{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:FK6ZTGINSY2Z36ODWFM7STEDH3","short_pith_number":"pith:FK6ZTGIN","canonical_record":{"source":{"id":"1809.09929","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-26T12:03:45Z","cross_cats_sorted":[],"title_canon_sha256":"b115d9cf08c4a880203738290cd4cb2c72a7bcfa907a28a488732cfe93810324","abstract_canon_sha256":"b9af06cc1d4ba2f7327082e0970180758e8838b117229edf66162b4236f55d09"},"schema_version":"1.0"},"canonical_sha256":"2abd99990d96359df9c3b159f94c833eded66e15f7303962214dc5d12d504a3d","source":{"kind":"arxiv","id":"1809.09929","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.09929","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"arxiv_version","alias_value":"1809.09929v1","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.09929","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"pith_short_12","alias_value":"FK6ZTGINSY2Z","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_16","alias_value":"FK6ZTGINSY2Z36OD","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_8","alias_value":"FK6ZTGIN","created_at":"2026-05-18T12:32:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:FK6ZTGINSY2Z36ODWFM7STEDH3","target":"record","payload":{"canonical_record":{"source":{"id":"1809.09929","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-26T12:03:45Z","cross_cats_sorted":[],"title_canon_sha256":"b115d9cf08c4a880203738290cd4cb2c72a7bcfa907a28a488732cfe93810324","abstract_canon_sha256":"b9af06cc1d4ba2f7327082e0970180758e8838b117229edf66162b4236f55d09"},"schema_version":"1.0"},"canonical_sha256":"2abd99990d96359df9c3b159f94c833eded66e15f7303962214dc5d12d504a3d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:04:43.250779Z","signature_b64":"evBj3u1hFS7KYZalduLuIdix92rgtWCixMG+h5g6gxcjtcz6OHlCAUU+GhARbyYnooqaCdQKv6DuKzDllPKzAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2abd99990d96359df9c3b159f94c833eded66e15f7303962214dc5d12d504a3d","last_reissued_at":"2026-05-18T00:04:43.250171Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:04:43.250171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.09929","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":"2026-05-18T00:04:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"b9FXoZi+PiiXT9mONG/7FmY4BwSxUW9ot5T5dhasUmkPIpQJIDL/LHv07IQgBiaXTg4Y1Wt7oqb2L79yCYlWCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T03:20:45.412843Z"},"content_sha256":"63d3d5aaeecf1bc9726d9c0ea8918d1e6aad30688ca0b4c6d05b8370cd350930","schema_version":"1.0","event_id":"sha256:63d3d5aaeecf1bc9726d9c0ea8918d1e6aad30688ca0b4c6d05b8370cd350930"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:FK6ZTGINSY2Z36ODWFM7STEDH3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Vision-based Semantic Mapping and Localization for Autonomous Indoor Parking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Junqiao Zhao, Shaoming Zhang, Tiantian Feng, Xudong He, Yewei Huang","submitted_at":"2018-09-26T12:03:45Z","abstract_excerpt":"In this paper, we proposed a novel and practical solution for the real-time indoor localization of autonomous driving in parking lots. High-level landmarks, the parking slots, are extracted and enriched with labels to avoid the aliasing of low-level visual features. We then proposed a robust method for detecting incorrect data associations between parking slots and further extended the optimization framework by dynamically eliminating suboptimal data associations. Visual fiducial markers are introduced to improve the overall precision. As a result, a semantic map of the parking lot can be esta"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.09929","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":"2026-05-18T00:04:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9V6hQ5Nd1tz0f7s3GOM2c3v0vkHxsgnVuRF0LQ8KQ0aDSR+ViH0uMVKfb+sWcM7AhbNtJd6F2T5ASJQjuvYqDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T03:20:45.413177Z"},"content_sha256":"457e780ffb5e64d84d934d7dfa8d57add6bb88aaff5f83f703ab9a306b40ac4f","schema_version":"1.0","event_id":"sha256:457e780ffb5e64d84d934d7dfa8d57add6bb88aaff5f83f703ab9a306b40ac4f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FK6ZTGINSY2Z36ODWFM7STEDH3/bundle.json","state_url":"https://pith.science/pith/FK6ZTGINSY2Z36ODWFM7STEDH3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FK6ZTGINSY2Z36ODWFM7STEDH3/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":"2026-07-05T03:20:45Z","links":{"resolver":"https://pith.science/pith/FK6ZTGINSY2Z36ODWFM7STEDH3","bundle":"https://pith.science/pith/FK6ZTGINSY2Z36ODWFM7STEDH3/bundle.json","state":"https://pith.science/pith/FK6ZTGINSY2Z36ODWFM7STEDH3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FK6ZTGINSY2Z36ODWFM7STEDH3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:FK6ZTGINSY2Z36ODWFM7STEDH3","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":"b9af06cc1d4ba2f7327082e0970180758e8838b117229edf66162b4236f55d09","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-26T12:03:45Z","title_canon_sha256":"b115d9cf08c4a880203738290cd4cb2c72a7bcfa907a28a488732cfe93810324"},"schema_version":"1.0","source":{"id":"1809.09929","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.09929","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"arxiv_version","alias_value":"1809.09929v1","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.09929","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"pith_short_12","alias_value":"FK6ZTGINSY2Z","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_16","alias_value":"FK6ZTGINSY2Z36OD","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_8","alias_value":"FK6ZTGIN","created_at":"2026-05-18T12:32:22Z"}],"graph_snapshots":[{"event_id":"sha256:457e780ffb5e64d84d934d7dfa8d57add6bb88aaff5f83f703ab9a306b40ac4f","target":"graph","created_at":"2026-05-18T00:04:43Z","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 this paper, we proposed a novel and practical solution for the real-time indoor localization of autonomous driving in parking lots. High-level landmarks, the parking slots, are extracted and enriched with labels to avoid the aliasing of low-level visual features. We then proposed a robust method for detecting incorrect data associations between parking slots and further extended the optimization framework by dynamically eliminating suboptimal data associations. Visual fiducial markers are introduced to improve the overall precision. As a result, a semantic map of the parking lot can be esta","authors_text":"Junqiao Zhao, Shaoming Zhang, Tiantian Feng, Xudong He, Yewei Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-26T12:03:45Z","title":"Vision-based Semantic Mapping and Localization for Autonomous Indoor Parking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.09929","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":"sha256:63d3d5aaeecf1bc9726d9c0ea8918d1e6aad30688ca0b4c6d05b8370cd350930","target":"record","created_at":"2026-05-18T00:04:43Z","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":"b9af06cc1d4ba2f7327082e0970180758e8838b117229edf66162b4236f55d09","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-26T12:03:45Z","title_canon_sha256":"b115d9cf08c4a880203738290cd4cb2c72a7bcfa907a28a488732cfe93810324"},"schema_version":"1.0","source":{"id":"1809.09929","kind":"arxiv","version":1}},"canonical_sha256":"2abd99990d96359df9c3b159f94c833eded66e15f7303962214dc5d12d504a3d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2abd99990d96359df9c3b159f94c833eded66e15f7303962214dc5d12d504a3d","first_computed_at":"2026-05-18T00:04:43.250171Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:43.250171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"evBj3u1hFS7KYZalduLuIdix92rgtWCixMG+h5g6gxcjtcz6OHlCAUU+GhARbyYnooqaCdQKv6DuKzDllPKzAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:43.250779Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.09929","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:63d3d5aaeecf1bc9726d9c0ea8918d1e6aad30688ca0b4c6d05b8370cd350930","sha256:457e780ffb5e64d84d934d7dfa8d57add6bb88aaff5f83f703ab9a306b40ac4f"],"state_sha256":"d0ad302117785bf690eea372ec68a274276f9cbe8a58f28bd6e0eedb0185106e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"S2Ok09lVY06toO5aFFOHkKxRcQXKdRyL4/pzjsm7J8YWEMXHof28i0YlYtpYLA/JObiQkeMlppCsOlgohVFEAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T03:20:45.415121Z","bundle_sha256":"100f7f829f3ef3af86bc008313eaf2d0261dfb2c5b803bf3772f9766642a86cd"}}