{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:CE7P77OKMOP2YVBL3OVNU3V457","short_pith_number":"pith:CE7P77OK","canonical_record":{"source":{"id":"1611.02174","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-17T21:12:07Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"f041a6909661e096e4815e78f4cd7077fcc0a478c69dfb40da5ec34ed2f5b090","abstract_canon_sha256":"77ad32a0d71fd10016714b760cb11a9f5515bb530d5f33464f8782605fa8edc4"},"schema_version":"1.0"},"canonical_sha256":"113efffdca639fac542bdbaada6ebcefe6b7cce08e3ffb5bb5b782042aebf025","source":{"kind":"arxiv","id":"1611.02174","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1611.02174","created_at":"2026-05-18T01:00:02Z"},{"alias_kind":"arxiv_version","alias_value":"1611.02174v1","created_at":"2026-05-18T01:00:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.02174","created_at":"2026-05-18T01:00:02Z"},{"alias_kind":"pith_short_12","alias_value":"CE7P77OKMOP2","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"CE7P77OKMOP2YVBL","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"CE7P77OK","created_at":"2026-05-18T12:30:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:CE7P77OKMOP2YVBL3OVNU3V457","target":"record","payload":{"canonical_record":{"source":{"id":"1611.02174","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-17T21:12:07Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"f041a6909661e096e4815e78f4cd7077fcc0a478c69dfb40da5ec34ed2f5b090","abstract_canon_sha256":"77ad32a0d71fd10016714b760cb11a9f5515bb530d5f33464f8782605fa8edc4"},"schema_version":"1.0"},"canonical_sha256":"113efffdca639fac542bdbaada6ebcefe6b7cce08e3ffb5bb5b782042aebf025","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:00:02.950648Z","signature_b64":"cnuaB/sekFE2eV6eCmivdBKoJolYKq/LwI06e4cnVGmRaSsN2D/tRBBzFeIFjCnUswfldUIdMbN0XtPqE1YIDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"113efffdca639fac542bdbaada6ebcefe6b7cce08e3ffb5bb5b782042aebf025","last_reissued_at":"2026-05-18T01:00:02.950004Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:00:02.950004Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1611.02174","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":"2026-05-18T01:00:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"De6vErMSUdV4rYaaePBlavLC0LOrhKJ44LqkBgWml66JETMspiSdymYY2Ftok1VTwiLAgdPLj2DjdLT2w5gDDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T11:07:27.056504Z"},"content_sha256":"7b09eaca516b6b675ed35f0506d8e590a0531a9225ddda2b1a85fe08bddddc01","schema_version":"1.0","event_id":"sha256:7b09eaca516b6b675ed35f0506d8e590a0531a9225ddda2b1a85fe08bddddc01"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:CE7P77OKMOP2YVBL3OVNU3V457","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Parse Geometry from a Line: Monocular Depth Estimation with Partial Laser Observation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Lichao Huang, Sarath Kodagoda, Yinan Yu, Yiyi Liao, Yong Liu, Yue Wang","submitted_at":"2016-10-17T21:12:07Z","abstract_excerpt":"Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many robotics activities. Therefore, recently, there is an increasing interest in depth estimation using monocular images. As this task is inherently ambiguous, the data-driven estimated depth might be unreliable in robotics applications. In this paper, we have attempted to improve the precision of monocular depth estimation by introducing 2D planar observation fr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.02174","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":"2026-05-18T01:00:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MtEM129uPFu4kyRmIdkoBZvnHiI9uW/QkO+IXw+9OkbEIF5G/FwB6EnGt/BgIQ6gq/9hTnyN4yCJzcESTQzDDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T11:07:27.056860Z"},"content_sha256":"e03882665975e448e60a40e551f2076f44ffc79ddb2c73968b4bfbbd7ad6a89e","schema_version":"1.0","event_id":"sha256:e03882665975e448e60a40e551f2076f44ffc79ddb2c73968b4bfbbd7ad6a89e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CE7P77OKMOP2YVBL3OVNU3V457/bundle.json","state_url":"https://pith.science/pith/CE7P77OKMOP2YVBL3OVNU3V457/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CE7P77OKMOP2YVBL3OVNU3V457/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":"2026-05-21T11:07:27Z","links":{"resolver":"https://pith.science/pith/CE7P77OKMOP2YVBL3OVNU3V457","bundle":"https://pith.science/pith/CE7P77OKMOP2YVBL3OVNU3V457/bundle.json","state":"https://pith.science/pith/CE7P77OKMOP2YVBL3OVNU3V457/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CE7P77OKMOP2YVBL3OVNU3V457/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:CE7P77OKMOP2YVBL3OVNU3V457","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":"77ad32a0d71fd10016714b760cb11a9f5515bb530d5f33464f8782605fa8edc4","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-17T21:12:07Z","title_canon_sha256":"f041a6909661e096e4815e78f4cd7077fcc0a478c69dfb40da5ec34ed2f5b090"},"schema_version":"1.0","source":{"id":"1611.02174","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1611.02174","created_at":"2026-05-18T01:00:02Z"},{"alias_kind":"arxiv_version","alias_value":"1611.02174v1","created_at":"2026-05-18T01:00:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.02174","created_at":"2026-05-18T01:00:02Z"},{"alias_kind":"pith_short_12","alias_value":"CE7P77OKMOP2","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"CE7P77OKMOP2YVBL","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"CE7P77OK","created_at":"2026-05-18T12:30:09Z"}],"graph_snapshots":[{"event_id":"sha256:e03882665975e448e60a40e551f2076f44ffc79ddb2c73968b4bfbbd7ad6a89e","target":"graph","created_at":"2026-05-18T01:00:02Z","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":"Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many robotics activities. Therefore, recently, there is an increasing interest in depth estimation using monocular images. As this task is inherently ambiguous, the data-driven estimated depth might be unreliable in robotics applications. In this paper, we have attempted to improve the precision of monocular depth estimation by introducing 2D planar observation fr","authors_text":"Lichao Huang, Sarath Kodagoda, Yinan Yu, Yiyi Liao, Yong Liu, Yue Wang","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-17T21:12:07Z","title":"Parse Geometry from a Line: Monocular Depth Estimation with Partial Laser Observation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.02174","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":"sha256:7b09eaca516b6b675ed35f0506d8e590a0531a9225ddda2b1a85fe08bddddc01","target":"record","created_at":"2026-05-18T01:00:02Z","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":"77ad32a0d71fd10016714b760cb11a9f5515bb530d5f33464f8782605fa8edc4","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-17T21:12:07Z","title_canon_sha256":"f041a6909661e096e4815e78f4cd7077fcc0a478c69dfb40da5ec34ed2f5b090"},"schema_version":"1.0","source":{"id":"1611.02174","kind":"arxiv","version":1}},"canonical_sha256":"113efffdca639fac542bdbaada6ebcefe6b7cce08e3ffb5bb5b782042aebf025","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"113efffdca639fac542bdbaada6ebcefe6b7cce08e3ffb5bb5b782042aebf025","first_computed_at":"2026-05-18T01:00:02.950004Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:00:02.950004Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cnuaB/sekFE2eV6eCmivdBKoJolYKq/LwI06e4cnVGmRaSsN2D/tRBBzFeIFjCnUswfldUIdMbN0XtPqE1YIDA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:00:02.950648Z","signed_message":"canonical_sha256_bytes"},"source_id":"1611.02174","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7b09eaca516b6b675ed35f0506d8e590a0531a9225ddda2b1a85fe08bddddc01","sha256:e03882665975e448e60a40e551f2076f44ffc79ddb2c73968b4bfbbd7ad6a89e"],"state_sha256":"1ae2138c3ed239421900632ee8ee227bb7eb656af5a0c5b1495a2f17df8d444d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dF7zANCv5bUlLgM5YVGnIs2Io9/15Js7vZdt8MhPJru14f9oeymv3/FALhwNvSMYjuIuSB79IwApkILTVMFPDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-21T11:07:27.058993Z","bundle_sha256":"49a93b844ca01319fe90e860117a0279c29be0347ffeb6165957454cecea9bfb"}}