{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:5EKOBOZAJGY26BRW6WPEEBMWZQ","short_pith_number":"pith:5EKOBOZA","canonical_record":{"source":{"id":"2507.08349","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-11T06:48:53Z","cross_cats_sorted":[],"title_canon_sha256":"c2722b2948f2b4a7e77fde6b02c60f80749e4b9cc815483b3cfd1f07230e0c1a","abstract_canon_sha256":"0bf906580a2aec5a9b0954f62fc724d705f1eb64633641140df878ce28b3116f"},"schema_version":"1.0"},"canonical_sha256":"e914e0bb2049b1af0636f59e420596cc2a2063baaf3b968571c597e5d2c809bc","source":{"kind":"arxiv","id":"2507.08349","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.08349","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"arxiv_version","alias_value":"2507.08349v1","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.08349","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"pith_short_12","alias_value":"5EKOBOZAJGY2","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"pith_short_16","alias_value":"5EKOBOZAJGY26BRW","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"pith_short_8","alias_value":"5EKOBOZA","created_at":"2026-07-05T11:35:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:5EKOBOZAJGY26BRW6WPEEBMWZQ","target":"record","payload":{"canonical_record":{"source":{"id":"2507.08349","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-11T06:48:53Z","cross_cats_sorted":[],"title_canon_sha256":"c2722b2948f2b4a7e77fde6b02c60f80749e4b9cc815483b3cfd1f07230e0c1a","abstract_canon_sha256":"0bf906580a2aec5a9b0954f62fc724d705f1eb64633641140df878ce28b3116f"},"schema_version":"1.0"},"canonical_sha256":"e914e0bb2049b1af0636f59e420596cc2a2063baaf3b968571c597e5d2c809bc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:35:21.737343Z","signature_b64":"cmbqsuKli373gwzzM41mbIR4guv4QOZGLSzrZlJGxn7hNFKO/00l76TPMk77UMUZ+tMZP8VfgjsFSlE90TfWDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e914e0bb2049b1af0636f59e420596cc2a2063baaf3b968571c597e5d2c809bc","last_reissued_at":"2026-07-05T11:35:21.736817Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:35:21.736817Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.08349","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":"2026-07-05T11:35:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YTPtFLINAAUFNxvbF1Bu7moKXVQWzwhE/u9OEIGdNBF2H0GgvQEjhXEhrVBCQQPmiTImGvpVZqgeO7xD37saDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T02:10:31.451962Z"},"content_sha256":"a8e9da0f5513d76b4a77a5fc5aeec8d5bfe59247597b8a343033275d71ff6b6a","schema_version":"1.0","event_id":"sha256:a8e9da0f5513d76b4a77a5fc5aeec8d5bfe59247597b8a343033275d71ff6b6a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:5EKOBOZAJGY26BRW6WPEEBMWZQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Joint Optimization-based Targetless Extrinsic Calibration for Multiple LiDARs and GNSS-Aided INS of Ground Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chao Gao, Junhui Wang, Naiqi Wu, Yan Qiao","submitted_at":"2025-07-11T06:48:53Z","abstract_excerpt":"Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road collaboration by aligning perception data from vehicle-mounted sensors to a unified global reference frame. However, existing methods often depend on artificial targets, overlapping fields of view, or precise trajectory estimation, which are assumptions that may not hold in practice. Moreover, the planar motion of mining vehicles leads to observability issues t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.08349","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2507.08349/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":"2026-07-05T11:35:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u41O2SvyfCzk5a8Kc1bWfhEEWNsYNywGYIg6naawmMKqj0nmUJ0npaeEjm6qylJrEzcYSJsnRT9XbeCHs8F0Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T02:10:31.452307Z"},"content_sha256":"9c16df9736cd395fa8d6cf08b0e71654762d10f94269fc2e40da8b698da176a9","schema_version":"1.0","event_id":"sha256:9c16df9736cd395fa8d6cf08b0e71654762d10f94269fc2e40da8b698da176a9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5EKOBOZAJGY26BRW6WPEEBMWZQ/bundle.json","state_url":"https://pith.science/pith/5EKOBOZAJGY26BRW6WPEEBMWZQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5EKOBOZAJGY26BRW6WPEEBMWZQ/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":"2026-08-20T02:10:31Z","links":{"resolver":"https://pith.science/pith/5EKOBOZAJGY26BRW6WPEEBMWZQ","bundle":"https://pith.science/pith/5EKOBOZAJGY26BRW6WPEEBMWZQ/bundle.json","state":"https://pith.science/pith/5EKOBOZAJGY26BRW6WPEEBMWZQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5EKOBOZAJGY26BRW6WPEEBMWZQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:5EKOBOZAJGY26BRW6WPEEBMWZQ","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":"0bf906580a2aec5a9b0954f62fc724d705f1eb64633641140df878ce28b3116f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-11T06:48:53Z","title_canon_sha256":"c2722b2948f2b4a7e77fde6b02c60f80749e4b9cc815483b3cfd1f07230e0c1a"},"schema_version":"1.0","source":{"id":"2507.08349","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.08349","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"arxiv_version","alias_value":"2507.08349v1","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.08349","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"pith_short_12","alias_value":"5EKOBOZAJGY2","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"pith_short_16","alias_value":"5EKOBOZAJGY26BRW","created_at":"2026-07-05T11:35:21Z"},{"alias_kind":"pith_short_8","alias_value":"5EKOBOZA","created_at":"2026-07-05T11:35:21Z"}],"graph_snapshots":[{"event_id":"sha256:9c16df9736cd395fa8d6cf08b0e71654762d10f94269fc2e40da8b698da176a9","target":"graph","created_at":"2026-07-05T11:35:21Z","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/2507.08349/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road collaboration by aligning perception data from vehicle-mounted sensors to a unified global reference frame. However, existing methods often depend on artificial targets, overlapping fields of view, or precise trajectory estimation, which are assumptions that may not hold in practice. Moreover, the planar motion of mining vehicles leads to observability issues t","authors_text":"Chao Gao, Junhui Wang, Naiqi Wu, Yan Qiao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-11T06:48:53Z","title":"Joint Optimization-based Targetless Extrinsic Calibration for Multiple LiDARs and GNSS-Aided INS of Ground Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.08349","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:a8e9da0f5513d76b4a77a5fc5aeec8d5bfe59247597b8a343033275d71ff6b6a","target":"record","created_at":"2026-07-05T11:35:21Z","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":"0bf906580a2aec5a9b0954f62fc724d705f1eb64633641140df878ce28b3116f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-11T06:48:53Z","title_canon_sha256":"c2722b2948f2b4a7e77fde6b02c60f80749e4b9cc815483b3cfd1f07230e0c1a"},"schema_version":"1.0","source":{"id":"2507.08349","kind":"arxiv","version":1}},"canonical_sha256":"e914e0bb2049b1af0636f59e420596cc2a2063baaf3b968571c597e5d2c809bc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e914e0bb2049b1af0636f59e420596cc2a2063baaf3b968571c597e5d2c809bc","first_computed_at":"2026-07-05T11:35:21.736817Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:35:21.736817Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cmbqsuKli373gwzzM41mbIR4guv4QOZGLSzrZlJGxn7hNFKO/00l76TPMk77UMUZ+tMZP8VfgjsFSlE90TfWDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:35:21.737343Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.08349","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a8e9da0f5513d76b4a77a5fc5aeec8d5bfe59247597b8a343033275d71ff6b6a","sha256:9c16df9736cd395fa8d6cf08b0e71654762d10f94269fc2e40da8b698da176a9"],"state_sha256":"f4b168aaa3cb16771414094d2a1d0d5035a8f836f121d1ed2b1334a6e56c4957"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T5YDiB7d6gUEAXszYsE55UqANcl0+BLB0RmiqJuhnmenmWMn1xGZ2YYdreS39Pw2GHDF82kdB/PKKYc9SYl6DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T02:10:31.455888Z","bundle_sha256":"86add6662507baa75a4d7e96c8b4273e7dadb84b552b3d1c1ac3562527c379a3"}}