{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:FOBUQPTMDWTXSBVPMD6I7OBESC","short_pith_number":"pith:FOBUQPTM","canonical_record":{"source":{"id":"1810.06411","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-15T14:45:29Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"54cada343af8bcdce02233e9c12b43132bb7b8625966776b5e14e10f8c929fbf","abstract_canon_sha256":"17c21addf7a54a39084aaf19476ca34b5e60b888a1fbc8c3ea1963e3d372e85a"},"schema_version":"1.0"},"canonical_sha256":"2b83483e6c1da77906af60fc8fb824909f02867614b4aea979672d9d9adfcf1f","source":{"kind":"arxiv","id":"1810.06411","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.06411","created_at":"2026-05-18T00:03:14Z"},{"alias_kind":"arxiv_version","alias_value":"1810.06411v2","created_at":"2026-05-18T00:03:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.06411","created_at":"2026-05-18T00:03:14Z"},{"alias_kind":"pith_short_12","alias_value":"FOBUQPTMDWTX","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_16","alias_value":"FOBUQPTMDWTXSBVP","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_8","alias_value":"FOBUQPTM","created_at":"2026-05-18T12:32:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:FOBUQPTMDWTXSBVPMD6I7OBESC","target":"record","payload":{"canonical_record":{"source":{"id":"1810.06411","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-15T14:45:29Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"54cada343af8bcdce02233e9c12b43132bb7b8625966776b5e14e10f8c929fbf","abstract_canon_sha256":"17c21addf7a54a39084aaf19476ca34b5e60b888a1fbc8c3ea1963e3d372e85a"},"schema_version":"1.0"},"canonical_sha256":"2b83483e6c1da77906af60fc8fb824909f02867614b4aea979672d9d9adfcf1f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:03:14.269833Z","signature_b64":"TzfToGNvezlHMKneNSvsHfQ4zQrOGxrk1opHiFWv2sMTQ8ea5bSqaoMzv6Pt+zG8aPB6NAkYyEOrK++NziLtCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2b83483e6c1da77906af60fc8fb824909f02867614b4aea979672d9d9adfcf1f","last_reissued_at":"2026-05-18T00:03:14.269068Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:03:14.269068Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1810.06411","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":"2026-05-18T00:03:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pVCuXTGQmoKXZH8gndvYH9TDzJXkGM0qZ5pIhAyGsT7p6lgJpZ2WzIBUJxH4XiC+rZT/W1+3bWxuoc2cNxowBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T13:02:03.688157Z"},"content_sha256":"ce0b638baa2290578e4eedaca1118c398785857c7f5149a786730babef14fe17","schema_version":"1.0","event_id":"sha256:ce0b638baa2290578e4eedaca1118c398785857c7f5149a786730babef14fe17"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:FOBUQPTMDWTXSBVPMD6I7OBESC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Hafez Farazi, Sven Behnke","submitted_at":"2018-10-15T14:45:29Z","abstract_excerpt":"The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work presents a real-time vision-based approach to the detection and tracking of robots of known appearance, based on the images captured by a stationary robot. A Histogram of Oriented Gradients descriptor is used to detect the robots and the robot headings are estimated by a multiclass classifier. The tracked robots report their own heading estimate from magnetometer "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.06411","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":"2026-05-18T00:03:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aBaE2MBrFtUkOqIuyb1EauSuHxCvCQ6ytfzPnQN8pjokezL2kBitnjdVXlJxitOQJI7qPksbao2qa+8ur+LBBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T13:02:03.688506Z"},"content_sha256":"be8df492fc5fa70ab68b41a75a720838ae4e9576d603f7e34589c9403c880479","schema_version":"1.0","event_id":"sha256:be8df492fc5fa70ab68b41a75a720838ae4e9576d603f7e34589c9403c880479"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FOBUQPTMDWTXSBVPMD6I7OBESC/bundle.json","state_url":"https://pith.science/pith/FOBUQPTMDWTXSBVPMD6I7OBESC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FOBUQPTMDWTXSBVPMD6I7OBESC/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":"2026-06-29T13:02:03Z","links":{"resolver":"https://pith.science/pith/FOBUQPTMDWTXSBVPMD6I7OBESC","bundle":"https://pith.science/pith/FOBUQPTMDWTXSBVPMD6I7OBESC/bundle.json","state":"https://pith.science/pith/FOBUQPTMDWTXSBVPMD6I7OBESC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FOBUQPTMDWTXSBVPMD6I7OBESC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:FOBUQPTMDWTXSBVPMD6I7OBESC","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":"17c21addf7a54a39084aaf19476ca34b5e60b888a1fbc8c3ea1963e3d372e85a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-15T14:45:29Z","title_canon_sha256":"54cada343af8bcdce02233e9c12b43132bb7b8625966776b5e14e10f8c929fbf"},"schema_version":"1.0","source":{"id":"1810.06411","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.06411","created_at":"2026-05-18T00:03:14Z"},{"alias_kind":"arxiv_version","alias_value":"1810.06411v2","created_at":"2026-05-18T00:03:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.06411","created_at":"2026-05-18T00:03:14Z"},{"alias_kind":"pith_short_12","alias_value":"FOBUQPTMDWTX","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_16","alias_value":"FOBUQPTMDWTXSBVP","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_8","alias_value":"FOBUQPTM","created_at":"2026-05-18T12:32:25Z"}],"graph_snapshots":[{"event_id":"sha256:be8df492fc5fa70ab68b41a75a720838ae4e9576d603f7e34589c9403c880479","target":"graph","created_at":"2026-05-18T00:03:14Z","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":"The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work presents a real-time vision-based approach to the detection and tracking of robots of known appearance, based on the images captured by a stationary robot. A Histogram of Oriented Gradients descriptor is used to detect the robots and the robot headings are estimated by a multiclass classifier. The tracked robots report their own heading estimate from magnetometer ","authors_text":"Hafez Farazi, Sven Behnke","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-15T14:45:29Z","title":"Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.06411","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:ce0b638baa2290578e4eedaca1118c398785857c7f5149a786730babef14fe17","target":"record","created_at":"2026-05-18T00:03:14Z","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":"17c21addf7a54a39084aaf19476ca34b5e60b888a1fbc8c3ea1963e3d372e85a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-15T14:45:29Z","title_canon_sha256":"54cada343af8bcdce02233e9c12b43132bb7b8625966776b5e14e10f8c929fbf"},"schema_version":"1.0","source":{"id":"1810.06411","kind":"arxiv","version":2}},"canonical_sha256":"2b83483e6c1da77906af60fc8fb824909f02867614b4aea979672d9d9adfcf1f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2b83483e6c1da77906af60fc8fb824909f02867614b4aea979672d9d9adfcf1f","first_computed_at":"2026-05-18T00:03:14.269068Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:03:14.269068Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TzfToGNvezlHMKneNSvsHfQ4zQrOGxrk1opHiFWv2sMTQ8ea5bSqaoMzv6Pt+zG8aPB6NAkYyEOrK++NziLtCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:03:14.269833Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.06411","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ce0b638baa2290578e4eedaca1118c398785857c7f5149a786730babef14fe17","sha256:be8df492fc5fa70ab68b41a75a720838ae4e9576d603f7e34589c9403c880479"],"state_sha256":"63c79fd60e0ec49d43d5173f29ec6b3ff0c6d86a5657d47b8c4468ec531a1a0b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pfmgophBUK/90Ar4DdJZqJqsoteLTcvpkIAsCvWepAL0vVcWQ/2/0mi/ZgMjUXtU1F+f71qkQTHL+TzV1C5WBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-29T13:02:03.690299Z","bundle_sha256":"1c6a0020acbc47dbcd20e036853d8b7291391557dc2d20628fb1d8a02b052f5d"}}