id	sid	eid	entity	type
fcis-30675	1	1	2832-6024	DATE
fcis-30675	2	1	12	CARDINAL
fcis-30675	2	2	1	CARDINAL
fcis-30675	2	3	2025	CARDINAL
fcis-30675	2	4	216	CARDINAL
fcis-30675	2	5	dwa xiaotao wang	PERSON
fcis-30675	2	6	hongyan zhang *	PERSON
fcis-30675	2	7	huijie liu	PERSON
fcis-30675	2	8	renjie sun	PERSON
fcis-30675	2	9	haitao zhang school	PERSON
fcis-30675	2	10	jilin institute of chemical technology	ORG
fcis-30675	2	11	jilin jilin	GPE
fcis-30675	2	12	132022	DATE
fcis-30675	2	13	china	GPE
fcis-30675	2	14	hongyan zhang	PERSON
fcis-30675	4	1	two	CARDINAL
fcis-30675	4	2	dwa	ORG
fcis-30675	4	3	1	CARDINAL
fcis-30675	4	4	first	ORDINAL
fcis-30675	4	5	yolov8	PRODUCT
fcis-30675	4	6	dwa	ORG
fcis-30675	7	1	2	CARDINAL
fcis-30675	7	2	dwa	ORG
fcis-30675	7	3	dwa	PRODUCT
fcis-30675	10	1	dwa	PRODUCT
fcis-30675	10	2	dwa	PRODUCT
fcis-30675	10	3	21.5%	PERCENT
fcis-30675	10	4	70.5%	PERCENT
fcis-30675	10	5	93.5%	PERCENT
fcis-30675	10	6	53.7%	PERCENT
fcis-30675	10	7	0.37	CARDINAL
fcis-30675	10	8	0.72	CARDINAL
fcis-30675	10	9	71%	PERCENT
fcis-30675	12	1	yolov8	PERSON
fcis-30675	12	2	dwa	PRODUCT
fcis-30675	13	1	1	CARDINAL
fcis-30675	18	1	elderly.wang	ORG
fcis-30675	19	1	xiao shaotong	PERSON
fcis-30675	20	1	rgb	ORG
fcis-30675	23	1	wang j	PERSON
fcis-30675	25	1	yolov8	PERSON
fcis-30675	25	2	dwa	PRODUCT
fcis-30675	27	1	2	CARDINAL
fcis-30675	27	2	2.1	CARDINAL
fcis-30675	28	1	1	CARDINAL
fcis-30675	29	1	stm32f103zet6	ORG
fcis-30675	31	1	2	CARDINAL
fcis-30675	32	1	217	CARDINAL
fcis-30675	32	2	1	CARDINAL
fcis-30675	32	3	2	CARDINAL
fcis-30675	32	4	3	CARDINAL
fcis-30675	32	5	218 2.2	CARDINAL
fcis-30675	33	1	1	CARDINAL
fcis-30675	33	2	1	CARDINAL
fcis-30675	33	3	14p	CARDINAL
fcis-30675	33	4	2	CARDINAL
fcis-30675	33	5	4b 3	CARDINAL
fcis-30675	33	6	astra 4	ORG
fcis-30675	33	7	5	CARDINAL
fcis-30675	33	8	7-inch	QUANTITY
fcis-30675	33	9	6	CARDINAL
fcis-30675	33	10	six	CARDINAL
fcis-30675	33	11	three	CARDINAL
fcis-30675	33	12	three	CARDINAL
fcis-30675	33	13	7	CARDINAL
fcis-30675	33	14	8	CARDINAL
fcis-30675	33	15	9	CARDINAL
fcis-30675	33	16	10	CARDINAL
fcis-30675	33	17	three	CARDINAL
fcis-30675	33	18	3	CARDINAL
fcis-30675	34	1	first	ORDINAL
fcis-30675	35	1	second	ORDINAL
fcis-30675	36	1	third	ORDINAL
fcis-30675	37	1	1	CARDINAL
fcis-30675	39	1	0.1 to 8 meters	QUANTITY
fcis-30675	39	2	6	CARDINAL
fcis-30675	39	3	4000	CARDINAL
fcis-30675	39	4	second	ORDINAL
fcis-30675	39	5	0	CARDINAL
fcis-30675	39	6	360 degrees	QUANTITY
fcis-30675	39	7	0 to	QUANTITY
fcis-30675	39	8	10 degrees	QUANTITY
fcis-30675	40	1	4-megapixel	QUANTITY
fcis-30675	40	2	0.6 to 8 meters	QUANTITY
fcis-30675	41	1	360 degrees	QUANTITY
fcis-30675	41	2	3d	CARDINAL
fcis-30675	42	1	stm32	ORG
fcis-30675	43	1	14p	CARDINAL
fcis-30675	43	2	first	ORDINAL
fcis-30675	43	3	sdk	ORG
fcis-30675	43	4	14p	CARDINAL
fcis-30675	44	1	secondly	ORDINAL
fcis-30675	44	2	usb	ORG
fcis-30675	44	3	ttyama0	ORG
fcis-30675	45	1	lidar.after	PERSON
fcis-30675	49	1	2.3	CARDINAL
fcis-30675	51	1	4	CARDINAL
fcis-30675	51	2	4b	CARDINAL
fcis-30675	52	1	4b	CARDINAL
fcis-30675	53	1	219	CARDINAL
fcis-30675	53	2	stm32	ORG
fcis-30675	57	1	camer_ws	ORG
fcis-30675	59	1	4b	CARDINAL
fcis-30675	59	2	usb	ORG
fcis-30675	60	1	stm32f103zet6	ORG
fcis-30675	60	2	4b	CARDINAL
fcis-30675	61	1	4b	CARDINAL
fcis-30675	61	2	dwa	ORG
fcis-30675	65	1	3	CARDINAL
fcis-30675	65	2	dwa	ORG
fcis-30675	65	3	3.1	CARDINAL
fcis-30675	66	1	dwa	ORG
fcis-30675	67	1	zhang	PERSON
fcis-30675	67	2	linear	ORG
fcis-30675	67	3	wang wenfei[5	ORG
fcis-30675	68	1	recent years	DATE
fcis-30675	69	1	cong peichao	PERSON
fcis-30675	70	1	yolov8	PRODUCT
fcis-30675	71	1	three	CARDINAL
fcis-30675	71	2	1	CARDINAL
fcis-30675	72	1	2	CARDINAL
fcis-30675	74	1	3	CARDINAL
fcis-30675	75	1	three	CARDINAL
fcis-30675	75	2	three	CARDINAL
fcis-30675	75	3	yolov8	PERSON
fcis-30675	78	1	dwa	PRODUCT
fcis-30675	79	1	first	ORDINAL
fcis-30675	81	1	yolov8	PERSON
fcis-30675	81	2		ORG
fcis-30675	81	3	1	CARDINAL
fcis-30675	81	4	y w h s c	ORG
fcis-30675	84	1	1	CARDINAL
fcis-30675	84	2	tx	ORG
fcis-30675	85	1	1 x	QUANTITY
fcis-30675	87	1		DATE
fcis-30675	87	2		PERSON
fcis-30675	87	3	2	CARDINAL
fcis-30675	87	4	isz	ORG
fcis-30675	87	5	1	CARDINAL
fcis-30675	91	1	 	PERSON
fcis-30675	91	2		PERSON
fcis-30675	91	3		ORG
fcis-30675	91	4		PERSON
fcis-30675	91	5	3	CARDINAL
fcis-30675	91	6	1	CARDINAL
fcis-30675	93	1		ORG
fcis-30675	93	2		ORG
fcis-30675	93	3		DATE
fcis-30675	93	4	4	CARDINAL
fcis-30675	93	5	second	ORDINAL
fcis-30675	93	6	dwa	PRODUCT
fcis-30675	93	7	dwa	PRODUCT
fcis-30675	93	8	1 2 3total	CARDINAL
fcis-30675	93	9		PERSON
fcis-30675	93	10	5	CARDINAL
fcis-30675	94	1	220	CARDINAL
fcis-30675	94	2	facec	ORG
fcis-30675	94	3	6	CARDINAL
fcis-30675	94	4	1 2	CARDINAL
fcis-30675	94	5		PERSON
fcis-30675	94	6	7	CARDINAL
fcis-30675	94	7	third	ORDINAL
fcis-30675	99	1	4	CARDINAL
fcis-30675	99	2	section 4.1	LAW
fcis-30675	100	1	yolov8	PRODUCT
fcis-30675	100	2	yolov8	PERSON
fcis-30675	106	1	2	CARDINAL
fcis-30675	106	2	yolov8	PERSON
fcis-30675	106	3	12:00 noon	TIME
fcis-30675	106	4	90%	PERCENT
fcis-30675	106	5	14:00 in the afternoon	TIME
fcis-30675	106	6	60%	PERCENT
fcis-30675	106	7	18:00 in the evening	TIME
fcis-30675	106	8	40%	PERCENT
fcis-30675	106	9	5	CARDINAL
fcis-30675	107	1	yolov8	PERSON
fcis-30675	113	1	6	CARDINAL
fcis-30675	114	1	221 4.2	CARDINAL
fcis-30675	115	1	dwa	ORG
fcis-30675	116	1	11.79	CARDINAL
fcis-30675	116	2	8.43	CARDINAL
fcis-30675	116	3	5.43	CARDINAL
fcis-30675	116	4	4.53	CARDINAL
fcis-30675	116	5	2.43	CARDINAL
fcis-30675	116	6	2.24	CARDINAL
fcis-30675	116	7	37cm	QUANTITY
fcis-30675	116	8	15cm	QUANTITY
fcis-30675	116	9	41cm	QUANTITY
fcis-30675	116	10	1	CARDINAL
fcis-30675	116	11	70cm	QUANTITY
fcis-30675	116	12	1	CARDINAL
fcis-30675	116	13	42cm	QUANTITY
fcis-30675	116	14	35cm	QUANTITY
fcis-30675	116	15	55cm	QUANTITY
fcis-30675	118	1	7	CARDINAL
fcis-30675	122	1	9	CARDINAL
fcis-30675	124	1	5	CARDINAL
fcis-30675	125	1	dwa	PRODUCT
fcis-30675	125	2	d*+dwa	NORP
fcis-30675	125	3	a*+dwa	PERSON
fcis-30675	128	1	5.1	CARDINAL
fcis-30675	128	2	3	CARDINAL
fcis-30675	128	3	1.5	CARDINAL
fcis-30675	128	4	12	CARDINAL
fcis-30675	128	5	5	CARDINAL
fcis-30675	128	6	0.3m/s	QUANTITY
fcis-30675	128	7	1.5	CARDINAL
fcis-30675	128	8	5.2	CARDINAL
fcis-30675	129	1	one	CARDINAL
fcis-30675	129	2	two	CARDINAL
fcis-30675	129	3	three	CARDINAL
fcis-30675	130	1	four	CARDINAL
fcis-30675	130	2	4	CARDINAL
fcis-30675	130	3	one 70.5%	PERCENT
fcis-30675	130	4	0.37	CARDINAL
fcis-30675	130	5	6 11.28	CARDINAL
fcis-30675	130	6	two	CARDINAL
fcis-30675	130	7	84.3%	PERCENT
fcis-30675	130	8	0.41	CARDINAL
fcis-30675	130	9	5 11.25	CARDINAL
fcis-30675	130	10	three 80.4%	PERCENT
fcis-30675	130	11	0.64	CARDINAL
fcis-30675	130	12	4 11.20	CARDINAL
fcis-30675	130	13	0.72	CARDINAL
fcis-30675	130	14	2 10.08	CARDINAL
fcis-30675	130	15	8	CARDINAL
fcis-30675	131	1	13.8%	PERCENT
fcis-30675	131	2	0.26%	PERCENT
fcis-30675	131	3	16.7%	PERCENT
fcis-30675	134	1	72.97%	PERCENT
fcis-30675	134	2	0.37	CARDINAL
fcis-30675	134	3	0.64	CARDINAL
fcis-30675	134	4	33%	PERCENT
fcis-30675	136	1	93.5%	PERCENT
fcis-30675	136	2	10.6%	PERCENT
fcis-30675	136	3	66.7%	PERCENT
fcis-30675	136	4	94%	PERCENT
fcis-30675	138	1	5.3	CARDINAL
fcis-30675	138	2	5	CARDINAL
fcis-30675	138	3	dwa	ORG
fcis-30675	138	4	76%	PERCENT
fcis-30675	138	5	0.26	CARDINAL
fcis-30675	138	6	7	CARDINAL
fcis-30675	138	7	80%	PERCENT
fcis-30675	138	8	0.32	CARDINAL
fcis-30675	138	9	84.7%	PERCENT
fcis-30675	138	10	0.54	CARDINAL
fcis-30675	138	11	4	CARDINAL
fcis-30675	138	12	90%	PERCENT
fcis-30675	138	13	0.65	CARDINAL
fcis-30675	138	14	2 222	CARDINAL
fcis-30675	138	15	14%	PERCENT
fcis-30675	139	1	0.65	CARDINAL
fcis-30675	140	1	71.4%	PERCENT
fcis-30675	142	1	jilin province	GPE
fcis-30675	143	1	1	CARDINAL
fcis-30675	143	2	wang caiqi	PERSON
fcis-30675	143	3	cui xining	PERSON
fcis-30675	143	4	xiong yi	PERSON
fcis-30675	145	1	1-10	CARDINAL
fcis-30675	146	1	2024	CARDINAL
fcis-30675	147	1	2	CARDINAL
fcis-30675	147	2	xiao shaotong.	PERSON
fcis-30675	148	1	mobile robot localization	ORG
fcis-30675	150	1	harbin engineering university	ORG
fcis-30675	150	2	2020	DATE
fcis-30675	151	1	3	CARDINAL
fcis-30675	151	2	wang j	PERSON
fcis-30675	151	3	li j	PERSON
fcis-30675	153	1	4	CARDINAL
fcis-30675	153	2	zhang jinze	PERSON
fcis-30675	153	3	zhao hong	PERSON
fcis-30675	153	4	wang ning	PERSON
fcis-30675	154	1	dwa obstacle avoidance	ORG
fcis-30675	155	1	chinese	NORP
fcis-30675	155	2	2021	CARDINAL
fcis-30675	155	3	16(06	DATE
fcis-30675	155	4	10	CARDINAL
fcis-30675	156	1	5	CARDINAL
fcis-30675	156	2	wang wenfei	PERSON
fcis-30675	156	3	uav	ORG
fcis-30675	158	1	2023	CARDINAL
fcis-30675	158	2	50-55 + 60	PERCENT
fcis-30675	159	1	6	CARDINAL
fcis-30675	159	2	cong peichao	PERSON
fcis-30675	159	3	cui liying	PERSON
fcis-30675	159	4	wan xianquan	PERSON
fcis-30675	161	1	chinese	NORP
fcis-30675	161	2	2023	CARDINAL
fcis-30675	161	3	54(07	DATE
fcis-30675	161	4	4555	CARDINAL
fcis-30675	162	1	7	CARDINAL
fcis-30675	162	2	z.wen	ORG
fcis-30675	162	3	illinois institute of technology	ORG
fcis-30675	163	1	3rd	ORDINAL
fcis-30675	163	2	part2	WORK_OF_ART
fcis-30675	165	1	8	CARDINAL
fcis-30675	165	2	han	NORP
fcis-30675	167	1	2024	DATE
fcis-30675	167	2	05	CARDINAL
fcis-30675	167	3	60-62	CARDINAL
fcis-30675	168	1	9	CARDINAL
fcis-30675	168	2	chen jingyi	PERSON
fcis-30675	169	1	harris hawk optimization	ORG
fcis-30675	170	1	chang'an university	ORG
fcis-30675	170	2	2023	CARDINAL
fcis-30675	171	1	10	CARDINAL
fcis-30675	171	2	zhu mingchao	PERSON
fcis-30675	171	3	lü zhenjiong	PERSON
fcis-30675	171	4	deng minhan	PERSON
fcis-30675	172	1	multisensor	PERSON
fcis-30675	173	1	2024	DATE
fcis-30675	173	2	65(13	CARDINAL
fcis-30675	173	3	1-4	DATE
fcis-30675	174	1	11	CARDINAL
fcis-30675	174	2	li zhipeng	PERSON
fcis-30675	177	1	2024	DATE
fcis-30675	178	1	12	CARDINAL
fcis-30675	179	1	fpga	ORG
fcis-30675	181	1	guilin university of technology	ORG
fcis-30675	181	2	2024	DATE
fcis-30675	182	1	13	CARDINAL
fcis-30675	182	2	huang dingjian	PERSON
fcis-30675	182	3	yang huashan	PERSON
fcis-30675	182	4	zhong yong	PERSON
fcis-30675	184	1	2024	DATE
fcis-30675	184	2	45(05	DATE
fcis-30675	184	3	30	CARDINAL
fcis-30675	185	1	14	CARDINAL
fcis-30675	185	2	zhang guifu	PERSON
fcis-30675	188	1	southeast university	ORG
fcis-30675	188	2	2023	CARDINAL
fcis-30675	189	1	15	CARDINAL
fcis-30675	189	2	li changgeng	PERSON
fcis-30675	192	1	chongqing university of technology	ORG
fcis-30675	192	2	2022	CARDINAL
fcis-30675	193	1	16	CARDINAL
fcis-30675	193	2	chi xu	PERSON
fcis-30675	196	1	dalian jiaotong university	ORG
fcis-30675	196	2	2021	DATE