{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:6UECM52SRRHG7KUOFC7I6FNPSU","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":"0e7199b5ec68608ad349c97d725b24eb22d11e79bf25643a759ee347053796e9","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-03-06T16:25:15Z","title_canon_sha256":"8361ee340a120ae96df3b5343a0ff5c1563e8209a118644f7418451f5870ad83"},"schema_version":"1.0","source":{"id":"1803.02285","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.02285","created_at":"2026-05-18T00:09:03Z"},{"alias_kind":"arxiv_version","alias_value":"1803.02285v2","created_at":"2026-05-18T00:09:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.02285","created_at":"2026-05-18T00:09:03Z"},{"alias_kind":"pith_short_12","alias_value":"6UECM52SRRHG","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"6UECM52SRRHG7KUO","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"6UECM52S","created_at":"2026-05-18T12:32:11Z"}],"graph_snapshots":[{"event_id":"sha256:2aaa02b13eb093719234c3595fcf25813f44648d9fd9ce78c00c24b96c457b3b","target":"graph","created_at":"2026-05-18T00:09:03Z","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":"Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach using hybrid multi-camera input data to lead a robot arm accurately to dynamically moving target points in the presence of partial occlusions. The approach uses four RGBD sensors as Eye-to-Hand (EtoH) visual input, and an arm-mounted stereo camera as Eye-in-Hand (EinH). A Master supervisor task selects between using the EtoH or the EinH, depending on the dista","authors_text":"Hanz Cuevas-Velasquez, Marcelo Saval-Calvo, Nanbo Li, Radim Tylecek, Robert B. Fisher","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-03-06T16:25:15Z","title":"Hybrid Multi-camera Visual Servoing to Moving Target"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.02285","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:b6d5a590c5b6f1d7d86485c6fee73863e22e0dde93f0bf02bbbd1a18b6386510","target":"record","created_at":"2026-05-18T00:09:03Z","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":"0e7199b5ec68608ad349c97d725b24eb22d11e79bf25643a759ee347053796e9","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-03-06T16:25:15Z","title_canon_sha256":"8361ee340a120ae96df3b5343a0ff5c1563e8209a118644f7418451f5870ad83"},"schema_version":"1.0","source":{"id":"1803.02285","kind":"arxiv","version":2}},"canonical_sha256":"f5082677528c4e6faa8e28be8f15af9527f7b6037b0f5f0c00c6e7542614e6fc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f5082677528c4e6faa8e28be8f15af9527f7b6037b0f5f0c00c6e7542614e6fc","first_computed_at":"2026-05-18T00:09:03.990360Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:09:03.990360Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"56uO+UL46C7etH5qEzt1J7QdX1JmVUPm3UG5NrzqGrxNWI1XEv2VqGUjmQ+n6bomhUs2AdJHM2s6sNvIy+qjBw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:09:03.991103Z","signed_message":"canonical_sha256_bytes"},"source_id":"1803.02285","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b6d5a590c5b6f1d7d86485c6fee73863e22e0dde93f0bf02bbbd1a18b6386510","sha256:2aaa02b13eb093719234c3595fcf25813f44648d9fd9ce78c00c24b96c457b3b"],"state_sha256":"5cf38302f6b49aebb1539a904022b82a5b52318d96e6afaca63be22dfd4c564e"}