{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:72RT47ZON74XMZV5Q6YL64Z7T6","short_pith_number":"pith:72RT47ZO","canonical_record":{"source":{"id":"1604.00970","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-03-14T09:58:49Z","cross_cats_sorted":["cs.SY","eess.SP"],"title_canon_sha256":"fb890f3b0acb0aec719f87b379bf12aaf531fbab4dd7b3b84c9ef15fe5a60ad3","abstract_canon_sha256":"dfd8f11f0b7c9e43dadcb51361dc4fb94bfa14030ca7653b774f62174d7ef1b2"},"schema_version":"1.0"},"canonical_sha256":"fea33e7f2e6ff97666bd87b0bf733f9f8d589503166dc2ad65fbc65bb37b59d2","source":{"kind":"arxiv","id":"1604.00970","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.00970","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"arxiv_version","alias_value":"1604.00970v3","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.00970","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"pith_short_12","alias_value":"72RT47ZON74X","created_at":"2026-05-18T12:30:04Z"},{"alias_kind":"pith_short_16","alias_value":"72RT47ZON74XMZV5","created_at":"2026-05-18T12:30:04Z"},{"alias_kind":"pith_short_8","alias_value":"72RT47ZO","created_at":"2026-05-18T12:30:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:72RT47ZON74XMZV5Q6YL64Z7T6","target":"record","payload":{"canonical_record":{"source":{"id":"1604.00970","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-03-14T09:58:49Z","cross_cats_sorted":["cs.SY","eess.SP"],"title_canon_sha256":"fb890f3b0acb0aec719f87b379bf12aaf531fbab4dd7b3b84c9ef15fe5a60ad3","abstract_canon_sha256":"dfd8f11f0b7c9e43dadcb51361dc4fb94bfa14030ca7653b774f62174d7ef1b2"},"schema_version":"1.0"},"canonical_sha256":"fea33e7f2e6ff97666bd87b0bf733f9f8d589503166dc2ad65fbc65bb37b59d2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:49:12.320063Z","signature_b64":"QaqqgkG8UA8MHmLPwntTr4wDe24ZCHjyABXs9oWahzNKyIT7hz8hhHrXFJwH8dW0GyC4PDT2AKkU1w8YLlVUDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fea33e7f2e6ff97666bd87b0bf733f9f8d589503166dc2ad65fbc65bb37b59d2","last_reissued_at":"2026-05-17T23:49:12.319368Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:49:12.319368Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1604.00970","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:49:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XEcqWe14nPy+h0dOs1/mDfL1BEpQGyw7SYprRXqGIsI2XrbYA2GhrTlm9DlXZnVOYhA6J3K4MvdgunHFaJCDDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T10:17:46.918875Z"},"content_sha256":"91197519523b97cae4cc9358520e0af0bfa15dd698c6187eb42eeccea71baf9c","schema_version":"1.0","event_id":"sha256:91197519523b97cae4cc9358520e0af0bfa15dd698c6187eb42eeccea71baf9c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:72RT47ZON74XMZV5Q6YL64Z7T6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Extended Object Tracking: Introduction, Overview and Applications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SP"],"primary_cat":"cs.CV","authors_text":"Karl Granstrom, Marcus Baum, Stephan Reuter","submitted_at":"2016-03-14T09:58:49Z","abstract_excerpt":"This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large nu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.00970","kind":"arxiv","version":3},"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":"2026-05-17T23:49:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"r9+w5dSqRRcAdq3TKpBlqhxgez1TKp9483aLVB1D9cI8c7ShYS2JztE5aAvr2uWfunBI9b4oZtKKANJdSR46Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T10:17:46.919552Z"},"content_sha256":"2f22044aa865b47f9669fac0755b8c8b93c4ed21750c5ad0efde00b6e43d06e7","schema_version":"1.0","event_id":"sha256:2f22044aa865b47f9669fac0755b8c8b93c4ed21750c5ad0efde00b6e43d06e7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/72RT47ZON74XMZV5Q6YL64Z7T6/bundle.json","state_url":"https://pith.science/pith/72RT47ZON74XMZV5Q6YL64Z7T6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/72RT47ZON74XMZV5Q6YL64Z7T6/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":"2026-05-27T10:17:46Z","links":{"resolver":"https://pith.science/pith/72RT47ZON74XMZV5Q6YL64Z7T6","bundle":"https://pith.science/pith/72RT47ZON74XMZV5Q6YL64Z7T6/bundle.json","state":"https://pith.science/pith/72RT47ZON74XMZV5Q6YL64Z7T6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/72RT47ZON74XMZV5Q6YL64Z7T6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:72RT47ZON74XMZV5Q6YL64Z7T6","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":"dfd8f11f0b7c9e43dadcb51361dc4fb94bfa14030ca7653b774f62174d7ef1b2","cross_cats_sorted":["cs.SY","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-03-14T09:58:49Z","title_canon_sha256":"fb890f3b0acb0aec719f87b379bf12aaf531fbab4dd7b3b84c9ef15fe5a60ad3"},"schema_version":"1.0","source":{"id":"1604.00970","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.00970","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"arxiv_version","alias_value":"1604.00970v3","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.00970","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"pith_short_12","alias_value":"72RT47ZON74X","created_at":"2026-05-18T12:30:04Z"},{"alias_kind":"pith_short_16","alias_value":"72RT47ZON74XMZV5","created_at":"2026-05-18T12:30:04Z"},{"alias_kind":"pith_short_8","alias_value":"72RT47ZO","created_at":"2026-05-18T12:30:04Z"}],"graph_snapshots":[{"event_id":"sha256:2f22044aa865b47f9669fac0755b8c8b93c4ed21750c5ad0efde00b6e43d06e7","target":"graph","created_at":"2026-05-17T23:49:12Z","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":"This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large nu","authors_text":"Karl Granstrom, Marcus Baum, Stephan Reuter","cross_cats":["cs.SY","eess.SP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-03-14T09:58:49Z","title":"Extended Object Tracking: Introduction, Overview and Applications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.00970","kind":"arxiv","version":3},"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":"sha256:91197519523b97cae4cc9358520e0af0bfa15dd698c6187eb42eeccea71baf9c","target":"record","created_at":"2026-05-17T23:49:12Z","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":"dfd8f11f0b7c9e43dadcb51361dc4fb94bfa14030ca7653b774f62174d7ef1b2","cross_cats_sorted":["cs.SY","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-03-14T09:58:49Z","title_canon_sha256":"fb890f3b0acb0aec719f87b379bf12aaf531fbab4dd7b3b84c9ef15fe5a60ad3"},"schema_version":"1.0","source":{"id":"1604.00970","kind":"arxiv","version":3}},"canonical_sha256":"fea33e7f2e6ff97666bd87b0bf733f9f8d589503166dc2ad65fbc65bb37b59d2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fea33e7f2e6ff97666bd87b0bf733f9f8d589503166dc2ad65fbc65bb37b59d2","first_computed_at":"2026-05-17T23:49:12.319368Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:49:12.319368Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QaqqgkG8UA8MHmLPwntTr4wDe24ZCHjyABXs9oWahzNKyIT7hz8hhHrXFJwH8dW0GyC4PDT2AKkU1w8YLlVUDg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:49:12.320063Z","signed_message":"canonical_sha256_bytes"},"source_id":"1604.00970","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:91197519523b97cae4cc9358520e0af0bfa15dd698c6187eb42eeccea71baf9c","sha256:2f22044aa865b47f9669fac0755b8c8b93c4ed21750c5ad0efde00b6e43d06e7"],"state_sha256":"ea2e215e31c197c40bc3bf5600e5e8bbd624c84ce4d827ac1c16da7e5207e3c1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"h8Uc0cLNBTv3yuloCH0th0C0uHOjEfpMbb4khuYS4qgxCwOP97vuKaG7+y4X5frDjC4hkOTet3PbpLIVkc+WCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T10:17:46.923202Z","bundle_sha256":"a8101cb4fb1ab2a0ee42bcc2d28517389cfb64084962da8376f7feec3f89be66"}}