{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:EW62PIVYEICOVKZYQOJMTXJUTF","short_pith_number":"pith:EW62PIVY","canonical_record":{"source":{"id":"1606.03736","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-12T16:17:31Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"6dae234c43cc5e5d60110f887d2e16828a096c3b3d636f787a57dad40c0dc16a","abstract_canon_sha256":"f547ccda5342a1d1a2c85c86e9a4d3bc7a1a02b282f047681c8d8cb67389e13c"},"schema_version":"1.0"},"canonical_sha256":"25bda7a2b82204eaab388392c9dd3499597ef1707ffeb9f2ca9896159898782e","source":{"kind":"arxiv","id":"1606.03736","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1606.03736","created_at":"2026-05-18T01:06:40Z"},{"alias_kind":"arxiv_version","alias_value":"1606.03736v2","created_at":"2026-05-18T01:06:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1606.03736","created_at":"2026-05-18T01:06:40Z"},{"alias_kind":"pith_short_12","alias_value":"EW62PIVYEICO","created_at":"2026-05-18T12:30:15Z"},{"alias_kind":"pith_short_16","alias_value":"EW62PIVYEICOVKZY","created_at":"2026-05-18T12:30:15Z"},{"alias_kind":"pith_short_8","alias_value":"EW62PIVY","created_at":"2026-05-18T12:30:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:EW62PIVYEICOVKZYQOJMTXJUTF","target":"record","payload":{"canonical_record":{"source":{"id":"1606.03736","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-12T16:17:31Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"6dae234c43cc5e5d60110f887d2e16828a096c3b3d636f787a57dad40c0dc16a","abstract_canon_sha256":"f547ccda5342a1d1a2c85c86e9a4d3bc7a1a02b282f047681c8d8cb67389e13c"},"schema_version":"1.0"},"canonical_sha256":"25bda7a2b82204eaab388392c9dd3499597ef1707ffeb9f2ca9896159898782e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:06:40.534518Z","signature_b64":"XpocO1r7t2dwjgSWCMTG5Y8cZT/jrJh/s3I6JSGj9PGO4yCQJIpOf2HMX8skWh2FORMW/DNI4FjSJs6EfsdRBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"25bda7a2b82204eaab388392c9dd3499597ef1707ffeb9f2ca9896159898782e","last_reissued_at":"2026-05-18T01:06:40.533840Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:06:40.533840Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1606.03736","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":"2026-05-18T01:06:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eSEp8KnO6+Jh/ZTXS4Vex5PO9a97N5BFJfEaTR5PzNetxaNljM6gnx/IvCad7Zbv5ojFRRlgHoIkXLBl/+i4Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T23:39:23.995055Z"},"content_sha256":"097ba5026fcedfd3943c0a29c81eba1a59c96704be43a7db2896e8f3c7b5ddb6","schema_version":"1.0","event_id":"sha256:097ba5026fcedfd3943c0a29c81eba1a59c96704be43a7db2896e8f3c7b5ddb6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:EW62PIVYEICOVKZYQOJMTXJUTF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Enhancement of Low-cost GNSS Localization in Connected Vehicle Networks Using Rao-Blackwellized Particle Filters","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Ding Zhao, Jing Sun, Macheng Shen","submitted_at":"2016-06-12T16:17:31Z","abstract_excerpt":"An essential function for automated vehicle technologies is accurate localization. It is difficult, however, to achieve lane-level accuracy with low-cost Global Navigation Satellite System (GNSS) receivers due to the biased noisy pseudo-range measurements. Approaches such as Differential GNSS can improve the accuracy, but usually require an enormous amount of investment in base stations. The emerging connected vehicle technologies provide an alternative approach to improving the localization accuracy. It has been shown in this paper that localization accuracy can be enhanced by fusing GNSS inf"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1606.03736","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":"2026-05-18T01:06:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rB4q2IgWFltsEM0Fhezzi2/0YdaEYembaS/5FVBAPHkpfRX84C4UivOus89xhrFfa4KyH9/RfIWZdHlUqjyMDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T23:39:23.995571Z"},"content_sha256":"403fd8da477d3f8084d7dae63ddde986f1d4c41688dd184dd5fabc6de2b6fdda","schema_version":"1.0","event_id":"sha256:403fd8da477d3f8084d7dae63ddde986f1d4c41688dd184dd5fabc6de2b6fdda"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EW62PIVYEICOVKZYQOJMTXJUTF/bundle.json","state_url":"https://pith.science/pith/EW62PIVYEICOVKZYQOJMTXJUTF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EW62PIVYEICOVKZYQOJMTXJUTF/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":"2026-05-25T23:39:23Z","links":{"resolver":"https://pith.science/pith/EW62PIVYEICOVKZYQOJMTXJUTF","bundle":"https://pith.science/pith/EW62PIVYEICOVKZYQOJMTXJUTF/bundle.json","state":"https://pith.science/pith/EW62PIVYEICOVKZYQOJMTXJUTF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EW62PIVYEICOVKZYQOJMTXJUTF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:EW62PIVYEICOVKZYQOJMTXJUTF","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":"f547ccda5342a1d1a2c85c86e9a4d3bc7a1a02b282f047681c8d8cb67389e13c","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-12T16:17:31Z","title_canon_sha256":"6dae234c43cc5e5d60110f887d2e16828a096c3b3d636f787a57dad40c0dc16a"},"schema_version":"1.0","source":{"id":"1606.03736","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1606.03736","created_at":"2026-05-18T01:06:40Z"},{"alias_kind":"arxiv_version","alias_value":"1606.03736v2","created_at":"2026-05-18T01:06:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1606.03736","created_at":"2026-05-18T01:06:40Z"},{"alias_kind":"pith_short_12","alias_value":"EW62PIVYEICO","created_at":"2026-05-18T12:30:15Z"},{"alias_kind":"pith_short_16","alias_value":"EW62PIVYEICOVKZY","created_at":"2026-05-18T12:30:15Z"},{"alias_kind":"pith_short_8","alias_value":"EW62PIVY","created_at":"2026-05-18T12:30:15Z"}],"graph_snapshots":[{"event_id":"sha256:403fd8da477d3f8084d7dae63ddde986f1d4c41688dd184dd5fabc6de2b6fdda","target":"graph","created_at":"2026-05-18T01:06:40Z","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":"An essential function for automated vehicle technologies is accurate localization. It is difficult, however, to achieve lane-level accuracy with low-cost Global Navigation Satellite System (GNSS) receivers due to the biased noisy pseudo-range measurements. Approaches such as Differential GNSS can improve the accuracy, but usually require an enormous amount of investment in base stations. The emerging connected vehicle technologies provide an alternative approach to improving the localization accuracy. It has been shown in this paper that localization accuracy can be enhanced by fusing GNSS inf","authors_text":"Ding Zhao, Jing Sun, Macheng Shen","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-12T16:17:31Z","title":"Enhancement of Low-cost GNSS Localization in Connected Vehicle Networks Using Rao-Blackwellized Particle Filters"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1606.03736","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":"sha256:097ba5026fcedfd3943c0a29c81eba1a59c96704be43a7db2896e8f3c7b5ddb6","target":"record","created_at":"2026-05-18T01:06:40Z","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":"f547ccda5342a1d1a2c85c86e9a4d3bc7a1a02b282f047681c8d8cb67389e13c","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-12T16:17:31Z","title_canon_sha256":"6dae234c43cc5e5d60110f887d2e16828a096c3b3d636f787a57dad40c0dc16a"},"schema_version":"1.0","source":{"id":"1606.03736","kind":"arxiv","version":2}},"canonical_sha256":"25bda7a2b82204eaab388392c9dd3499597ef1707ffeb9f2ca9896159898782e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"25bda7a2b82204eaab388392c9dd3499597ef1707ffeb9f2ca9896159898782e","first_computed_at":"2026-05-18T01:06:40.533840Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:06:40.533840Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XpocO1r7t2dwjgSWCMTG5Y8cZT/jrJh/s3I6JSGj9PGO4yCQJIpOf2HMX8skWh2FORMW/DNI4FjSJs6EfsdRBA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:06:40.534518Z","signed_message":"canonical_sha256_bytes"},"source_id":"1606.03736","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:097ba5026fcedfd3943c0a29c81eba1a59c96704be43a7db2896e8f3c7b5ddb6","sha256:403fd8da477d3f8084d7dae63ddde986f1d4c41688dd184dd5fabc6de2b6fdda"],"state_sha256":"e39943250473640deb96034bebb63d1b6297cb3341dea1df835c781a2053094a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ti69gpseIE+eZKwyyw5BrsF5j4HzO3so1Af0M+OUic98zepPgzeJJqLBsTGdmMvUfekqpiXDUKVa9fy+CMGzBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T23:39:23.999178Z","bundle_sha256":"eaf06b33741f230c9261bcf3429daf217e14b58317efaed9e9afa88a2b095ecc"}}