You will be shown an abstract from a computer science research paper. Given this abstract, your task is to extract all unique entities with the following types:

- "Task": Applications, problems to solve, systems to construct. Examples include "information extraction", "machine reading system", "image segmentation".
- "Method": : Methods, models, systems to use, or tools, components of a system, frameworks. Examples include "language model", "CORENLP", "POS parser".
- "Metric": Metrics, measures, or entities that can express quality of a system / method. Examples include "F1", "BLEU", "Precision", "time complexity".
- "Material": Data, datasets, resources, Corpus, Knowledge base. Examples include "image data", "speech data", "stereo images", "CoNLL", "Wikipedia".
- "OtherScientificTerm": Phrases that are a scientific terms but do not fall into any of the above classes. Examples include "physical or geometric constraints", "qualitative prior knowledge", "tree kernel", "noise".
- "Generic": General terms or pronouns that may refer to a entity but are not themselves informative, often used as connection words. Examples include "model", "approach", "them".

Please return the output as a JSON object of the format: {"type1" : ["example_entity", ...], "type2" : ["example_entity", ...]}. The keys should be entity types and values should be lists of extracted entities belonging to the corresponding type. Entity types with no matching entities should be assigned an empty array [].

For instance, the output might look like: {"Task": ["speech recognition", ...], "Method": ["Conditional random field"], "Material": [], ...}.

Only output the JSON object and do not include any additional text.

Abstract:

In this work, we present a technique for robust estimation, which by explicitly incorporating the inherent uncertainty of the estimation procedure, results in a more efficient robust estimation algorithm. In addition, we build on recent work in randomized model verification, and use this to characterize the ` non-randomness ' of a solution. The combination of these two strategies results in a robust estimation procedure that provides a significant speed-up over existing RANSAC techniques, while requiring no prior information to guide the sampling process. In particular, our algorithm requires, on average, 3-10 times fewer samples than standard RANSAC, which is in close agreement with theoretical predictions. The efficiency of the algorithm is demonstrated on a selection of geometric estimation problems.
{"Generic": ["strategies", "technique"], "Material": [], "Method": ["efficient robust estimation algorithm", "RANSAC techniques"], "Metric": [], "OtherScientificTerm": ["prior information", "inherent uncertainty of the estimation procedure", "theoretical predictions", "sampling process"], "Task": ["geometric estimation problems", "robust estimation", "randomized model verification"]}