{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:4W55FGDYSBSZS4W2QMTGLVKAEE","short_pith_number":"pith:4W55FGDY","canonical_record":{"source":{"id":"1705.09785","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-27T07:57:50Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"c2ee356333532d85f288fde644622246cd434d8203076b5bcd80ae1e74ffbad6","abstract_canon_sha256":"ce0b2d639310b8a085fbe7549440ab54917ce42d8859a79bfcef72a83da19e75"},"schema_version":"1.0"},"canonical_sha256":"e5bbd2987890659972da832665d540213c221cdcd9df8bb13ee8b65a085ca633","source":{"kind":"arxiv","id":"1705.09785","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.09785","created_at":"2026-05-18T00:43:34Z"},{"alias_kind":"arxiv_version","alias_value":"1705.09785v1","created_at":"2026-05-18T00:43:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.09785","created_at":"2026-05-18T00:43:34Z"},{"alias_kind":"pith_short_12","alias_value":"4W55FGDYSBSZ","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"4W55FGDYSBSZS4W2","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"4W55FGDY","created_at":"2026-05-18T12:31:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:4W55FGDYSBSZS4W2QMTGLVKAEE","target":"record","payload":{"canonical_record":{"source":{"id":"1705.09785","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-27T07:57:50Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"c2ee356333532d85f288fde644622246cd434d8203076b5bcd80ae1e74ffbad6","abstract_canon_sha256":"ce0b2d639310b8a085fbe7549440ab54917ce42d8859a79bfcef72a83da19e75"},"schema_version":"1.0"},"canonical_sha256":"e5bbd2987890659972da832665d540213c221cdcd9df8bb13ee8b65a085ca633","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:43:34.480855Z","signature_b64":"wzzc/1O+t59ACYJmvl8bJN1/NTezP0cEZsGpOq0f1PgVIYVXD91tNHHFEGrRWASOdtDnwlar7rh+5ehbgnrMDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e5bbd2987890659972da832665d540213c221cdcd9df8bb13ee8b65a085ca633","last_reissued_at":"2026-05-18T00:43:34.480467Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:43:34.480467Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1705.09785","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":"2026-05-18T00:43:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TtPsfzmm/ncKGVr6Ug6kmMNVCdvCKJuwBcqaytZ7mH1I9/KE19NxOV6Wy8Yy7zfLkxcGNQBICmEgW1qcIZV0Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T19:05:15.738569Z"},"content_sha256":"a2eb43f042e2240e1559f72da92728d3a8eeeb66bf5ee8409e1d2721dc13dcec","schema_version":"1.0","event_id":"sha256:a2eb43f042e2240e1559f72da92728d3a8eeeb66bf5ee8409e1d2721dc13dcec"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:4W55FGDYSBSZS4W2QMTGLVKAEE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LiDAR-Camera Calibration using 3D-3D Point correspondences","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ankit Dhall, K.M. Krishna, Kunal Chelani, Vishnu Radhakrishnan","submitted_at":"2017-05-27T07:57:50Z","abstract_excerpt":"With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make vital inferences about the surroundings. We propose a novel pipeline and experimental setup to find accurate rigid-body transformation for extrinsically calibrating a LiDAR and a camera. The pipeling uses 3D-3D point correspondences in LiDAR and camera frame and gives a closed form solution. We further show the accuracy of the estimate by fusing point clouds fro"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.09785","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":""},"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":"2026-05-18T00:43:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"81za14IFUljTh9fsjtDlAPKPsCERbL2rtolOuGxW5R5nKQwtcF/i3zhZop9elbPgBtNM/R0S1ZPLZfumWijWBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T19:05:15.739115Z"},"content_sha256":"456690baf6aaab485398274119185cc9f70fb99a1e006c853b0a95441a15de27","schema_version":"1.0","event_id":"sha256:456690baf6aaab485398274119185cc9f70fb99a1e006c853b0a95441a15de27"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4W55FGDYSBSZS4W2QMTGLVKAEE/bundle.json","state_url":"https://pith.science/pith/4W55FGDYSBSZS4W2QMTGLVKAEE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4W55FGDYSBSZS4W2QMTGLVKAEE/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":"2026-08-10T19:05:15Z","links":{"resolver":"https://pith.science/pith/4W55FGDYSBSZS4W2QMTGLVKAEE","bundle":"https://pith.science/pith/4W55FGDYSBSZS4W2QMTGLVKAEE/bundle.json","state":"https://pith.science/pith/4W55FGDYSBSZS4W2QMTGLVKAEE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4W55FGDYSBSZS4W2QMTGLVKAEE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:4W55FGDYSBSZS4W2QMTGLVKAEE","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":"ce0b2d639310b8a085fbe7549440ab54917ce42d8859a79bfcef72a83da19e75","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-27T07:57:50Z","title_canon_sha256":"c2ee356333532d85f288fde644622246cd434d8203076b5bcd80ae1e74ffbad6"},"schema_version":"1.0","source":{"id":"1705.09785","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.09785","created_at":"2026-05-18T00:43:34Z"},{"alias_kind":"arxiv_version","alias_value":"1705.09785v1","created_at":"2026-05-18T00:43:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.09785","created_at":"2026-05-18T00:43:34Z"},{"alias_kind":"pith_short_12","alias_value":"4W55FGDYSBSZ","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"4W55FGDYSBSZS4W2","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"4W55FGDY","created_at":"2026-05-18T12:31:00Z"}],"graph_snapshots":[{"event_id":"sha256:456690baf6aaab485398274119185cc9f70fb99a1e006c853b0a95441a15de27","target":"graph","created_at":"2026-05-18T00:43:34Z","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":"With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make vital inferences about the surroundings. We propose a novel pipeline and experimental setup to find accurate rigid-body transformation for extrinsically calibrating a LiDAR and a camera. The pipeling uses 3D-3D point correspondences in LiDAR and camera frame and gives a closed form solution. We further show the accuracy of the estimate by fusing point clouds fro","authors_text":"Ankit Dhall, K.M. Krishna, Kunal Chelani, Vishnu Radhakrishnan","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-27T07:57:50Z","title":"LiDAR-Camera Calibration using 3D-3D Point correspondences"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.09785","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:a2eb43f042e2240e1559f72da92728d3a8eeeb66bf5ee8409e1d2721dc13dcec","target":"record","created_at":"2026-05-18T00:43:34Z","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":"ce0b2d639310b8a085fbe7549440ab54917ce42d8859a79bfcef72a83da19e75","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-27T07:57:50Z","title_canon_sha256":"c2ee356333532d85f288fde644622246cd434d8203076b5bcd80ae1e74ffbad6"},"schema_version":"1.0","source":{"id":"1705.09785","kind":"arxiv","version":1}},"canonical_sha256":"e5bbd2987890659972da832665d540213c221cdcd9df8bb13ee8b65a085ca633","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e5bbd2987890659972da832665d540213c221cdcd9df8bb13ee8b65a085ca633","first_computed_at":"2026-05-18T00:43:34.480467Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:43:34.480467Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wzzc/1O+t59ACYJmvl8bJN1/NTezP0cEZsGpOq0f1PgVIYVXD91tNHHFEGrRWASOdtDnwlar7rh+5ehbgnrMDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:43:34.480855Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.09785","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a2eb43f042e2240e1559f72da92728d3a8eeeb66bf5ee8409e1d2721dc13dcec","sha256:456690baf6aaab485398274119185cc9f70fb99a1e006c853b0a95441a15de27"],"state_sha256":"22aafb3c01ff2581cc5eb4a2a807626e034d7ba950b524223f86eeeff6a8bdfe"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"unEaFxZ1FIOZdfckb2in4tnpg9g5vQpSM3d2I0KZCsfvtPEBKcjL1Etus4pz0XSDWzrU4LBpkn42Cwdw+M4fCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T19:05:15.745322Z","bundle_sha256":"0b0d300c65f1e050e5dd258650d8d32e60afe0168ddb523177df113df3879bd9"}}