{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:FIHP2GBCC23HRB5W6CSU2L3RW7","short_pith_number":"pith:FIHP2GBC","canonical_record":{"source":{"id":"1906.04670","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T15:58:07Z","cross_cats_sorted":[],"title_canon_sha256":"701e09b5a17882083afe051d3c7d143939e12c62a697b983d9262650418ae977","abstract_canon_sha256":"7088a813abd9983942632e5998f4de6f84e2e54381096d848a4fa4e46af4830e"},"schema_version":"1.0"},"canonical_sha256":"2a0efd182216b67887b6f0a54d2f71b7fb31c036302e284549184f4da632b602","source":{"kind":"arxiv","id":"1906.04670","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.04670","created_at":"2026-05-17T23:43:33Z"},{"alias_kind":"arxiv_version","alias_value":"1906.04670v1","created_at":"2026-05-17T23:43:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.04670","created_at":"2026-05-17T23:43:33Z"},{"alias_kind":"pith_short_12","alias_value":"FIHP2GBCC23H","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"FIHP2GBCC23HRB5W","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"FIHP2GBC","created_at":"2026-05-18T12:33:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:FIHP2GBCC23HRB5W6CSU2L3RW7","target":"record","payload":{"canonical_record":{"source":{"id":"1906.04670","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T15:58:07Z","cross_cats_sorted":[],"title_canon_sha256":"701e09b5a17882083afe051d3c7d143939e12c62a697b983d9262650418ae977","abstract_canon_sha256":"7088a813abd9983942632e5998f4de6f84e2e54381096d848a4fa4e46af4830e"},"schema_version":"1.0"},"canonical_sha256":"2a0efd182216b67887b6f0a54d2f71b7fb31c036302e284549184f4da632b602","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:43:33.804568Z","signature_b64":"irWuj2EUyLyWbeynj0Wck35DxbrRP6tx1ml1FCimAz2X6+LceiFfREhvcdYVPej8bjQR/jEIvV7Xyy0SDbNVDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2a0efd182216b67887b6f0a54d2f71b7fb31c036302e284549184f4da632b602","last_reissued_at":"2026-05-17T23:43:33.804090Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:43:33.804090Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1906.04670","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":"2026-05-17T23:43:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YqoTxFnzS8XW3DL8nuZxtSQBelmcbNco3HxZDnkcYgm2mS9CNfraj1bcFuQbj5YvmIrSqUGt1afOWTanN/l4Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T14:38:06.129516Z"},"content_sha256":"cb12ad239bb55aef7a60e3672bb16974043153467497e5fef03a4f858bd14e8d","schema_version":"1.0","event_id":"sha256:cb12ad239bb55aef7a60e3672bb16974043153467497e5fef03a4f858bd14e8d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:FIHP2GBCC23HRB5W6CSU2L3RW7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Automatic Multi-Sensor Extrinsic Calibration for Mobile Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Zu\\~niga-No\\\"el, Javier Gonzalez-Jimenez, Jose-Raul Ruiz-Sarmiento, Ruben Gomez-Ojeda","submitted_at":"2019-06-11T15:58:07Z","abstract_excerpt":"In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full 6DoF extrinsic calibration parameters of multiple heterogeneous sensors (Lidars, Depth and RGB cameras) suitable for automatic execution on a mobile robot. Our method computes the 2D calibration parameters (x, y, yaw) through a motion-based approach, while for the remaining 3 parameters (z, pitch, roll) it requires the observation of the ground plane for a "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.04670","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":"2026-05-17T23:43:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VJ4ddCpVs4tcXW/sSwifbp/HcP98KuKv0PA6r3HikFtTBXk6R3vCME/epeYruXBfXhg1CaDmu4YH4wpB2rz6CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T14:38:06.129874Z"},"content_sha256":"8d6d0121cff56e7c731303b4c27aaf8ccdd22028e0a89ba02e0e00a3688c6375","schema_version":"1.0","event_id":"sha256:8d6d0121cff56e7c731303b4c27aaf8ccdd22028e0a89ba02e0e00a3688c6375"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FIHP2GBCC23HRB5W6CSU2L3RW7/bundle.json","state_url":"https://pith.science/pith/FIHP2GBCC23HRB5W6CSU2L3RW7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FIHP2GBCC23HRB5W6CSU2L3RW7/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":"2026-06-01T14:38:06Z","links":{"resolver":"https://pith.science/pith/FIHP2GBCC23HRB5W6CSU2L3RW7","bundle":"https://pith.science/pith/FIHP2GBCC23HRB5W6CSU2L3RW7/bundle.json","state":"https://pith.science/pith/FIHP2GBCC23HRB5W6CSU2L3RW7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FIHP2GBCC23HRB5W6CSU2L3RW7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:FIHP2GBCC23HRB5W6CSU2L3RW7","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":"7088a813abd9983942632e5998f4de6f84e2e54381096d848a4fa4e46af4830e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T15:58:07Z","title_canon_sha256":"701e09b5a17882083afe051d3c7d143939e12c62a697b983d9262650418ae977"},"schema_version":"1.0","source":{"id":"1906.04670","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.04670","created_at":"2026-05-17T23:43:33Z"},{"alias_kind":"arxiv_version","alias_value":"1906.04670v1","created_at":"2026-05-17T23:43:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.04670","created_at":"2026-05-17T23:43:33Z"},{"alias_kind":"pith_short_12","alias_value":"FIHP2GBCC23H","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"FIHP2GBCC23HRB5W","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"FIHP2GBC","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:8d6d0121cff56e7c731303b4c27aaf8ccdd22028e0a89ba02e0e00a3688c6375","target":"graph","created_at":"2026-05-17T23:43:33Z","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":"In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full 6DoF extrinsic calibration parameters of multiple heterogeneous sensors (Lidars, Depth and RGB cameras) suitable for automatic execution on a mobile robot. Our method computes the 2D calibration parameters (x, y, yaw) through a motion-based approach, while for the remaining 3 parameters (z, pitch, roll) it requires the observation of the ground plane for a ","authors_text":"David Zu\\~niga-No\\\"el, Javier Gonzalez-Jimenez, Jose-Raul Ruiz-Sarmiento, Ruben Gomez-Ojeda","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T15:58:07Z","title":"Automatic Multi-Sensor Extrinsic Calibration for Mobile Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.04670","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:cb12ad239bb55aef7a60e3672bb16974043153467497e5fef03a4f858bd14e8d","target":"record","created_at":"2026-05-17T23:43:33Z","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":"7088a813abd9983942632e5998f4de6f84e2e54381096d848a4fa4e46af4830e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T15:58:07Z","title_canon_sha256":"701e09b5a17882083afe051d3c7d143939e12c62a697b983d9262650418ae977"},"schema_version":"1.0","source":{"id":"1906.04670","kind":"arxiv","version":1}},"canonical_sha256":"2a0efd182216b67887b6f0a54d2f71b7fb31c036302e284549184f4da632b602","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2a0efd182216b67887b6f0a54d2f71b7fb31c036302e284549184f4da632b602","first_computed_at":"2026-05-17T23:43:33.804090Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:43:33.804090Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"irWuj2EUyLyWbeynj0Wck35DxbrRP6tx1ml1FCimAz2X6+LceiFfREhvcdYVPej8bjQR/jEIvV7Xyy0SDbNVDg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:43:33.804568Z","signed_message":"canonical_sha256_bytes"},"source_id":"1906.04670","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cb12ad239bb55aef7a60e3672bb16974043153467497e5fef03a4f858bd14e8d","sha256:8d6d0121cff56e7c731303b4c27aaf8ccdd22028e0a89ba02e0e00a3688c6375"],"state_sha256":"42b3addf7b46ca893706c1fd6c2c8132eed1b3b0b49dc4277251e22aac5c0f05"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"grNToVJ8AngLv02ZQYU3O0M1BI+e1c13SqCNJZBvOAdQmIQ9AuQQTk7mclXoRWt3qdacnlzg8d0Y8n9CDEkRAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T14:38:06.131932Z","bundle_sha256":"74038da72f207c7fead3ae185515b04f0d2bd98fc62f6690e3991a87c8bc1a11"}}