{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:72L5EBFIBZCSPQHIHQH7BUJZAE","short_pith_number":"pith:72L5EBFI","canonical_record":{"source":{"id":"1807.02752","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-07-08T04:21:28Z","cross_cats_sorted":[],"title_canon_sha256":"a1d2f47a5310776ff8d80dcdd4f507f4e706a777254df488d9becfede2c3d570","abstract_canon_sha256":"1855919db3f4985b193cb7f691c0e9e21f1b2d9c0898eb9546b53bd0c9d16cec"},"schema_version":"1.0"},"canonical_sha256":"fe97d204a80e4527c0e83c0ff0d139012414c14fab6a82e94d5c2e725bea1c85","source":{"kind":"arxiv","id":"1807.02752","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.02752","created_at":"2026-05-18T00:11:16Z"},{"alias_kind":"arxiv_version","alias_value":"1807.02752v1","created_at":"2026-05-18T00:11:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.02752","created_at":"2026-05-18T00:11:16Z"},{"alias_kind":"pith_short_12","alias_value":"72L5EBFIBZCS","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"72L5EBFIBZCSPQHI","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"72L5EBFI","created_at":"2026-05-18T12:32:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:72L5EBFIBZCSPQHIHQH7BUJZAE","target":"record","payload":{"canonical_record":{"source":{"id":"1807.02752","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-07-08T04:21:28Z","cross_cats_sorted":[],"title_canon_sha256":"a1d2f47a5310776ff8d80dcdd4f507f4e706a777254df488d9becfede2c3d570","abstract_canon_sha256":"1855919db3f4985b193cb7f691c0e9e21f1b2d9c0898eb9546b53bd0c9d16cec"},"schema_version":"1.0"},"canonical_sha256":"fe97d204a80e4527c0e83c0ff0d139012414c14fab6a82e94d5c2e725bea1c85","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:11:16.129203Z","signature_b64":"3W6SaaSs/ckk/aFlsYHKWL5JpS7Q2ilKEGTMNaYBfOv2cmk2bzmNQclZ41jUVZoM4d4r23Paxty6q5XNCHdHAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fe97d204a80e4527c0e83c0ff0d139012414c14fab6a82e94d5c2e725bea1c85","last_reissued_at":"2026-05-18T00:11:16.128473Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:11:16.128473Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.02752","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":"2026-05-18T00:11:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MwLAUtfmbhoomJu3b6aWJ2DiO1vsqjOzivwu3imkq4ORwBGA186HkawHMUBwDKlVPtP/dmYCch5LxYq8uln4Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T21:12:41.833532Z"},"content_sha256":"4b2b86e960023e63004bd615ad057191ad51e0acfc35231a6a32831fb97eb920","schema_version":"1.0","event_id":"sha256:4b2b86e960023e63004bd615ad057191ad51e0acfc35231a6a32831fb97eb920"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:72L5EBFIBZCSPQHIHQH7BUJZAE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-time stereo vision-based lane detection system","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Naim Dahnoun, Rui Fan","submitted_at":"2018-07-08T04:21:28Z","abstract_excerpt":"The detection of multiple curved lane markings on a non-flat road surface is still a challenging task for automotive applications. To make an improvement, the depth information can be used to greatly enhance the robustness of the lane detection systems. The proposed system in this paper is developed from our previous work where the dense vanishing point Vp is estimated globally to assist the detection of multiple curved lane markings. However, the outliers in the optimal solution may severely affect the accuracy of the least squares fitting when estimating Vp. Therefore, in this paper we use R"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.02752","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":"2026-05-18T00:11:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Af381UCZj0wmYRBOTObl23OpgdAvhvawBO9tssYMZ8p2rZ32UoKtCYuTpAnuilMnjROE5IoSpqHAqUTiDOKGDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T21:12:41.834184Z"},"content_sha256":"9935ac6a533d6863e6476a5abce1d4bfa5a1d3626a39db97c6128a36042892d2","schema_version":"1.0","event_id":"sha256:9935ac6a533d6863e6476a5abce1d4bfa5a1d3626a39db97c6128a36042892d2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/72L5EBFIBZCSPQHIHQH7BUJZAE/bundle.json","state_url":"https://pith.science/pith/72L5EBFIBZCSPQHIHQH7BUJZAE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/72L5EBFIBZCSPQHIHQH7BUJZAE/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":"2026-05-29T21:12:41Z","links":{"resolver":"https://pith.science/pith/72L5EBFIBZCSPQHIHQH7BUJZAE","bundle":"https://pith.science/pith/72L5EBFIBZCSPQHIHQH7BUJZAE/bundle.json","state":"https://pith.science/pith/72L5EBFIBZCSPQHIHQH7BUJZAE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/72L5EBFIBZCSPQHIHQH7BUJZAE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:72L5EBFIBZCSPQHIHQH7BUJZAE","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":"1855919db3f4985b193cb7f691c0e9e21f1b2d9c0898eb9546b53bd0c9d16cec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-07-08T04:21:28Z","title_canon_sha256":"a1d2f47a5310776ff8d80dcdd4f507f4e706a777254df488d9becfede2c3d570"},"schema_version":"1.0","source":{"id":"1807.02752","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.02752","created_at":"2026-05-18T00:11:16Z"},{"alias_kind":"arxiv_version","alias_value":"1807.02752v1","created_at":"2026-05-18T00:11:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.02752","created_at":"2026-05-18T00:11:16Z"},{"alias_kind":"pith_short_12","alias_value":"72L5EBFIBZCS","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"72L5EBFIBZCSPQHI","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"72L5EBFI","created_at":"2026-05-18T12:32:11Z"}],"graph_snapshots":[{"event_id":"sha256:9935ac6a533d6863e6476a5abce1d4bfa5a1d3626a39db97c6128a36042892d2","target":"graph","created_at":"2026-05-18T00:11:16Z","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 detection of multiple curved lane markings on a non-flat road surface is still a challenging task for automotive applications. To make an improvement, the depth information can be used to greatly enhance the robustness of the lane detection systems. The proposed system in this paper is developed from our previous work where the dense vanishing point Vp is estimated globally to assist the detection of multiple curved lane markings. However, the outliers in the optimal solution may severely affect the accuracy of the least squares fitting when estimating Vp. Therefore, in this paper we use R","authors_text":"Naim Dahnoun, Rui Fan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-07-08T04:21:28Z","title":"Real-time stereo vision-based lane detection system"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.02752","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":"sha256:4b2b86e960023e63004bd615ad057191ad51e0acfc35231a6a32831fb97eb920","target":"record","created_at":"2026-05-18T00:11:16Z","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":"1855919db3f4985b193cb7f691c0e9e21f1b2d9c0898eb9546b53bd0c9d16cec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-07-08T04:21:28Z","title_canon_sha256":"a1d2f47a5310776ff8d80dcdd4f507f4e706a777254df488d9becfede2c3d570"},"schema_version":"1.0","source":{"id":"1807.02752","kind":"arxiv","version":1}},"canonical_sha256":"fe97d204a80e4527c0e83c0ff0d139012414c14fab6a82e94d5c2e725bea1c85","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fe97d204a80e4527c0e83c0ff0d139012414c14fab6a82e94d5c2e725bea1c85","first_computed_at":"2026-05-18T00:11:16.128473Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:11:16.128473Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3W6SaaSs/ckk/aFlsYHKWL5JpS7Q2ilKEGTMNaYBfOv2cmk2bzmNQclZ41jUVZoM4d4r23Paxty6q5XNCHdHAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:11:16.129203Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.02752","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4b2b86e960023e63004bd615ad057191ad51e0acfc35231a6a32831fb97eb920","sha256:9935ac6a533d6863e6476a5abce1d4bfa5a1d3626a39db97c6128a36042892d2"],"state_sha256":"724e351e8a527ccc61f9492640baaf6a972f726f9c56782d30abba3ab61676b0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vKV7llMo5GFPTn0By+IU2nBOF8EWoed72LUc6ejOXJ0xOkSBZZLt9wSWsCrkARvqDy4vYLAuZvLfeDcawUwLDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-29T21:12:41.837439Z","bundle_sha256":"aa278c9ce9366d13fb1359019606a78e7ebdf913aa4151d74ebd264297276056"}}