{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:HIOFTRMSXO3NCMHPS34PNXN5D3","short_pith_number":"pith:HIOFTRMS","schema_version":"1.0","canonical_sha256":"3a1c59c592bbb6d130ef96f8f6ddbd1ed5fd474422663bfbea1299a220602293","source":{"kind":"arxiv","id":"1809.04629","version":3},"attestation_state":"computed","paper":{"title":"Occlusion-Aware Risk Assessment for Autonomous Driving in Urban Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Matthew Johnson-Roberson, Ming-Yuan Yu, Ram Vasudevan","submitted_at":"2018-09-12T18:40:38Z","abstract_excerpt":"Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment. Enabling vehicles to quantify the risk posed by unseen regions allows them to anticipate future possibilities, resulting in increased safety and ride comfort. This paper proposes an algorithm that takes advantage of the known road layouts to forecast, quantify, and aggregate risk associated with occlusions and limited sensor range. This allows us to make predi"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1809.04629","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-12T18:40:38Z","cross_cats_sorted":[],"title_canon_sha256":"edea5a06a2118a81c21a581e5cc1c7858fa6e6a0473573ed2dbea8e46b8f5154","abstract_canon_sha256":"61734268f695a7b879ca74bff83663b196cd47eb168ba1cddedb99ecea1dddc8"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:40:18.060120Z","signature_b64":"vr9HWN81auccRzBxpa7KlPUq3tZdZm7qGg5MaXgKUnw+nL9B8R4N+t1vFq2B5jgc+Mdg22S7zBZ5T3CMxKv7CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3a1c59c592bbb6d130ef96f8f6ddbd1ed5fd474422663bfbea1299a220602293","last_reissued_at":"2026-05-17T23:40:18.059441Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:40:18.059441Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Occlusion-Aware Risk Assessment for Autonomous Driving in Urban Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Matthew Johnson-Roberson, Ming-Yuan Yu, Ram Vasudevan","submitted_at":"2018-09-12T18:40:38Z","abstract_excerpt":"Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment. Enabling vehicles to quantify the risk posed by unseen regions allows them to anticipate future possibilities, resulting in increased safety and ride comfort. This paper proposes an algorithm that takes advantage of the known road layouts to forecast, quantify, and aggregate risk associated with occlusions and limited sensor range. This allows us to make predi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.04629","kind":"arxiv","version":3},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1809.04629","created_at":"2026-05-17T23:40:18.059553+00:00"},{"alias_kind":"arxiv_version","alias_value":"1809.04629v3","created_at":"2026-05-17T23:40:18.059553+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.04629","created_at":"2026-05-17T23:40:18.059553+00:00"},{"alias_kind":"pith_short_12","alias_value":"HIOFTRMSXO3N","created_at":"2026-05-18T12:32:28.185984+00:00"},{"alias_kind":"pith_short_16","alias_value":"HIOFTRMSXO3NCMHP","created_at":"2026-05-18T12:32:28.185984+00:00"},{"alias_kind":"pith_short_8","alias_value":"HIOFTRMS","created_at":"2026-05-18T12:32:28.185984+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3","json":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3.json","graph_json":"https://pith.science/api/pith-number/HIOFTRMSXO3NCMHPS34PNXN5D3/graph.json","events_json":"https://pith.science/api/pith-number/HIOFTRMSXO3NCMHPS34PNXN5D3/events.json","paper":"https://pith.science/paper/HIOFTRMS"},"agent_actions":{"view_html":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3","download_json":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3.json","view_paper":"https://pith.science/paper/HIOFTRMS","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1809.04629&json=true","fetch_graph":"https://pith.science/api/pith-number/HIOFTRMSXO3NCMHPS34PNXN5D3/graph.json","fetch_events":"https://pith.science/api/pith-number/HIOFTRMSXO3NCMHPS34PNXN5D3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3/action/storage_attestation","attest_author":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3/action/author_attestation","sign_citation":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3/action/citation_signature","submit_replication":"https://pith.science/pith/HIOFTRMSXO3NCMHPS34PNXN5D3/action/replication_record"}},"created_at":"2026-05-17T23:40:18.059553+00:00","updated_at":"2026-05-17T23:40:18.059553+00:00"}