{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:5J7H5CW37XPBVBYURPB6OVVAH2","short_pith_number":"pith:5J7H5CW3","canonical_record":{"source":{"id":"1203.2995","kind":"arxiv","version":6},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-03-14T02:57:54Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"3574ce7b8cf35fd3a1d6f5887b005a625a86bbb722bc3ad25bc50085b6cb2e1d","abstract_canon_sha256":"98ef9a3f2746c2f8c30a438138eff45c8ea70519b20fd52681e17265fbc1279e"},"schema_version":"1.0"},"canonical_sha256":"ea7e7e8adbfdde1a87148bc3e756a03eacd2c452f31271a80bd0f32e8bf44208","source":{"kind":"arxiv","id":"1203.2995","version":6},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1203.2995","created_at":"2026-05-18T01:07:58Z"},{"alias_kind":"arxiv_version","alias_value":"1203.2995v6","created_at":"2026-05-18T01:07:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1203.2995","created_at":"2026-05-18T01:07:58Z"},{"alias_kind":"pith_short_12","alias_value":"5J7H5CW37XPB","created_at":"2026-05-18T12:26:53Z"},{"alias_kind":"pith_short_16","alias_value":"5J7H5CW37XPBVBYU","created_at":"2026-05-18T12:26:53Z"},{"alias_kind":"pith_short_8","alias_value":"5J7H5CW3","created_at":"2026-05-18T12:26:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:5J7H5CW37XPBVBYURPB6OVVAH2","target":"record","payload":{"canonical_record":{"source":{"id":"1203.2995","kind":"arxiv","version":6},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-03-14T02:57:54Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"3574ce7b8cf35fd3a1d6f5887b005a625a86bbb722bc3ad25bc50085b6cb2e1d","abstract_canon_sha256":"98ef9a3f2746c2f8c30a438138eff45c8ea70519b20fd52681e17265fbc1279e"},"schema_version":"1.0"},"canonical_sha256":"ea7e7e8adbfdde1a87148bc3e756a03eacd2c452f31271a80bd0f32e8bf44208","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:07:58.723436Z","signature_b64":"iTuURQOPoEAnd5LcN2EpQV+OT36hzIJIc2kUNCUia0V3r4iromDQmqNj/kKHGL194s82ytJ+U1zqWGjVGqjHCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ea7e7e8adbfdde1a87148bc3e756a03eacd2c452f31271a80bd0f32e8bf44208","last_reissued_at":"2026-05-18T01:07:58.722804Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:07:58.722804Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1203.2995","source_version":6,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:07:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"45Fz3M+jieXAMc7fu7C8qUuv0Nq4GzYgF1CUZu/+RBvhpjKZZcPsdNz78cPh9b1E0zYE6KmSheuItkAid7aSCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T14:19:55.091975Z"},"content_sha256":"5932ca4dfdb392655f308da6b9d15656c0bfcbaa44b4e517952c3743c9ca416b","schema_version":"1.0","event_id":"sha256:5932ca4dfdb392655f308da6b9d15656c0bfcbaa44b4e517952c3743c9ca416b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:5J7H5CW37XPBVBYURPB6OVVAH2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Marginal multi-Bernoulli filters: RFS derivation of MHT, JIPDA and association-based MeMBer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.SY","authors_text":"Jason L. Williams","submitted_at":"2012-03-14T02:57:54Z","abstract_excerpt":"Recent developments in random finite sets (RFSs) have yielded a variety of tracking methods that avoid data association. This paper derives a form of the full Bayes RFS filter and observes that data association is implicitly present, in a data structure similar to MHT. Subsequently, algorithms are obtained by approximating the distribution of associations. Two algorithms result: one nearly identical to JIPDA, and another related to the MeMBer filter. Both improve performance in challenging environments."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1203.2995","kind":"arxiv","version":6},"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":"2026-05-18T01:07:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+tIgXMQuzO4b8VbW15RWGczixXlIq0AAgPI+RJxWF9syykPwyjwzO3Vq3wI02MeX1JxweNNp/Y1Z1FeUfrfCDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T14:19:55.092699Z"},"content_sha256":"12ec2043c6aac592380eadf4f3054d93635bb6cf48d899b60673782a428180ab","schema_version":"1.0","event_id":"sha256:12ec2043c6aac592380eadf4f3054d93635bb6cf48d899b60673782a428180ab"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5J7H5CW37XPBVBYURPB6OVVAH2/bundle.json","state_url":"https://pith.science/pith/5J7H5CW37XPBVBYURPB6OVVAH2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5J7H5CW37XPBVBYURPB6OVVAH2/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":"2026-06-07T14:19:55Z","links":{"resolver":"https://pith.science/pith/5J7H5CW37XPBVBYURPB6OVVAH2","bundle":"https://pith.science/pith/5J7H5CW37XPBVBYURPB6OVVAH2/bundle.json","state":"https://pith.science/pith/5J7H5CW37XPBVBYURPB6OVVAH2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5J7H5CW37XPBVBYURPB6OVVAH2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:5J7H5CW37XPBVBYURPB6OVVAH2","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":"98ef9a3f2746c2f8c30a438138eff45c8ea70519b20fd52681e17265fbc1279e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-03-14T02:57:54Z","title_canon_sha256":"3574ce7b8cf35fd3a1d6f5887b005a625a86bbb722bc3ad25bc50085b6cb2e1d"},"schema_version":"1.0","source":{"id":"1203.2995","kind":"arxiv","version":6}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1203.2995","created_at":"2026-05-18T01:07:58Z"},{"alias_kind":"arxiv_version","alias_value":"1203.2995v6","created_at":"2026-05-18T01:07:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1203.2995","created_at":"2026-05-18T01:07:58Z"},{"alias_kind":"pith_short_12","alias_value":"5J7H5CW37XPB","created_at":"2026-05-18T12:26:53Z"},{"alias_kind":"pith_short_16","alias_value":"5J7H5CW37XPBVBYU","created_at":"2026-05-18T12:26:53Z"},{"alias_kind":"pith_short_8","alias_value":"5J7H5CW3","created_at":"2026-05-18T12:26:53Z"}],"graph_snapshots":[{"event_id":"sha256:12ec2043c6aac592380eadf4f3054d93635bb6cf48d899b60673782a428180ab","target":"graph","created_at":"2026-05-18T01:07:58Z","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":"Recent developments in random finite sets (RFSs) have yielded a variety of tracking methods that avoid data association. This paper derives a form of the full Bayes RFS filter and observes that data association is implicitly present, in a data structure similar to MHT. Subsequently, algorithms are obtained by approximating the distribution of associations. Two algorithms result: one nearly identical to JIPDA, and another related to the MeMBer filter. Both improve performance in challenging environments.","authors_text":"Jason L. Williams","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-03-14T02:57:54Z","title":"Marginal multi-Bernoulli filters: RFS derivation of MHT, JIPDA and association-based MeMBer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1203.2995","kind":"arxiv","version":6},"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":"sha256:5932ca4dfdb392655f308da6b9d15656c0bfcbaa44b4e517952c3743c9ca416b","target":"record","created_at":"2026-05-18T01:07:58Z","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":"98ef9a3f2746c2f8c30a438138eff45c8ea70519b20fd52681e17265fbc1279e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-03-14T02:57:54Z","title_canon_sha256":"3574ce7b8cf35fd3a1d6f5887b005a625a86bbb722bc3ad25bc50085b6cb2e1d"},"schema_version":"1.0","source":{"id":"1203.2995","kind":"arxiv","version":6}},"canonical_sha256":"ea7e7e8adbfdde1a87148bc3e756a03eacd2c452f31271a80bd0f32e8bf44208","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ea7e7e8adbfdde1a87148bc3e756a03eacd2c452f31271a80bd0f32e8bf44208","first_computed_at":"2026-05-18T01:07:58.722804Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:07:58.722804Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iTuURQOPoEAnd5LcN2EpQV+OT36hzIJIc2kUNCUia0V3r4iromDQmqNj/kKHGL194s82ytJ+U1zqWGjVGqjHCg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:07:58.723436Z","signed_message":"canonical_sha256_bytes"},"source_id":"1203.2995","source_kind":"arxiv","source_version":6}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5932ca4dfdb392655f308da6b9d15656c0bfcbaa44b4e517952c3743c9ca416b","sha256:12ec2043c6aac592380eadf4f3054d93635bb6cf48d899b60673782a428180ab"],"state_sha256":"e575a4c80c5e2ae3e445d8e2b3572d70c89df80120ba58f004584bdd83113c05"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Lyym42GqXvft+AwvBh40vtPMg8hESeSEUUQYrcO2XSThk+UJWVXgoSr7EVouCscdjou3EMenPG5KI2glkm7KCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T14:19:55.096138Z","bundle_sha256":"2e12ed121c116faf0905f70b068744dae22c5d5705195ffa11984cce0b80a94b"}}