{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:7WPHFVDYZ3C46LDECTIVSCJASB","short_pith_number":"pith:7WPHFVDY","canonical_record":{"source":{"id":"1805.03183","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-08T17:34:31Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5b72b895bb9da6ac0f69df6af45e5603d2b7305402eec8113be3dcb209b0844c","abstract_canon_sha256":"27ac691d31b252e8f5542b1d923e2a5ac80867d2ea19c680a30278c7b97dbce1"},"schema_version":"1.0"},"canonical_sha256":"fd9e72d478cec5cf2c6414d1590920904f036da5ecce6383392b786c479a21fc","source":{"kind":"arxiv","id":"1805.03183","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.03183","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"arxiv_version","alias_value":"1805.03183v2","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.03183","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"pith_short_12","alias_value":"7WPHFVDYZ3C4","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"7WPHFVDYZ3C46LDE","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"7WPHFVDY","created_at":"2026-05-18T12:32:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:7WPHFVDYZ3C46LDECTIVSCJASB","target":"record","payload":{"canonical_record":{"source":{"id":"1805.03183","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-08T17:34:31Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5b72b895bb9da6ac0f69df6af45e5603d2b7305402eec8113be3dcb209b0844c","abstract_canon_sha256":"27ac691d31b252e8f5542b1d923e2a5ac80867d2ea19c680a30278c7b97dbce1"},"schema_version":"1.0"},"canonical_sha256":"fd9e72d478cec5cf2c6414d1590920904f036da5ecce6383392b786c479a21fc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:16:02.654199Z","signature_b64":"4N6pO1/weacgOrVfBK5f7QONcgnO4Fq3mJr7as+zEn0bvRr1SJHXayzCPwYfbVRUQuCPjeq4Jj5vKc+PYJycDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fd9e72d478cec5cf2c6414d1590920904f036da5ecce6383392b786c479a21fc","last_reissued_at":"2026-05-18T00:16:02.653747Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:16:02.653747Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.03183","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:16:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+PawY9YN6Wv/WOxwSx62Y6BqpzUpkSBzR1Ef3PwAfS9GEtw4uTgF4/g0mdVBBDU3dDPVyzfBpDeMvRZekIPQDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T02:38:11.672223Z"},"content_sha256":"ea849959f9f3a327a1c3c9b2a131843c74091faac74f8e170d09e6a40e639207","schema_version":"1.0","event_id":"sha256:ea849959f9f3a327a1c3c9b2a131843c74091faac74f8e170d09e6a40e639207"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:7WPHFVDYZ3C46LDECTIVSCJASB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual Global Localization with a Hybrid WNN-CNN Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Alberto F. De Souza, Avelino Forechi, Claudine Badue, Thiago Oliveira-Santos","submitted_at":"2018-05-08T17:34:31Z","abstract_excerpt":"Currently, self-driving cars rely greatly on the Global Positioning System (GPS) infrastructure, albeit there is an increasing demand for alternative methods for GPS-denied environments. One of them is known as place recognition, which associates images of places with their corresponding positions. We previously proposed systems based on Weightless Neural Networks (WNN) to address this problem as a classification task. This encompasses solely one part of the global localization, which is not precise enough for driverless cars. Instead of just recognizing past places and outputting their poses,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.03183","kind":"arxiv","version":2},"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":"2026-05-18T00:16:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6fNL7hbpY5YXXzYAoE/ipiWuy67360t5GjKfothZDNDsRnEeGzWhxiLv6vlKSw1d8uOeFUbD0Z3SSliRcIhRAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T02:38:11.672586Z"},"content_sha256":"e3d480437f37c1067310fa552106b192a5a37d317c495b62ff9ddd1164897599","schema_version":"1.0","event_id":"sha256:e3d480437f37c1067310fa552106b192a5a37d317c495b62ff9ddd1164897599"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7WPHFVDYZ3C46LDECTIVSCJASB/bundle.json","state_url":"https://pith.science/pith/7WPHFVDYZ3C46LDECTIVSCJASB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7WPHFVDYZ3C46LDECTIVSCJASB/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":"2026-06-03T02:38:11Z","links":{"resolver":"https://pith.science/pith/7WPHFVDYZ3C46LDECTIVSCJASB","bundle":"https://pith.science/pith/7WPHFVDYZ3C46LDECTIVSCJASB/bundle.json","state":"https://pith.science/pith/7WPHFVDYZ3C46LDECTIVSCJASB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7WPHFVDYZ3C46LDECTIVSCJASB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:7WPHFVDYZ3C46LDECTIVSCJASB","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":"27ac691d31b252e8f5542b1d923e2a5ac80867d2ea19c680a30278c7b97dbce1","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-08T17:34:31Z","title_canon_sha256":"5b72b895bb9da6ac0f69df6af45e5603d2b7305402eec8113be3dcb209b0844c"},"schema_version":"1.0","source":{"id":"1805.03183","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.03183","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"arxiv_version","alias_value":"1805.03183v2","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.03183","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"pith_short_12","alias_value":"7WPHFVDYZ3C4","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"7WPHFVDYZ3C46LDE","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"7WPHFVDY","created_at":"2026-05-18T12:32:11Z"}],"graph_snapshots":[{"event_id":"sha256:e3d480437f37c1067310fa552106b192a5a37d317c495b62ff9ddd1164897599","target":"graph","created_at":"2026-05-18T00:16:02Z","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":"Currently, self-driving cars rely greatly on the Global Positioning System (GPS) infrastructure, albeit there is an increasing demand for alternative methods for GPS-denied environments. One of them is known as place recognition, which associates images of places with their corresponding positions. We previously proposed systems based on Weightless Neural Networks (WNN) to address this problem as a classification task. This encompasses solely one part of the global localization, which is not precise enough for driverless cars. Instead of just recognizing past places and outputting their poses,","authors_text":"Alberto F. De Souza, Avelino Forechi, Claudine Badue, Thiago Oliveira-Santos","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-08T17:34:31Z","title":"Visual Global Localization with a Hybrid WNN-CNN Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.03183","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:ea849959f9f3a327a1c3c9b2a131843c74091faac74f8e170d09e6a40e639207","target":"record","created_at":"2026-05-18T00:16:02Z","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":"27ac691d31b252e8f5542b1d923e2a5ac80867d2ea19c680a30278c7b97dbce1","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-08T17:34:31Z","title_canon_sha256":"5b72b895bb9da6ac0f69df6af45e5603d2b7305402eec8113be3dcb209b0844c"},"schema_version":"1.0","source":{"id":"1805.03183","kind":"arxiv","version":2}},"canonical_sha256":"fd9e72d478cec5cf2c6414d1590920904f036da5ecce6383392b786c479a21fc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fd9e72d478cec5cf2c6414d1590920904f036da5ecce6383392b786c479a21fc","first_computed_at":"2026-05-18T00:16:02.653747Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:16:02.653747Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4N6pO1/weacgOrVfBK5f7QONcgnO4Fq3mJr7as+zEn0bvRr1SJHXayzCPwYfbVRUQuCPjeq4Jj5vKc+PYJycDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:16:02.654199Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.03183","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea849959f9f3a327a1c3c9b2a131843c74091faac74f8e170d09e6a40e639207","sha256:e3d480437f37c1067310fa552106b192a5a37d317c495b62ff9ddd1164897599"],"state_sha256":"b41bd3ed523693d25cda96898dc8d3126dd696fe2c964771ddf72d0bc0fcf4cf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o2efd44oOTRAo4VJXmAwlirxnrtZaVj4Y+hvQwJ0d4KOIVz7GPvPCKGdqe4KYsquETMD+hm2nCrqPmZ75AzmBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T02:38:11.674511Z","bundle_sha256":"f1efc127c71d8027c5dda9dfa5a0edc86a0615931bb4271fbc877d7867e02163"}}