{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:2GUNLSILBUPMCTB5YNQ4ON7N7R","short_pith_number":"pith:2GUNLSIL","canonical_record":{"source":{"id":"2108.00737","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-02T09:12:34Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"c2feb256036cbc192db8d4377bb41552158dde60147c8350ff329b9dd8c641ad","abstract_canon_sha256":"2cbe19b7a777e6adead9568183e9d3ac3cbc23839ed291a091cb062e0b2770be"},"schema_version":"1.0"},"canonical_sha256":"d1a8d5c90b0d1ec14c3dc361c737edfc5cf968600c288ec419af92642b03293e","source":{"kind":"arxiv","id":"2108.00737","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.00737","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"arxiv_version","alias_value":"2108.00737v1","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.00737","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"pith_short_12","alias_value":"2GUNLSILBUPM","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"pith_short_16","alias_value":"2GUNLSILBUPMCTB5","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"pith_short_8","alias_value":"2GUNLSIL","created_at":"2026-07-05T04:06:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:2GUNLSILBUPMCTB5YNQ4ON7N7R","target":"record","payload":{"canonical_record":{"source":{"id":"2108.00737","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-02T09:12:34Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"c2feb256036cbc192db8d4377bb41552158dde60147c8350ff329b9dd8c641ad","abstract_canon_sha256":"2cbe19b7a777e6adead9568183e9d3ac3cbc23839ed291a091cb062e0b2770be"},"schema_version":"1.0"},"canonical_sha256":"d1a8d5c90b0d1ec14c3dc361c737edfc5cf968600c288ec419af92642b03293e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:06:44.361646Z","signature_b64":"E1Icgb3GhxMgcLhiTEH/+tTxEuEXg7AuD6n2KbS/BxL4b6Lgf6wbfmGGHNIk4qnh1rmYC4ewvGsqg2CCjanIDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d1a8d5c90b0d1ec14c3dc361c737edfc5cf968600c288ec419af92642b03293e","last_reissued_at":"2026-07-05T04:06:44.361185Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:06:44.361185Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.00737","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:06:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+yIEL79Y6aj8i6Wn1qpTbrvmIhrsKQra/3PRaGs3Yoe8mT99Uutzo9SjvbWJ1k2qU/VmNfajtJKRUyHnDbTcDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T12:09:16.903241Z"},"content_sha256":"e8f51028933ea8bf3eb8a1c878ac14619e5da8c9537a6e2f6b7db2613bf887dc","schema_version":"1.0","event_id":"sha256:e8f51028933ea8bf3eb8a1c878ac14619e5da8c9537a6e2f6b7db2613bf887dc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:2GUNLSILBUPMCTB5YNQ4ON7N7R","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Active Perception for Ambiguous Objects Classification","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Evgenii Safronov, Lorenzo Natale, Michele Colledanchise, Nicola Piga","submitted_at":"2021-08-02T09:12:34Z","abstract_excerpt":"Recent visual pose estimation and tracking solutions provide notable results on popular datasets such as T-LESS and YCB. However, in the real world, we can find ambiguous objects that do not allow exact classification and detection from a single view. In this work, we propose a framework that, given a single view of an object, provides the coordinates of a next viewpoint to discriminate the object against similar ones, if any, and eliminates ambiguities. We also describe a complete pipeline from a real object's scans to the viewpoint selection and classification. We validate our approach with "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.00737","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2108.00737/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:06:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bG3BNMVCVSDjHXN5MhlE+AV2reoeaqYjuEkQi5noBCi3YLfMyadl4WK4g6UHnGSBIjXNnVU1NRhs7vzg18pHBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T12:09:16.904191Z"},"content_sha256":"5fa0b9c3ab1a781e08773dde241f3e5bb79f5423c87fe47d4f7ce0e15322059b","schema_version":"1.0","event_id":"sha256:5fa0b9c3ab1a781e08773dde241f3e5bb79f5423c87fe47d4f7ce0e15322059b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2GUNLSILBUPMCTB5YNQ4ON7N7R/bundle.json","state_url":"https://pith.science/pith/2GUNLSILBUPMCTB5YNQ4ON7N7R/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2GUNLSILBUPMCTB5YNQ4ON7N7R/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-07T12:09:16Z","links":{"resolver":"https://pith.science/pith/2GUNLSILBUPMCTB5YNQ4ON7N7R","bundle":"https://pith.science/pith/2GUNLSILBUPMCTB5YNQ4ON7N7R/bundle.json","state":"https://pith.science/pith/2GUNLSILBUPMCTB5YNQ4ON7N7R/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2GUNLSILBUPMCTB5YNQ4ON7N7R/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:2GUNLSILBUPMCTB5YNQ4ON7N7R","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"2cbe19b7a777e6adead9568183e9d3ac3cbc23839ed291a091cb062e0b2770be","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-02T09:12:34Z","title_canon_sha256":"c2feb256036cbc192db8d4377bb41552158dde60147c8350ff329b9dd8c641ad"},"schema_version":"1.0","source":{"id":"2108.00737","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.00737","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"arxiv_version","alias_value":"2108.00737v1","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.00737","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"pith_short_12","alias_value":"2GUNLSILBUPM","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"pith_short_16","alias_value":"2GUNLSILBUPMCTB5","created_at":"2026-07-05T04:06:44Z"},{"alias_kind":"pith_short_8","alias_value":"2GUNLSIL","created_at":"2026-07-05T04:06:44Z"}],"graph_snapshots":[{"event_id":"sha256:5fa0b9c3ab1a781e08773dde241f3e5bb79f5423c87fe47d4f7ce0e15322059b","target":"graph","created_at":"2026-07-05T04:06:44Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2108.00737/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recent visual pose estimation and tracking solutions provide notable results on popular datasets such as T-LESS and YCB. However, in the real world, we can find ambiguous objects that do not allow exact classification and detection from a single view. In this work, we propose a framework that, given a single view of an object, provides the coordinates of a next viewpoint to discriminate the object against similar ones, if any, and eliminates ambiguities. We also describe a complete pipeline from a real object's scans to the viewpoint selection and classification. We validate our approach with ","authors_text":"Evgenii Safronov, Lorenzo Natale, Michele Colledanchise, Nicola Piga","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-02T09:12:34Z","title":"Active Perception for Ambiguous Objects Classification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.00737","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:e8f51028933ea8bf3eb8a1c878ac14619e5da8c9537a6e2f6b7db2613bf887dc","target":"record","created_at":"2026-07-05T04:06:44Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"2cbe19b7a777e6adead9568183e9d3ac3cbc23839ed291a091cb062e0b2770be","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-02T09:12:34Z","title_canon_sha256":"c2feb256036cbc192db8d4377bb41552158dde60147c8350ff329b9dd8c641ad"},"schema_version":"1.0","source":{"id":"2108.00737","kind":"arxiv","version":1}},"canonical_sha256":"d1a8d5c90b0d1ec14c3dc361c737edfc5cf968600c288ec419af92642b03293e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d1a8d5c90b0d1ec14c3dc361c737edfc5cf968600c288ec419af92642b03293e","first_computed_at":"2026-07-05T04:06:44.361185Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:06:44.361185Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E1Icgb3GhxMgcLhiTEH/+tTxEuEXg7AuD6n2KbS/BxL4b6Lgf6wbfmGGHNIk4qnh1rmYC4ewvGsqg2CCjanIDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:06:44.361646Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.00737","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e8f51028933ea8bf3eb8a1c878ac14619e5da8c9537a6e2f6b7db2613bf887dc","sha256:5fa0b9c3ab1a781e08773dde241f3e5bb79f5423c87fe47d4f7ce0e15322059b"],"state_sha256":"0fa75e64e7c9ce98766fa6dfe975c7d6f08b0a40701c5ad95d655b026169611b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j8r3qtV+KZ22QOPMVrmXgWHP6GGDvVvQnkeEfZYsrodD0WrT/QWB4zC43UM96tNU9dYJwId+itmUkSEbQBnXAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T12:09:16.964510Z","bundle_sha256":"3887bb55150951ccec0fef355f24093878c8c67907f323504c5a4ce3490c77b8"}}