 39 centerpoint ORG fcis-1629 54 40 one CARDINAL fcis-1629 54 41 94.45 CARDINAL fcis-1629 54 42 one CARDINAL fcis-1629 54 43 92.14 CARDINAL fcis-1629 54 44 70.62 CARDINAL fcis-1629 54 45 𝑀𝐿𝑃 ORG fcis-1629 55 1 βˆšπ‘‘π‘˜ DATE fcis-1629 55 2 3 CARDINAL fcis-1629 59 1 4 CARDINAL fcis-1629 60 1 0.01 CARDINAL fcis-1629 62 1 2.2 CARDINAL fcis-1629 64 1 3d CARDINAL fcis-1629 65 1 + πΆπ‘œ PERSON fcis-1629 65 2 π‘π‘œ ORG fcis-1629 65 3 πΆπ‘œ ORG fcis-1629 66 1 π‘π‘œ Γ— 𝐾 Γ— ORG fcis-1629 68 1 1 CARDINAL fcis-1629 68 2 3d CARDINAL fcis-1629 69 1 2.3 CARDINAL fcis-1629 70 1 3d CARDINAL fcis-1629 70 2 3d CARDINAL fcis-1629 70 3 one CARDINAL fcis-1629 70 4 3d CARDINAL fcis-1629 71 1 3d CARDINAL fcis-1629 72 1 3d CARDINAL fcis-1629 73 1 3d CARDINAL fcis-1629 74 1 2 CARDINAL fcis-1629 74 2 3d CARDINAL fcis-1629 75 1 two CARDINAL fcis-1629 76 1 first ORDINAL fcis-1629 76 2 3d CARDINAL fcis-1629 76 3 second ORDINAL fcis-1629 76 4 3d CARDINAL fcis-1629 77 1 3 CARDINAL fcis-1629 77 2 3.1 CARDINAL fcis-1629 78 1 kitti ORG fcis-1629 78 2 kitti ORG fcis-1629 78 3 7481 DATE fcis-1629 78 4 7518 DATE fcis-1629 81 1 3712 CARDINAL fcis-1629 81 2 3769 CARDINAL fcis-1629 82 1 three CARDINAL fcis-1629 83 1 kitti ORG fcis-1629 86 1 80 epoches QUANTITY fcis-1629 86 2 kitti ORG fcis-1629 87 1 init ORG fcis-1629 87 2 0.003 CARDINAL fcis-1629 87 3 0.0000001 CARDINAL fcis-1629 88 1 5 CARDINAL fcis-1629 88 2 5 CARDINAL fcis-1629 89 1 two CARDINAL fcis-1629 89 2 3090 CARDINAL fcis-1629 90 1 20.04 CARDINAL fcis-1629 90 2 3.8 CARDINAL fcis-1629 90 3 1.8.1 CARDINAL fcis-1629 90 4 3.2 CARDINAL fcis-1629 91 1 kitti ORG fcis-1629 91 2 3d CARDINAL fcis-1629 91 3 kitti validation ORG fcis-1629 93 1 table1 GPE fcis-1629 93 2 table2 GPE fcis-1629 94 1 kitti ORG fcis-1629 95 1 table3 ORG fcis-1629 96 1 3d CARDINAL fcis-1629 96 2 bev ap PERSON fcis-1629 97 1 1 CARDINAL fcis-1629 97 2 one CARDINAL fcis-1629 98 1 two CARDINAL fcis-1629 98 2 30 CARDINAL fcis-1629 99 1 second ORDINAL fcis-1629 99 2 3d CARDINAL fcis-1629 99 3 3d CARDINAL fcis-1629 99 4 cia ORG fcis-1629 99 5 3d CARDINAL fcis-1629 100 1 second ORDINAL fcis-1629 100 2 3d CARDINAL fcis-1629 100 3 3d CARDINAL fcis-1629 100 4 cia ORG fcis-1629 100 5 3d CARDINAL fcis-1629 101 1 second ORDINAL fcis-1629 101 2 3d CARDINAL fcis-1629 101 3 3d CARDINAL fcis-1629 101 4 cia ORG fcis-1629 101 5 3d CARDINAL fcis-1629 102 1 second ORDINAL fcis-1629 102 2 3d CARDINAL fcis-1629 102 3 3d CARDINAL fcis-1629 102 4 cia ORG fcis-1629 102 5 3d CARDINAL fcis-1629 103 1 2 CARDINAL fcis-1629 103 2 one CARDINAL fcis-1629 103 3 3d CARDINAL fcis-1629 104 1 3d CARDINAL fcis-1629 105 1 4. CARDINAL fcis-1629 105 2 3d CARDINAL fcis-1629 106 1 3d CARDINAL fcis-1629 107 1 3d CARDINAL fcis-1629 107 2 3d CARDINAL fcis-1629 108 1 one CARDINAL fcis-1629 110 1 1 CARDINAL fcis-1629 110 2 o. tuzel PERSON fcis-1629 110 3 3d CARDINAL fcis-1629 110 4 2018 DATE fcis-1629 111 1 4490–4499 CARDINAL fcis-1629 112 1 2 CARDINAL fcis-1629 112 2 y. yan PERSON fcis-1629 112 3 y. mao PERSON fcis-1629 112 4 b. li PERSON fcis-1629 112 5 second ORDINAL fcis-1629 112 6 18 CARDINAL fcis-1629 112 7 10 CARDINAL fcis-1629 112 8 3337 CARDINAL fcis-1629 112 9 2018 DATE fcis-1629 113 1 3 CARDINAL fcis-1629 113 2 a. h. lang PERSON fcis-1629 113 3 s. vora PERSON fcis-1629 113 4 h. caesar PERSON fcis-1629 113 5 l. zhou PERSON fcis-1629 113 6 j. yang PERSON fcis-1629 113 7 2019 DATE fcis-1629 113 8 12697– 12705 DATE fcis-1629 114 1 4 CARDINAL fcis-1629 114 2 g. zhang PERSON fcis-1629 114 3 s. lu PERSON fcis-1629 114 4 w. zhang PERSON fcis-1629 115 1 geosci PERSON fcis-1629 117 1 57 DATE fcis-1629 117 2 12 CARDINAL fcis-1629 118 1 10015–10024, 2019 DATE fcis-1629 119 1 5 CARDINAL fcis-1629 119 2 w. zheng PERSON fcis-1629 119 3 w. tang PERSON fcis-1629 119 4 s. chen PERSON fcis-1629 119 5 l. jiang PERSON fcis-1629 119 6 iou PERSON fcis-1629 119 7 arxiv ORG fcis-1629 119 8 arxiv201203015 ORG fcis-1629 119 9 2020 DATE fcis-1629 120 1 6 CARDINAL fcis-1629 120 2 h. zeng PERSON fcis-1629 120 3 j. huang PERSON fcis-1629 120 4 hua PERSON fcis-1629 120 5 l. zhang PERSON fcis-1629 120 6 3d CARDINAL fcis-1629 120 7 2020 DATE fcis-1629 120 8 11873–11882 DATE fcis-1629 121 1 7 CARDINAL fcis-1629 121 2 z. yang PERSON fcis-1629 121 3 y. sun PERSON fcis-1629 121 4 s. liu PERSON fcis-1629 121 5 j. jia PERSON fcis-1629 121 6 3dssd CARDINAL fcis-1629 121 7 3d CARDINAL fcis-1629 121 8 2020 DATE fcis-1629 122 1 11040–11048 CARDINAL fcis-1629 123 1 8 CARDINAL fcis-1629 123 2 r. zhang PERSON fcis-1629 123 3 s. tang PERSON fcis-1629 123 4 l. liu PERSON fcis-1629 123 5 y. zhang PERSON fcis-1629 123 6 j. li PERSON fcis-1629 123 7 s. yan PERSON fcis-1629 123 8 2018 DATE fcis-1629 125 1 9 CARDINAL fcis-1629 125 2 x. zhou PERSON fcis-1629 125 3 3d CARDINAL fcis-1629 125 4 2021 DATE fcis-1629 126 1 10 CARDINAL fcis-1629 126 2 s. shi PERSON fcis-1629 126 3 x. wang PERSON fcis-1629 126 4 h. li PERSON fcis-1629 126 5 3d CARDINAL fcis-1629 126 6 2019 DATE fcis-1629 127 1 770–779 CARDINAL fcis-1629 128 1 11 CARDINAL fcis-1629 128 2 s. shi PERSON fcis-1629 128 3 z. wang PERSON fcis-1629 128 4 x. wang PERSON fcis-1629 128 5 h. li PERSON fcis-1629 128 6 2 CARDINAL fcis-1629 128 7 3d CARDINAL fcis-1629 128 8 arxiv ORG fcis-1629 129 1 arxiv190703670 ORG fcis-1629 129 2 2 CARDINAL fcis-1629 129 3 3, 2019 DATE fcis-1629 130 1 12 CARDINAL fcis-1629 130 2 s. shi et al PERSON fcis-1629 130 3 3d CARDINAL fcis-1629 130 4 2020 DATE fcis-1629 131 1 10529–10538 CARDINAL fcis-1629 132 1 13 CARDINAL fcis-1629 132 2 s. shi et al PERSON fcis-1629 132 3 3d CARDINAL fcis-1629 132 4 arxiv ORG fcis-1629 133 1 arxiv210200463 PERSON fcis-1629 133 2 2021 DATE fcis-1629 134 1 14 CARDINAL fcis-1629 134 2 k. czarnecki PERSON fcis-1629 134 3 3d CARDINAL fcis-1629 134 4 arxiv ORG fcis-1629 135 1 2020 DATE fcis-1629 136 1 15 CARDINAL fcis-1629 136 2 z. li PERSON fcis-1629 136 3 y. yao PERSON fcis-1629 136 4 z. quan PERSON fcis-1629 136 5 w. yang PERSON fcis-1629 136 6 j. xie PERSON fcis-1629 136 7 3d CARDINAL fcis-1629 136 8 arxiv ORG fcis-1629 136 9 arxiv210315396 PERSON fcis-1629 136 10 2021 DATE fcis-1629 137 1 16 CARDINAL fcis-1629 137 2 s. pang PERSON fcis-1629 137 3 d. morris ORG fcis-1629 137 4 h. radha PERSON fcis-1629 137 5 3d CARDINAL fcis-1629 137 6 2020 DATE fcis-1629 137 7 2020 DATE fcis-1629 137 8 10386–10393 CARDINAL fcis-1629 138 1 17 CARDINAL fcis-1629 138 2 a. mahmoud PERSON fcis-1629 138 3 j. s. hu PERSON fcis-1629 138 4 s. l. waslander PERSON fcis-1629 138 5 3d CARDINAL fcis-1629 138 6 arxiv ORG fcis-1629 139 1 arxiv220300871 ORG fcis-1629 139 2 2022 CARDINAL fcis-1629 140 1 18 CARDINAL fcis-1629 140 2 3d CARDINAL fcis-1629 140 3 arxiv prepr. ORG fcis-1629 141 1 arxiv220309780 ORG fcis-1629 141 2 2022 CARDINAL fcis-1629 142 1 19 CARDINAL fcis-1629 142 2 j. deng PERSON fcis-1629 142 3 s. shi PERSON fcis-1629 142 4 p. li PERSON fcis-1629 142 5 w. zhou PERSON fcis-1629 142 6 y. zhang PERSON fcis-1629 142 7 h. li PERSON fcis-1629 142 8 3d CARDINAL fcis-1629 142 9 arxiv ORG fcis-1629 143 1 2020 DATE fcis-1629 144 1 20 CARDINAL fcis-1629 144 2 h. sheng et al. PERSON fcis-1629 144 3 3d CARDINAL fcis-1629 144 4 2021 CARDINAL fcis-1629 144 5 2752 CARDINAL fcis-1629 145 1 21 CARDINAL fcis-1629 145 2 j. s. hu PERSON fcis-1629 145 3 t. kuai ORG fcis-1629 145 4 s. l. waslander PERSON fcis-1629 145 5 3d CARDINAL fcis-1629 145 6 2022 CARDINAL fcis-1629 146 1 22 CARDINAL fcis-1629 146 2 z. li PERSON fcis-1629 146 3 f. wang PERSON fcis-1629 146 4 n. wang PERSON fcis-1629 146 5 3d CARDINAL fcis-1629 146 6 2021 DATE fcis-1629 147 1 7546–7555 CARDINAL fcis-1629 148 1 23 CARDINAL fcis-1629 148 2 c. lee et al PERSON fcis-1629 148 3 2022 CARDINAL fcis-1629 149 1 14136–14145 DATE