{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:3QGERNBDFK6BVKQB3C2NSTCB45","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":"01f2831a37b90a2a9dc0830c9ed2fa58c18e3a9f100cafb34707faf1aa195727","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2015-09-21T06:17:21Z","title_canon_sha256":"cfc6b01cd6dbb475bc24fc26c4fac6fdacacd5b9072d761ad8a3b89eb79b5c05"},"schema_version":"1.0","source":{"id":"1509.06114","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.06114","created_at":"2026-05-18T01:31:59Z"},{"alias_kind":"arxiv_version","alias_value":"1509.06114v2","created_at":"2026-05-18T01:31:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.06114","created_at":"2026-05-18T01:31:59Z"},{"alias_kind":"pith_short_12","alias_value":"3QGERNBDFK6B","created_at":"2026-05-18T12:29:02Z"},{"alias_kind":"pith_short_16","alias_value":"3QGERNBDFK6BVKQB","created_at":"2026-05-18T12:29:02Z"},{"alias_kind":"pith_short_8","alias_value":"3QGERNBD","created_at":"2026-05-18T12:29:02Z"}],"graph_snapshots":[{"event_id":"sha256:75ff9bdde9237cf533a00f6bf4f6b3b6635a22b2f1ec516bbaa1c6ebede2ee34","target":"graph","created_at":"2026-05-18T01:31:59Z","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"},"paper":{"abstract_excerpt":"This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects robust to challenging environment conditions. We also propose a depth-map upsampling method that produces an outliers-free depth map by explicitly handling depth outliers. Our system is suitable for an interactive robot with real-world that requires accurate object detection and pose estimation. We evaluate our depth processing algorithm over state-of-the-art algorithms on several synthetic and re","authors_text":"Dong-Geol Choi, In So Kweon, Inwook Shim, Jaesik Park, Joon-Young Lee, Jun-Ho Oh, Kyungdon Joo, Seunghak Shin, Yunsu Bok","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2015-09-21T06:17:21Z","title":"Vision System and Depth Processing for DRC-HUBO+"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.06114","kind":"arxiv","version":2},"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:e853064da041216923ba5e304830c5af655bf9980b9d93c0f56a7a543b817576","target":"record","created_at":"2026-05-18T01:31:59Z","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":"01f2831a37b90a2a9dc0830c9ed2fa58c18e3a9f100cafb34707faf1aa195727","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2015-09-21T06:17:21Z","title_canon_sha256":"cfc6b01cd6dbb475bc24fc26c4fac6fdacacd5b9072d761ad8a3b89eb79b5c05"},"schema_version":"1.0","source":{"id":"1509.06114","kind":"arxiv","version":2}},"canonical_sha256":"dc0c48b4232abc1aaa01d8b4d94c41e74b0d7274c447d38a7b0529d1c7796f6d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dc0c48b4232abc1aaa01d8b4d94c41e74b0d7274c447d38a7b0529d1c7796f6d","first_computed_at":"2026-05-18T01:31:59.965681Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:31:59.965681Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JbpDzHpHwFJRpQpX0yqGJcYr05lTWgFy+8eigwQtIWrN9nnJ8G+SqPbqcPSjo6MVIK8MyoaefedP/ditTE9+BQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:31:59.966370Z","signed_message":"canonical_sha256_bytes"},"source_id":"1509.06114","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e853064da041216923ba5e304830c5af655bf9980b9d93c0f56a7a543b817576","sha256:75ff9bdde9237cf533a00f6bf4f6b3b6635a22b2f1ec516bbaa1c6ebede2ee34"],"state_sha256":"f7579b1415cee0fa38b4212ab2a52d3ed1cab629db0a71bd45387227c0ce7b15"}