{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:EI66PD5VI7Y4QETMB6TZNWKR47","short_pith_number":"pith:EI66PD5V","canonical_record":{"source":{"id":"2403.05136","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T08:09:10Z","cross_cats_sorted":["eess.SP"],"title_canon_sha256":"570ed6187dc1ea19a6826d9b5e1c918354ebac314f00eff2e80166312631061b","abstract_canon_sha256":"13a5379fc620a50a522631bab7714618c6aa3042fbc043ac6e9234f2b6b57d4b"},"schema_version":"1.0"},"canonical_sha256":"223de78fb547f1c8126c0fa796d951e7ce5f59e4f887d87caad85c5e7ea62ad8","source":{"kind":"arxiv","id":"2403.05136","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05136","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05136v3","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05136","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"pith_short_12","alias_value":"EI66PD5VI7Y4","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"pith_short_16","alias_value":"EI66PD5VI7Y4QETM","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"pith_short_8","alias_value":"EI66PD5V","created_at":"2026-07-05T09:54:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:EI66PD5VI7Y4QETMB6TZNWKR47","target":"record","payload":{"canonical_record":{"source":{"id":"2403.05136","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T08:09:10Z","cross_cats_sorted":["eess.SP"],"title_canon_sha256":"570ed6187dc1ea19a6826d9b5e1c918354ebac314f00eff2e80166312631061b","abstract_canon_sha256":"13a5379fc620a50a522631bab7714618c6aa3042fbc043ac6e9234f2b6b57d4b"},"schema_version":"1.0"},"canonical_sha256":"223de78fb547f1c8126c0fa796d951e7ce5f59e4f887d87caad85c5e7ea62ad8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:54:25.240835Z","signature_b64":"YcUK3Yz6IeBzgj79MM3WwSsuOeZVFejexWdMBFtUvqiBhBCaHkVwO+unmF9VE86eKArY+qcPdxP9BtxNBck5CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"223de78fb547f1c8126c0fa796d951e7ce5f59e4f887d87caad85c5e7ea62ad8","last_reissued_at":"2026-07-05T09:54:25.240387Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:54:25.240387Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.05136","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":"2026-07-05T09:54:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wDUtbtagW/lQWXmUzrymFNd37bhbTk5yL0R0kOlUB9nn6A41T5Id/Z8Zd1VM/NERZTjE4PRzINTtwAY8Xk9JAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T22:24:49.734487Z"},"content_sha256":"93e608546d3ab7a09f52c5f45a3badfe52b92bc477532b9e47fd8d57f7cd2c03","schema_version":"1.0","event_id":"sha256:93e608546d3ab7a09f52c5f45a3badfe52b92bc477532b9e47fd8d57f7cd2c03"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:EI66PD5VI7Y4QETMB6TZNWKR47","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["eess.SP"],"primary_cat":"cs.RO","authors_text":"Hoang Viet Do, Jin Woo Song, Joo Han Lee, Min Ho Lee, Yong Hun Kim","submitted_at":"2024-03-08T08:09:10Z","abstract_excerpt":"In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the Doppler velocity obtained by a 4D Frequency Modulated Continuous Wave (FMCW) radar in conjunction with gyroscope data to calculate poses. This approach helps mitigate high drift resulting from accelerometer biases and double integration. Instead, tilt angles measured by gravitational force are utilized alongside relative distance measurements from radar scan "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05136","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2403.05136/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T09:54:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ev9VoXXW6wgw7MA/CQ8seyqzlUEzIfYNf9D9+cj2QXWGyTYarLgeIyMj/29hxGaoD4SrSzv+HH16FrMZqh7pDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T22:24:49.735397Z"},"content_sha256":"91d1aa08a7cbc7b0a6395b020bc81524d91564b721d7927ee07943ca21498666","schema_version":"1.0","event_id":"sha256:91d1aa08a7cbc7b0a6395b020bc81524d91564b721d7927ee07943ca21498666"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EI66PD5VI7Y4QETMB6TZNWKR47/bundle.json","state_url":"https://pith.science/pith/EI66PD5VI7Y4QETMB6TZNWKR47/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EI66PD5VI7Y4QETMB6TZNWKR47/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":"2026-08-10T22:24:49Z","links":{"resolver":"https://pith.science/pith/EI66PD5VI7Y4QETMB6TZNWKR47","bundle":"https://pith.science/pith/EI66PD5VI7Y4QETMB6TZNWKR47/bundle.json","state":"https://pith.science/pith/EI66PD5VI7Y4QETMB6TZNWKR47/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EI66PD5VI7Y4QETMB6TZNWKR47/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:EI66PD5VI7Y4QETMB6TZNWKR47","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":"13a5379fc620a50a522631bab7714618c6aa3042fbc043ac6e9234f2b6b57d4b","cross_cats_sorted":["eess.SP"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T08:09:10Z","title_canon_sha256":"570ed6187dc1ea19a6826d9b5e1c918354ebac314f00eff2e80166312631061b"},"schema_version":"1.0","source":{"id":"2403.05136","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05136","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05136v3","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05136","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"pith_short_12","alias_value":"EI66PD5VI7Y4","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"pith_short_16","alias_value":"EI66PD5VI7Y4QETM","created_at":"2026-07-05T09:54:25Z"},{"alias_kind":"pith_short_8","alias_value":"EI66PD5V","created_at":"2026-07-05T09:54:25Z"}],"graph_snapshots":[{"event_id":"sha256:91d1aa08a7cbc7b0a6395b020bc81524d91564b721d7927ee07943ca21498666","target":"graph","created_at":"2026-07-05T09:54:25Z","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/2403.05136/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the Doppler velocity obtained by a 4D Frequency Modulated Continuous Wave (FMCW) radar in conjunction with gyroscope data to calculate poses. This approach helps mitigate high drift resulting from accelerometer biases and double integration. Instead, tilt angles measured by gravitational force are utilized alongside relative distance measurements from radar scan ","authors_text":"Hoang Viet Do, Jin Woo Song, Joo Han Lee, Min Ho Lee, Yong Hun Kim","cross_cats":["eess.SP"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T08:09:10Z","title":"DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05136","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":"sha256:93e608546d3ab7a09f52c5f45a3badfe52b92bc477532b9e47fd8d57f7cd2c03","target":"record","created_at":"2026-07-05T09:54:25Z","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":"13a5379fc620a50a522631bab7714618c6aa3042fbc043ac6e9234f2b6b57d4b","cross_cats_sorted":["eess.SP"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T08:09:10Z","title_canon_sha256":"570ed6187dc1ea19a6826d9b5e1c918354ebac314f00eff2e80166312631061b"},"schema_version":"1.0","source":{"id":"2403.05136","kind":"arxiv","version":3}},"canonical_sha256":"223de78fb547f1c8126c0fa796d951e7ce5f59e4f887d87caad85c5e7ea62ad8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"223de78fb547f1c8126c0fa796d951e7ce5f59e4f887d87caad85c5e7ea62ad8","first_computed_at":"2026-07-05T09:54:25.240387Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:54:25.240387Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YcUK3Yz6IeBzgj79MM3WwSsuOeZVFejexWdMBFtUvqiBhBCaHkVwO+unmF9VE86eKArY+qcPdxP9BtxNBck5CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:54:25.240835Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.05136","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:93e608546d3ab7a09f52c5f45a3badfe52b92bc477532b9e47fd8d57f7cd2c03","sha256:91d1aa08a7cbc7b0a6395b020bc81524d91564b721d7927ee07943ca21498666"],"state_sha256":"95987c718d643d30710bed66845be0a03491d1e18bf3497a03fce1e2e3ec5bf8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J/amu2kSJ1NzCsh6ezGSZNqU6m8zs5pE3DuZNa3L0jOOSO7xtQR2yYvRDfbQv4s9jdZ8bGF8LLu4q8+rFNGsBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T22:24:49.745315Z","bundle_sha256":"c19eb77bbbe0401d3419e1514f34b68b54ea8b89bb7c85ebeff189ddd33991d4"}}