{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:4X56FJGUFABVYGRPCNM24G7LVG","short_pith_number":"pith:4X56FJGU","canonical_record":{"source":{"id":"2412.08195","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-11T08:36:36Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"e2f3cd376c590416e1df5b82532932490eca406b9fc0a23c67b6dbba9d1d181b","abstract_canon_sha256":"20e67b441661b97c89cbbf70abfb71264455c3d0b003692cca51b2d611486dc3"},"schema_version":"1.0"},"canonical_sha256":"e5fbe2a4d428035c1a2f1359ae1beba994e06c412312a330805005ccc254b631","source":{"kind":"arxiv","id":"2412.08195","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.08195","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"arxiv_version","alias_value":"2412.08195v2","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.08195","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"pith_short_12","alias_value":"4X56FJGUFABV","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"pith_short_16","alias_value":"4X56FJGUFABVYGRP","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"pith_short_8","alias_value":"4X56FJGU","created_at":"2026-07-05T11:49:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:4X56FJGUFABVYGRPCNM24G7LVG","target":"record","payload":{"canonical_record":{"source":{"id":"2412.08195","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-11T08:36:36Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"e2f3cd376c590416e1df5b82532932490eca406b9fc0a23c67b6dbba9d1d181b","abstract_canon_sha256":"20e67b441661b97c89cbbf70abfb71264455c3d0b003692cca51b2d611486dc3"},"schema_version":"1.0"},"canonical_sha256":"e5fbe2a4d428035c1a2f1359ae1beba994e06c412312a330805005ccc254b631","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:49:32.294625Z","signature_b64":"/jEdCfVsIjoqeGaP9aG8zyYlzSyMbndjVe4qGWpastr44VLcEEVgyNInEjGKR3/uRtYKVMC0Fr6Kr3zPnFYFDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e5fbe2a4d428035c1a2f1359ae1beba994e06c412312a330805005ccc254b631","last_reissued_at":"2026-07-05T11:49:32.294146Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:49:32.294146Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.08195","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":"2026-07-05T11:49:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gfwNCZQahCxjHr1S6fkgPOLg+9MdhU2gATa5CWb94iv0QMrBvLI8QUd98fW8WOXjrNdm2zPTkm+KFk2C5Pe5Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T10:59:05.059937Z"},"content_sha256":"869f4b355629428c2474ff789efccca844a48544c0af5fa51915179796ddf30c","schema_version":"1.0","event_id":"sha256:869f4b355629428c2474ff789efccca844a48544c0af5fa51915179796ddf30c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:4X56FJGUFABVYGRPCNM24G7LVG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"3DTTNet: Multimodal Fusion-Based 3D Traversable Terrain Modeling for Off-Road Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Bo Wang, Changjiu Ning, Chao Sun, Chen Min, Haoyu Li, Shida Nie, Zitong Chen","submitted_at":"2024-12-11T08:36:36Z","abstract_excerpt":"Off-road environments remain significant challenges for autonomous ground vehicles, due to the lack of structured roads and the presence of complex obstacles, such as uneven terrain, vegetation, and occlusions. Traditional perception algorithms, primarily designed for structured environments, often fail in unstructured scenarios. In this paper, traversable area recognition is achieved through semantic scene completion. A novel multimodal method, 3DTTNet, is proposed to generate dense traversable terrain estimations by integrating LiDAR point clouds with monocular images from a forward-facing p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.08195","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/2412.08195/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":"2026-07-05T11:49:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eiwcR5WBlMMwB/gEHj//RawqqfJfF7fRKgAc9IwKESFzFjh/D5KgplJxrkGnMC/1kViwSP52ushoIKIJdorRDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T10:59:05.060440Z"},"content_sha256":"478ee3091451d7e4558dbfec77e45db0226d7b50a68664e317ff59c230cac6a1","schema_version":"1.0","event_id":"sha256:478ee3091451d7e4558dbfec77e45db0226d7b50a68664e317ff59c230cac6a1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4X56FJGUFABVYGRPCNM24G7LVG/bundle.json","state_url":"https://pith.science/pith/4X56FJGUFABVYGRPCNM24G7LVG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4X56FJGUFABVYGRPCNM24G7LVG/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":"2026-08-22T10:59:05Z","links":{"resolver":"https://pith.science/pith/4X56FJGUFABVYGRPCNM24G7LVG","bundle":"https://pith.science/pith/4X56FJGUFABVYGRPCNM24G7LVG/bundle.json","state":"https://pith.science/pith/4X56FJGUFABVYGRPCNM24G7LVG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4X56FJGUFABVYGRPCNM24G7LVG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:4X56FJGUFABVYGRPCNM24G7LVG","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":"20e67b441661b97c89cbbf70abfb71264455c3d0b003692cca51b2d611486dc3","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-11T08:36:36Z","title_canon_sha256":"e2f3cd376c590416e1df5b82532932490eca406b9fc0a23c67b6dbba9d1d181b"},"schema_version":"1.0","source":{"id":"2412.08195","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.08195","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"arxiv_version","alias_value":"2412.08195v2","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.08195","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"pith_short_12","alias_value":"4X56FJGUFABV","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"pith_short_16","alias_value":"4X56FJGUFABVYGRP","created_at":"2026-07-05T11:49:32Z"},{"alias_kind":"pith_short_8","alias_value":"4X56FJGU","created_at":"2026-07-05T11:49:32Z"}],"graph_snapshots":[{"event_id":"sha256:478ee3091451d7e4558dbfec77e45db0226d7b50a68664e317ff59c230cac6a1","target":"graph","created_at":"2026-07-05T11:49:32Z","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/2412.08195/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Off-road environments remain significant challenges for autonomous ground vehicles, due to the lack of structured roads and the presence of complex obstacles, such as uneven terrain, vegetation, and occlusions. Traditional perception algorithms, primarily designed for structured environments, often fail in unstructured scenarios. In this paper, traversable area recognition is achieved through semantic scene completion. A novel multimodal method, 3DTTNet, is proposed to generate dense traversable terrain estimations by integrating LiDAR point clouds with monocular images from a forward-facing p","authors_text":"Bo Wang, Changjiu Ning, Chao Sun, Chen Min, Haoyu Li, Shida Nie, Zitong Chen","cross_cats":["cs.AI","cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-11T08:36:36Z","title":"3DTTNet: Multimodal Fusion-Based 3D Traversable Terrain Modeling for Off-Road Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.08195","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":"sha256:869f4b355629428c2474ff789efccca844a48544c0af5fa51915179796ddf30c","target":"record","created_at":"2026-07-05T11:49:32Z","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":"20e67b441661b97c89cbbf70abfb71264455c3d0b003692cca51b2d611486dc3","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-11T08:36:36Z","title_canon_sha256":"e2f3cd376c590416e1df5b82532932490eca406b9fc0a23c67b6dbba9d1d181b"},"schema_version":"1.0","source":{"id":"2412.08195","kind":"arxiv","version":2}},"canonical_sha256":"e5fbe2a4d428035c1a2f1359ae1beba994e06c412312a330805005ccc254b631","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e5fbe2a4d428035c1a2f1359ae1beba994e06c412312a330805005ccc254b631","first_computed_at":"2026-07-05T11:49:32.294146Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:49:32.294146Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/jEdCfVsIjoqeGaP9aG8zyYlzSyMbndjVe4qGWpastr44VLcEEVgyNInEjGKR3/uRtYKVMC0Fr6Kr3zPnFYFDA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:49:32.294625Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.08195","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:869f4b355629428c2474ff789efccca844a48544c0af5fa51915179796ddf30c","sha256:478ee3091451d7e4558dbfec77e45db0226d7b50a68664e317ff59c230cac6a1"],"state_sha256":"acaab64bf5ebff2e71425fc8c43e4e27aa93e1379c4aa85554257a05504552eb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tNMIUfNlqIgzjJSndKg0jj9U/qcEcJaR9mJLutVCQc6W+zAgfpRBMiuKdzLx5F0bXQv58imFe7ms5D14nZWDDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T10:59:05.064854Z","bundle_sha256":"991e7d1eb2419f1f9ddbbf931134520a6405cffb9f53f05321d0ca7fe2a747ec"}}