{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:4JV4KF7UTRASUEGG5AMSUICAHU","short_pith_number":"pith:4JV4KF7U","canonical_record":{"source":{"id":"2403.09850","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-03-14T20:18:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"7f0b7d0cc6d3026f857798e9be86f7bdfb0d52a60ed2ce0191fdd3b9a067c8c1","abstract_canon_sha256":"1e7958ab2712d14a2c39b8ae1499d2d34fc9e7c92245957f63cd1d36e0e7bb5b"},"schema_version":"1.0"},"canonical_sha256":"e26bc517f49c412a10c6e8192a20403d15798f714cfe14dd6a42dbb6906053bb","source":{"kind":"arxiv","id":"2403.09850","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.09850","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"arxiv_version","alias_value":"2403.09850v2","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.09850","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"pith_short_12","alias_value":"4JV4KF7UTRAS","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"pith_short_16","alias_value":"4JV4KF7UTRASUEGG","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"pith_short_8","alias_value":"4JV4KF7U","created_at":"2026-07-05T10:49:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:4JV4KF7UTRASUEGG5AMSUICAHU","target":"record","payload":{"canonical_record":{"source":{"id":"2403.09850","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-03-14T20:18:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"7f0b7d0cc6d3026f857798e9be86f7bdfb0d52a60ed2ce0191fdd3b9a067c8c1","abstract_canon_sha256":"1e7958ab2712d14a2c39b8ae1499d2d34fc9e7c92245957f63cd1d36e0e7bb5b"},"schema_version":"1.0"},"canonical_sha256":"e26bc517f49c412a10c6e8192a20403d15798f714cfe14dd6a42dbb6906053bb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:49:05.487020Z","signature_b64":"wEKCBenKBvk67M8SSeQt+QrCVV4c8Yp6pxb/rNfqOXK3+Eyepu9WDZ5YzXaSqcFjF2XQH64goXvDaCwl3WhOBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e26bc517f49c412a10c6e8192a20403d15798f714cfe14dd6a42dbb6906053bb","last_reissued_at":"2026-07-05T10:49:05.486526Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:49:05.486526Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.09850","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:49:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hj/BCn+o1jdrZLpbmb/lCV+V9A2u0WFSdHpZF3DzPcKTXfLnXbxgAEvXpUYoDXRHbyX8MtXsIFRd9Ybzbl90Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T18:13:47.198404Z"},"content_sha256":"902762a88887cbd06726a7cffadf2bef8f28171ca19ef5e69fc2feb17eabbf58","schema_version":"1.0","event_id":"sha256:902762a88887cbd06726a7cffadf2bef8f28171ca19ef5e69fc2feb17eabbf58"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:4JV4KF7UTRASUEGG5AMSUICAHU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MARVIS: Motion & Geometry Aware Real and Virtual Image Segmentation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Cornelia Ferm\\\"uller, Jiayi Wu, Shahriar Negahdaripour, Xiaomin Lin, Yiannis Aloimonos","submitted_at":"2024-03-14T20:18:08Z","abstract_excerpt":"Tasks such as autonomous navigation, 3D reconstruction, and object recognition near the water surfaces are crucial in marine robotics applications. However, challenges arise due to dynamic disturbances, e.g., light reflections and refraction from the random air-water interface, irregular liquid flow, and similar factors, which can lead to potential failures in perception and navigation systems. Traditional computer vision algorithms struggle to differentiate between real and virtual image regions, significantly complicating tasks. A virtual image region is an apparent representation formed by "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.09850","kind":"arxiv","version":2},"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/2403.09850/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":"2026-07-05T10:49:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TiiPylbPyuXgTKXZvPHOdM8ArpjtGVJkXikD/fsUZh6tue+S81yelDxz9z/9PoQp3ltwOAWIbwfejCRH7tqoCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T18:13:47.199416Z"},"content_sha256":"7ec296c9c89372cdc99540cdd2e012d9fabf5835e7ae7ead8ddac7dfff6f29a9","schema_version":"1.0","event_id":"sha256:7ec296c9c89372cdc99540cdd2e012d9fabf5835e7ae7ead8ddac7dfff6f29a9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4JV4KF7UTRASUEGG5AMSUICAHU/bundle.json","state_url":"https://pith.science/pith/4JV4KF7UTRASUEGG5AMSUICAHU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4JV4KF7UTRASUEGG5AMSUICAHU/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":"2026-08-17T18:13:47Z","links":{"resolver":"https://pith.science/pith/4JV4KF7UTRASUEGG5AMSUICAHU","bundle":"https://pith.science/pith/4JV4KF7UTRASUEGG5AMSUICAHU/bundle.json","state":"https://pith.science/pith/4JV4KF7UTRASUEGG5AMSUICAHU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4JV4KF7UTRASUEGG5AMSUICAHU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:4JV4KF7UTRASUEGG5AMSUICAHU","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":"1e7958ab2712d14a2c39b8ae1499d2d34fc9e7c92245957f63cd1d36e0e7bb5b","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-03-14T20:18:08Z","title_canon_sha256":"7f0b7d0cc6d3026f857798e9be86f7bdfb0d52a60ed2ce0191fdd3b9a067c8c1"},"schema_version":"1.0","source":{"id":"2403.09850","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.09850","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"arxiv_version","alias_value":"2403.09850v2","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.09850","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"pith_short_12","alias_value":"4JV4KF7UTRAS","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"pith_short_16","alias_value":"4JV4KF7UTRASUEGG","created_at":"2026-07-05T10:49:05Z"},{"alias_kind":"pith_short_8","alias_value":"4JV4KF7U","created_at":"2026-07-05T10:49:05Z"}],"graph_snapshots":[{"event_id":"sha256:7ec296c9c89372cdc99540cdd2e012d9fabf5835e7ae7ead8ddac7dfff6f29a9","target":"graph","created_at":"2026-07-05T10:49:05Z","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/2403.09850/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tasks such as autonomous navigation, 3D reconstruction, and object recognition near the water surfaces are crucial in marine robotics applications. However, challenges arise due to dynamic disturbances, e.g., light reflections and refraction from the random air-water interface, irregular liquid flow, and similar factors, which can lead to potential failures in perception and navigation systems. Traditional computer vision algorithms struggle to differentiate between real and virtual image regions, significantly complicating tasks. A virtual image region is an apparent representation formed by ","authors_text":"Cornelia Ferm\\\"uller, Jiayi Wu, Shahriar Negahdaripour, Xiaomin Lin, Yiannis Aloimonos","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-03-14T20:18:08Z","title":"MARVIS: Motion & Geometry Aware Real and Virtual Image Segmentation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.09850","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":"sha256:902762a88887cbd06726a7cffadf2bef8f28171ca19ef5e69fc2feb17eabbf58","target":"record","created_at":"2026-07-05T10:49:05Z","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":"1e7958ab2712d14a2c39b8ae1499d2d34fc9e7c92245957f63cd1d36e0e7bb5b","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-03-14T20:18:08Z","title_canon_sha256":"7f0b7d0cc6d3026f857798e9be86f7bdfb0d52a60ed2ce0191fdd3b9a067c8c1"},"schema_version":"1.0","source":{"id":"2403.09850","kind":"arxiv","version":2}},"canonical_sha256":"e26bc517f49c412a10c6e8192a20403d15798f714cfe14dd6a42dbb6906053bb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e26bc517f49c412a10c6e8192a20403d15798f714cfe14dd6a42dbb6906053bb","first_computed_at":"2026-07-05T10:49:05.486526Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:49:05.486526Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wEKCBenKBvk67M8SSeQt+QrCVV4c8Yp6pxb/rNfqOXK3+Eyepu9WDZ5YzXaSqcFjF2XQH64goXvDaCwl3WhOBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:49:05.487020Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.09850","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:902762a88887cbd06726a7cffadf2bef8f28171ca19ef5e69fc2feb17eabbf58","sha256:7ec296c9c89372cdc99540cdd2e012d9fabf5835e7ae7ead8ddac7dfff6f29a9"],"state_sha256":"75a7831083a95f22d3724b87d1df77c89afbc6817498d0fc6da3c77cdacdf378"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5sBVRaYB1dP53rVrfnpQcFG4XRJ3XPzUP3U5bxMBqnVa4rul6aAz9OHYeme0+VotPO/4Z8fGZPDu9boYmF4BDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T18:13:47.206211Z","bundle_sha256":"19d14cb83936c7a2fccb70088061375f8b36d33d6bc783be8481e4c5c70be3bf"}}