{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:GADQSCWHXQTEAORYQDGKWTKIZQ","short_pith_number":"pith:GADQSCWH","canonical_record":{"source":{"id":"2309.09080","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-16T19:12:05Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"f7c193ad101cd4676c4ac30602a5b1323251b05be47a93fafb8bb70baf46c72c","abstract_canon_sha256":"d5ebacc2b45c71f91b3d2b13ffc8d4181132f2b2b20f9f3db9a28c76ddfe0772"},"schema_version":"1.0"},"canonical_sha256":"3007090ac7bc26403a3880ccab4d48cc2492d0b2c6b450a3feb6e39bf9c3f30d","source":{"kind":"arxiv","id":"2309.09080","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.09080","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"arxiv_version","alias_value":"2309.09080v2","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.09080","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"pith_short_12","alias_value":"GADQSCWHXQTE","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"pith_short_16","alias_value":"GADQSCWHXQTEAORY","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"pith_short_8","alias_value":"GADQSCWH","created_at":"2026-07-05T06:52:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:GADQSCWHXQTEAORYQDGKWTKIZQ","target":"record","payload":{"canonical_record":{"source":{"id":"2309.09080","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-16T19:12:05Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"f7c193ad101cd4676c4ac30602a5b1323251b05be47a93fafb8bb70baf46c72c","abstract_canon_sha256":"d5ebacc2b45c71f91b3d2b13ffc8d4181132f2b2b20f9f3db9a28c76ddfe0772"},"schema_version":"1.0"},"canonical_sha256":"3007090ac7bc26403a3880ccab4d48cc2492d0b2c6b450a3feb6e39bf9c3f30d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:52:08.286585Z","signature_b64":"4NHLuYVObQrh+U4v5MxmNTpuFI+uBD2pCzDNE5wQByZkK4e4819ngeWH9B+3VDOmCBE5We/4H6L923KxDmEOAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3007090ac7bc26403a3880ccab4d48cc2492d0b2c6b450a3feb6e39bf9c3f30d","last_reissued_at":"2026-07-05T06:52:08.286085Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:52:08.286085Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.09080","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":"2026-07-05T06:52:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TQrPdNwuG8pUq2dA8ZxnRDJkjgYELk7tavtAMUyKgsHm8ST1rHWro/dTjBEiYLdc86nyXK6+ivqKsyIkXPkdCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:32:25.610290Z"},"content_sha256":"90b7af008967b09e56ae8e51df24205e7108e5736beee409b6c67e3dc5a553be","schema_version":"1.0","event_id":"sha256:90b7af008967b09e56ae8e51df24205e7108e5736beee409b6c67e3dc5a553be"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:GADQSCWHXQTEAORYQDGKWTKIZQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-camera Bird's Eye View Perception for Autonomous Driving","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Abhinav Valada, David Unger, Nikhil Gosala, Senthil Yogamani, Shubhankar Borse, Varun Ravi Kumar","submitted_at":"2023-09-16T19:12:05Z","abstract_excerpt":"Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture a 2D perspective projection with inherent depth ambiguity. However, it is essential to produce perception outputs in 3D to enable the spatial reasoning of other agents and structures for optimal path planning. The 3D space is typically simplified to the BEV space by omitting the less relevant Z-coordinate, which corresponds to the height dimension.The most "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.09080","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2309.09080/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":"2026-07-05T06:52:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"is1sbA9sVR+Mj0LWUFZ89a6l+9o1wafv8gjbHDps7gLKcNAhWec2JsfyBdYp1FF+jctwNdVmGaFg6jAEDc8LDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:32:25.610673Z"},"content_sha256":"38ce98add08249c3205b15d983dc953f98d1818f7ee64025ba3c8d5e9f979e15","schema_version":"1.0","event_id":"sha256:38ce98add08249c3205b15d983dc953f98d1818f7ee64025ba3c8d5e9f979e15"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GADQSCWHXQTEAORYQDGKWTKIZQ/bundle.json","state_url":"https://pith.science/pith/GADQSCWHXQTEAORYQDGKWTKIZQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GADQSCWHXQTEAORYQDGKWTKIZQ/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":"2026-07-06T19:32:25Z","links":{"resolver":"https://pith.science/pith/GADQSCWHXQTEAORYQDGKWTKIZQ","bundle":"https://pith.science/pith/GADQSCWHXQTEAORYQDGKWTKIZQ/bundle.json","state":"https://pith.science/pith/GADQSCWHXQTEAORYQDGKWTKIZQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GADQSCWHXQTEAORYQDGKWTKIZQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:GADQSCWHXQTEAORYQDGKWTKIZQ","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":"d5ebacc2b45c71f91b3d2b13ffc8d4181132f2b2b20f9f3db9a28c76ddfe0772","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-16T19:12:05Z","title_canon_sha256":"f7c193ad101cd4676c4ac30602a5b1323251b05be47a93fafb8bb70baf46c72c"},"schema_version":"1.0","source":{"id":"2309.09080","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.09080","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"arxiv_version","alias_value":"2309.09080v2","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.09080","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"pith_short_12","alias_value":"GADQSCWHXQTE","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"pith_short_16","alias_value":"GADQSCWHXQTEAORY","created_at":"2026-07-05T06:52:08Z"},{"alias_kind":"pith_short_8","alias_value":"GADQSCWH","created_at":"2026-07-05T06:52:08Z"}],"graph_snapshots":[{"event_id":"sha256:38ce98add08249c3205b15d983dc953f98d1818f7ee64025ba3c8d5e9f979e15","target":"graph","created_at":"2026-07-05T06:52:08Z","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/2309.09080/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture a 2D perspective projection with inherent depth ambiguity. However, it is essential to produce perception outputs in 3D to enable the spatial reasoning of other agents and structures for optimal path planning. The 3D space is typically simplified to the BEV space by omitting the less relevant Z-coordinate, which corresponds to the height dimension.The most ","authors_text":"Abhinav Valada, David Unger, Nikhil Gosala, Senthil Yogamani, Shubhankar Borse, Varun Ravi Kumar","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-16T19:12:05Z","title":"Multi-camera Bird's Eye View Perception for Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.09080","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":"sha256:90b7af008967b09e56ae8e51df24205e7108e5736beee409b6c67e3dc5a553be","target":"record","created_at":"2026-07-05T06:52:08Z","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":"d5ebacc2b45c71f91b3d2b13ffc8d4181132f2b2b20f9f3db9a28c76ddfe0772","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-16T19:12:05Z","title_canon_sha256":"f7c193ad101cd4676c4ac30602a5b1323251b05be47a93fafb8bb70baf46c72c"},"schema_version":"1.0","source":{"id":"2309.09080","kind":"arxiv","version":2}},"canonical_sha256":"3007090ac7bc26403a3880ccab4d48cc2492d0b2c6b450a3feb6e39bf9c3f30d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3007090ac7bc26403a3880ccab4d48cc2492d0b2c6b450a3feb6e39bf9c3f30d","first_computed_at":"2026-07-05T06:52:08.286085Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:52:08.286085Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4NHLuYVObQrh+U4v5MxmNTpuFI+uBD2pCzDNE5wQByZkK4e4819ngeWH9B+3VDOmCBE5We/4H6L923KxDmEOAg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:52:08.286585Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.09080","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:90b7af008967b09e56ae8e51df24205e7108e5736beee409b6c67e3dc5a553be","sha256:38ce98add08249c3205b15d983dc953f98d1818f7ee64025ba3c8d5e9f979e15"],"state_sha256":"d725fd28a706e45038d96933f58d5486fb9871061c2d583f33a705b06e836349"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k6eEjYzGxVW8NwjELTSZjt8RW+Yn6ri8OxLNF6g/hUwdHoEPNpukPhy7wOE++gsMGZ5rflZRBUT2gosEuLn9Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T19:32:25.612629Z","bundle_sha256":"164fb13073696ffa1fd0d779d6afd42f417ad3eabd2202413a12f14db05e5402"}}