{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:DMHIMBPWHQPIYPCLKHAI4IDRGS","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":"9cdbcf69d8e414eb9b39bc6942d90603ebb881ddfe509e4e56cda53378b66097","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-11-13T19:07:07Z","title_canon_sha256":"e8752b85e6e75748bfedf8052ee6a2611a33694938b5a03962cd3d46029c89c3"},"schema_version":"1.0","source":{"id":"1911.05761","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.05761","created_at":"2026-07-05T00:19:00Z"},{"alias_kind":"arxiv_version","alias_value":"1911.05761v1","created_at":"2026-07-05T00:19:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.05761","created_at":"2026-07-05T00:19:00Z"},{"alias_kind":"pith_short_12","alias_value":"DMHIMBPWHQPI","created_at":"2026-07-05T00:19:00Z"},{"alias_kind":"pith_short_16","alias_value":"DMHIMBPWHQPIYPCL","created_at":"2026-07-05T00:19:00Z"},{"alias_kind":"pith_short_8","alias_value":"DMHIMBPW","created_at":"2026-07-05T00:19:00Z"}],"graph_snapshots":[{"event_id":"sha256:3ed301e42c5a017d11442bc0f27488693b7b321e60fea98030067f7c5e1aebb2","target":"graph","created_at":"2026-07-05T00:19:00Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/1911.05761/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using low-cost sensors, such as stereo or RGB-D cameras. These sensors may fail to provide depth measurements in textureless or IR-absorbing areas and have limited effective range. In path planning, this results in inefficient trajectories or failure to recognize a feasible path to the goal, hence significantly impairing the robot's mobility. Recent advances in deep l","authors_text":"Cesar Cadena, Marius Fehr, Roland Siegwart, Tim Taubner, Yang Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-11-13T19:07:07Z","title":"Predicting Unobserved Space For Planning via Depth Map Augmentation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.05761","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:c7d79c8fe075cac8ec5ed033cdd6ce9458385e855b3cee7e63da4b60e46c3ff4","target":"record","created_at":"2026-07-05T00:19:00Z","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":"9cdbcf69d8e414eb9b39bc6942d90603ebb881ddfe509e4e56cda53378b66097","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-11-13T19:07:07Z","title_canon_sha256":"e8752b85e6e75748bfedf8052ee6a2611a33694938b5a03962cd3d46029c89c3"},"schema_version":"1.0","source":{"id":"1911.05761","kind":"arxiv","version":1}},"canonical_sha256":"1b0e8605f63c1e8c3c4b51c08e207134bf2214313c2a11615ea07371883fe287","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1b0e8605f63c1e8c3c4b51c08e207134bf2214313c2a11615ea07371883fe287","first_computed_at":"2026-07-05T00:19:00.785826Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:19:00.785826Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WCblgtTaTFofq+1/mkNMoAqmgvWdj2qXonKPU2vsSFgweZKGgm87b/dM6c39IviayQedAMWn/HM7b1qk2JsWCA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:19:00.786191Z","signed_message":"canonical_sha256_bytes"},"source_id":"1911.05761","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c7d79c8fe075cac8ec5ed033cdd6ce9458385e855b3cee7e63da4b60e46c3ff4","sha256:3ed301e42c5a017d11442bc0f27488693b7b321e60fea98030067f7c5e1aebb2"],"state_sha256":"70c385dcca1b9d48f10ab7497d7a1338ebccccfc78e7fe1e7c761bd2f11a5c85"}