{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:HDNNIBOIHNPBGCHB4HBLT6BR5S","short_pith_number":"pith:HDNNIBOI","canonical_record":{"source":{"id":"2009.04814","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2020-09-09T03:21:36Z","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"title_canon_sha256":"be624f1f05f8833267d1152fb0f4d32074b115e431d1ac3c8a7cd03e59da5e55","abstract_canon_sha256":"3618be204d7be20e211e6b44d42ff3cdb6384e16454e59ca0115bafd344605b5"},"schema_version":"1.0"},"canonical_sha256":"38dad405c83b5e1308e1e1c2b9f831ecb9131c1429491b16a838dc5a3723e85a","source":{"kind":"arxiv","id":"2009.04814","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2009.04814","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"arxiv_version","alias_value":"2009.04814v2","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2009.04814","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"pith_short_12","alias_value":"HDNNIBOIHNPB","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"pith_short_16","alias_value":"HDNNIBOIHNPBGCHB","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"pith_short_8","alias_value":"HDNNIBOI","created_at":"2026-07-05T01:43:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:HDNNIBOIHNPBGCHB4HBLT6BR5S","target":"record","payload":{"canonical_record":{"source":{"id":"2009.04814","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2020-09-09T03:21:36Z","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"title_canon_sha256":"be624f1f05f8833267d1152fb0f4d32074b115e431d1ac3c8a7cd03e59da5e55","abstract_canon_sha256":"3618be204d7be20e211e6b44d42ff3cdb6384e16454e59ca0115bafd344605b5"},"schema_version":"1.0"},"canonical_sha256":"38dad405c83b5e1308e1e1c2b9f831ecb9131c1429491b16a838dc5a3723e85a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:43:28.243724Z","signature_b64":"okg+BBTmR5gcTA9T7dBAN0LY1WkYk4HGX2Nu75P102r/T/JUGaHbIPvE/oEmIpVxz7I/mMlYNiniqd4/MSRtDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"38dad405c83b5e1308e1e1c2b9f831ecb9131c1429491b16a838dc5a3723e85a","last_reissued_at":"2026-07-05T01:43:28.243346Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:43:28.243346Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2009.04814","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":"2026-07-05T01:43:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UBtBit88h4LQ5JPtTgHvGwQQ3rvsOzrp3BwypkbWyS4SFHTWc5s5LCZTfCZz0G0kZ/iXLDXytHd667/8avx/DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T01:18:53.290127Z"},"content_sha256":"f589e08da5ae364f2977126c3203d1b75b33be76d2f82dbd9184c74f7a1b0f96","schema_version":"1.0","event_id":"sha256:f589e08da5ae364f2977126c3203d1b75b33be76d2f82dbd9184c74f7a1b0f96"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:HDNNIBOIHNPBGCHB4HBLT6BR5S","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"All-Weather sub-50-cm Radar-Inertial Positioning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","eess.SY"],"primary_cat":"eess.SP","authors_text":"Lakshay Narula, Peter A. Iannucci, Todd E. Humphreys","submitted_at":"2020-09-09T03:21:36Z","abstract_excerpt":"Deployment of automated ground vehicles beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras perform poorly in low-visibility conditions. This paper develops and demonstrates a novel technique for robust sub-50-cm-accurate urban ground vehicle positioning based on all-weather sensors. The technique incorporates a computationally-efficient globally-optimal radar scan batch registration algorithm into a larger estimation pipeline that fuses data from commer"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2009.04814","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/2009.04814/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":"2026-07-05T01:43:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DAToPDOvaxNtG/9y1HPJ2ROUO9TG8OOFyi/KvhOeQ/g6i8nJsrr+r/jKw7XU6FDsSTIdBgMPARmOLFpPqEItDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T01:18:53.290674Z"},"content_sha256":"61a21d5a67be436867666676a49a6ac66f1bbf1cc4c9b4320690e64b24a5d2b5","schema_version":"1.0","event_id":"sha256:61a21d5a67be436867666676a49a6ac66f1bbf1cc4c9b4320690e64b24a5d2b5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HDNNIBOIHNPBGCHB4HBLT6BR5S/bundle.json","state_url":"https://pith.science/pith/HDNNIBOIHNPBGCHB4HBLT6BR5S/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HDNNIBOIHNPBGCHB4HBLT6BR5S/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":"2026-08-15T01:18:53Z","links":{"resolver":"https://pith.science/pith/HDNNIBOIHNPBGCHB4HBLT6BR5S","bundle":"https://pith.science/pith/HDNNIBOIHNPBGCHB4HBLT6BR5S/bundle.json","state":"https://pith.science/pith/HDNNIBOIHNPBGCHB4HBLT6BR5S/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HDNNIBOIHNPBGCHB4HBLT6BR5S/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:HDNNIBOIHNPBGCHB4HBLT6BR5S","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":"3618be204d7be20e211e6b44d42ff3cdb6384e16454e59ca0115bafd344605b5","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2020-09-09T03:21:36Z","title_canon_sha256":"be624f1f05f8833267d1152fb0f4d32074b115e431d1ac3c8a7cd03e59da5e55"},"schema_version":"1.0","source":{"id":"2009.04814","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2009.04814","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"arxiv_version","alias_value":"2009.04814v2","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2009.04814","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"pith_short_12","alias_value":"HDNNIBOIHNPB","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"pith_short_16","alias_value":"HDNNIBOIHNPBGCHB","created_at":"2026-07-05T01:43:28Z"},{"alias_kind":"pith_short_8","alias_value":"HDNNIBOI","created_at":"2026-07-05T01:43:28Z"}],"graph_snapshots":[{"event_id":"sha256:61a21d5a67be436867666676a49a6ac66f1bbf1cc4c9b4320690e64b24a5d2b5","target":"graph","created_at":"2026-07-05T01:43:28Z","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/2009.04814/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Deployment of automated ground vehicles beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras perform poorly in low-visibility conditions. This paper develops and demonstrates a novel technique for robust sub-50-cm-accurate urban ground vehicle positioning based on all-weather sensors. The technique incorporates a computationally-efficient globally-optimal radar scan batch registration algorithm into a larger estimation pipeline that fuses data from commer","authors_text":"Lakshay Narula, Peter A. Iannucci, Todd E. Humphreys","cross_cats":["cs.RO","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2020-09-09T03:21:36Z","title":"All-Weather sub-50-cm Radar-Inertial Positioning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2009.04814","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:f589e08da5ae364f2977126c3203d1b75b33be76d2f82dbd9184c74f7a1b0f96","target":"record","created_at":"2026-07-05T01:43:28Z","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":"3618be204d7be20e211e6b44d42ff3cdb6384e16454e59ca0115bafd344605b5","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2020-09-09T03:21:36Z","title_canon_sha256":"be624f1f05f8833267d1152fb0f4d32074b115e431d1ac3c8a7cd03e59da5e55"},"schema_version":"1.0","source":{"id":"2009.04814","kind":"arxiv","version":2}},"canonical_sha256":"38dad405c83b5e1308e1e1c2b9f831ecb9131c1429491b16a838dc5a3723e85a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"38dad405c83b5e1308e1e1c2b9f831ecb9131c1429491b16a838dc5a3723e85a","first_computed_at":"2026-07-05T01:43:28.243346Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:43:28.243346Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"okg+BBTmR5gcTA9T7dBAN0LY1WkYk4HGX2Nu75P102r/T/JUGaHbIPvE/oEmIpVxz7I/mMlYNiniqd4/MSRtDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:43:28.243724Z","signed_message":"canonical_sha256_bytes"},"source_id":"2009.04814","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f589e08da5ae364f2977126c3203d1b75b33be76d2f82dbd9184c74f7a1b0f96","sha256:61a21d5a67be436867666676a49a6ac66f1bbf1cc4c9b4320690e64b24a5d2b5"],"state_sha256":"b3dff0a980fa59bc3272433f9cb58b762616a7111c8b506ce04fff53728e6150"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wMKbkI4C4T5O+fxWuVZT7VGa1ZoIv7uRGQA1Xr+s1Rs64zwUncOFT5w1DN8Y8Y/K9N1fWdZRuLAbU+xQhR+wDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T01:18:53.296615Z","bundle_sha256":"187100674741a1d27327be060e8e1cc122090899f94d4ae2496083828e98bb31"}}