{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:5EA3WVYOCQCZRCDMMQC4QEL2HE","short_pith_number":"pith:5EA3WVYO","canonical_record":{"source":{"id":"1301.5582","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2013-01-23T17:44:56Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"234140c40dbebefd1ff9373eaeb34c83f6da29529430569378dbdde4de2d704d","abstract_canon_sha256":"763baa92d714704ea1df0283e2bf2053a800b457cee5b445fdea0f478212b0bd"},"schema_version":"1.0"},"canonical_sha256":"e901bb570e140598886c6405c8117a3929214987462e9e234ddca301c6c3b487","source":{"kind":"arxiv","id":"1301.5582","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1301.5582","created_at":"2026-05-18T03:35:39Z"},{"alias_kind":"arxiv_version","alias_value":"1301.5582v1","created_at":"2026-05-18T03:35:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1301.5582","created_at":"2026-05-18T03:35:39Z"},{"alias_kind":"pith_short_12","alias_value":"5EA3WVYOCQCZ","created_at":"2026-05-18T12:27:34Z"},{"alias_kind":"pith_short_16","alias_value":"5EA3WVYOCQCZRCDM","created_at":"2026-05-18T12:27:34Z"},{"alias_kind":"pith_short_8","alias_value":"5EA3WVYO","created_at":"2026-05-18T12:27:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:5EA3WVYOCQCZRCDMMQC4QEL2HE","target":"record","payload":{"canonical_record":{"source":{"id":"1301.5582","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2013-01-23T17:44:56Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"234140c40dbebefd1ff9373eaeb34c83f6da29529430569378dbdde4de2d704d","abstract_canon_sha256":"763baa92d714704ea1df0283e2bf2053a800b457cee5b445fdea0f478212b0bd"},"schema_version":"1.0"},"canonical_sha256":"e901bb570e140598886c6405c8117a3929214987462e9e234ddca301c6c3b487","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:35:39.336666Z","signature_b64":"QbR72+QtfjumZkRcLbdm1Ugp5DZYfP7bL0PKRq5JqmBjWfUkhP6Ya2pOxtbJGX3z8CxxxdhZGDcZ51m4mKP5Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e901bb570e140598886c6405c8117a3929214987462e9e234ddca301c6c3b487","last_reissued_at":"2026-05-18T03:35:39.335833Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:35:39.335833Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1301.5582","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":"2026-05-18T03:35:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AoG/Ooc+lpGJTFCMe20PPLkeK5qqAZmJAPAXz+RhCigxg0FD0wAKe0zSfc3m+TpUNBro7ss8lifzeXV2zMT/Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T06:15:24.658193Z"},"content_sha256":"ce7158d56504f5733b45f1d157111ee6e511cab1bd1850ede16beb080505e609","schema_version":"1.0","event_id":"sha256:ce7158d56504f5733b45f1d157111ee6e511cab1bd1850ede16beb080505e609"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:5EA3WVYOCQCZRCDMMQC4QEL2HE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-Class Detection and Segmentation of Objects in Depth","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Cheng Zhang, Hedvig Kjellstrom","submitted_at":"2013-01-23T17:44:56Z","abstract_excerpt":"The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene perception, object detection and segmentation, and object spatial localization in 3D are fundamental capabilities for such humanoid robots. This paper presents a 3D multi-class object detection and segmentation method. The contributions are twofold. Firstly, we present a multi-class detection method, where a minimal joint codebook is learned in a principled manner"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1301.5582","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":"2026-05-18T03:35:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2DBvdWOKWBUK7oOb3xybAMEA4UEGs7NpBOqrLo04ZLaLrwftOWZIq6RnhzHlGDw6FmvVZD7HmJPLMp62QMyYBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T06:15:24.658840Z"},"content_sha256":"5cd8115f857f384af13f73dafa99a12d00e7fe93d3f96f64959bfe48bb0bb274","schema_version":"1.0","event_id":"sha256:5cd8115f857f384af13f73dafa99a12d00e7fe93d3f96f64959bfe48bb0bb274"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5EA3WVYOCQCZRCDMMQC4QEL2HE/bundle.json","state_url":"https://pith.science/pith/5EA3WVYOCQCZRCDMMQC4QEL2HE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5EA3WVYOCQCZRCDMMQC4QEL2HE/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":"2026-05-31T06:15:24Z","links":{"resolver":"https://pith.science/pith/5EA3WVYOCQCZRCDMMQC4QEL2HE","bundle":"https://pith.science/pith/5EA3WVYOCQCZRCDMMQC4QEL2HE/bundle.json","state":"https://pith.science/pith/5EA3WVYOCQCZRCDMMQC4QEL2HE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5EA3WVYOCQCZRCDMMQC4QEL2HE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:5EA3WVYOCQCZRCDMMQC4QEL2HE","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":"763baa92d714704ea1df0283e2bf2053a800b457cee5b445fdea0f478212b0bd","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2013-01-23T17:44:56Z","title_canon_sha256":"234140c40dbebefd1ff9373eaeb34c83f6da29529430569378dbdde4de2d704d"},"schema_version":"1.0","source":{"id":"1301.5582","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1301.5582","created_at":"2026-05-18T03:35:39Z"},{"alias_kind":"arxiv_version","alias_value":"1301.5582v1","created_at":"2026-05-18T03:35:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1301.5582","created_at":"2026-05-18T03:35:39Z"},{"alias_kind":"pith_short_12","alias_value":"5EA3WVYOCQCZ","created_at":"2026-05-18T12:27:34Z"},{"alias_kind":"pith_short_16","alias_value":"5EA3WVYOCQCZRCDM","created_at":"2026-05-18T12:27:34Z"},{"alias_kind":"pith_short_8","alias_value":"5EA3WVYO","created_at":"2026-05-18T12:27:34Z"}],"graph_snapshots":[{"event_id":"sha256:5cd8115f857f384af13f73dafa99a12d00e7fe93d3f96f64959bfe48bb0bb274","target":"graph","created_at":"2026-05-18T03:35:39Z","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":"The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene perception, object detection and segmentation, and object spatial localization in 3D are fundamental capabilities for such humanoid robots. This paper presents a 3D multi-class object detection and segmentation method. The contributions are twofold. Firstly, we present a multi-class detection method, where a minimal joint codebook is learned in a principled manner","authors_text":"Cheng Zhang, Hedvig Kjellstrom","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2013-01-23T17:44:56Z","title":"Multi-Class Detection and Segmentation of Objects in Depth"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1301.5582","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:ce7158d56504f5733b45f1d157111ee6e511cab1bd1850ede16beb080505e609","target":"record","created_at":"2026-05-18T03:35:39Z","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":"763baa92d714704ea1df0283e2bf2053a800b457cee5b445fdea0f478212b0bd","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2013-01-23T17:44:56Z","title_canon_sha256":"234140c40dbebefd1ff9373eaeb34c83f6da29529430569378dbdde4de2d704d"},"schema_version":"1.0","source":{"id":"1301.5582","kind":"arxiv","version":1}},"canonical_sha256":"e901bb570e140598886c6405c8117a3929214987462e9e234ddca301c6c3b487","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e901bb570e140598886c6405c8117a3929214987462e9e234ddca301c6c3b487","first_computed_at":"2026-05-18T03:35:39.335833Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:35:39.335833Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QbR72+QtfjumZkRcLbdm1Ugp5DZYfP7bL0PKRq5JqmBjWfUkhP6Ya2pOxtbJGX3z8CxxxdhZGDcZ51m4mKP5Bw==","signature_status":"signed_v1","signed_at":"2026-05-18T03:35:39.336666Z","signed_message":"canonical_sha256_bytes"},"source_id":"1301.5582","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ce7158d56504f5733b45f1d157111ee6e511cab1bd1850ede16beb080505e609","sha256:5cd8115f857f384af13f73dafa99a12d00e7fe93d3f96f64959bfe48bb0bb274"],"state_sha256":"403755752487e11e6c584a7ff0aba171998ed9fca669a8ff0dff8375f6b99725"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"19xeEwKD0F/jcnMi/thTWuFF/MEQrAp0Ium+hEwwiK8IrtP7xu91uSi2RCTj8jm3r9ORgyGppY7J82NQ9QzRCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T06:15:24.662022Z","bundle_sha256":"619493c3bd846d7ec2418d3edfa81060e2ec45ff960d82b0de9bd005580adecb"}}