{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:I7MYXYLWX4ESZN3KBBZQJQHXCU","short_pith_number":"pith:I7MYXYLW","canonical_record":{"source":{"id":"2005.00709","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-02T05:26:18Z","cross_cats_sorted":["eess.SP"],"title_canon_sha256":"c8bbe2dffa4903b5d0b545e8bc097732edb814495d184812bfa568e7d80eecc3","abstract_canon_sha256":"7f7c3a2e16b4517781a3ed8bf212b631d8a4cc3f12371a956eb24ef66df0ec2e"},"schema_version":"1.0"},"canonical_sha256":"47d98be176bf092cb76a087304c0f7152fb0d5c64b84f81479253a34c0b916fe","source":{"kind":"arxiv","id":"2005.00709","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.00709","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"arxiv_version","alias_value":"2005.00709v1","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.00709","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"pith_short_12","alias_value":"I7MYXYLWX4ES","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"pith_short_16","alias_value":"I7MYXYLWX4ESZN3K","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"pith_short_8","alias_value":"I7MYXYLW","created_at":"2026-07-05T00:59:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:I7MYXYLWX4ESZN3KBBZQJQHXCU","target":"record","payload":{"canonical_record":{"source":{"id":"2005.00709","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-02T05:26:18Z","cross_cats_sorted":["eess.SP"],"title_canon_sha256":"c8bbe2dffa4903b5d0b545e8bc097732edb814495d184812bfa568e7d80eecc3","abstract_canon_sha256":"7f7c3a2e16b4517781a3ed8bf212b631d8a4cc3f12371a956eb24ef66df0ec2e"},"schema_version":"1.0"},"canonical_sha256":"47d98be176bf092cb76a087304c0f7152fb0d5c64b84f81479253a34c0b916fe","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:59:59.874695Z","signature_b64":"tlFMC1H9tNXnSDR0Gox9i7+CLbpt5zIvbahfy+HRtbRAQ71l2SkxDAQMiKnm4REfwy0uwsLDC8XLYkjLFaX/Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"47d98be176bf092cb76a087304c0f7152fb0d5c64b84f81479253a34c0b916fe","last_reissued_at":"2026-07-05T00:59:59.874342Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:59:59.874342Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.00709","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":"2026-07-05T00:59:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+s+41ST16Tja1j1fDgibctRCLcObY3EMU2YI6MNkAOYgFHHHgZrJwFbjDv2I5all4G2DB8S9pB567XDC2ZCJAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T18:59:12.446299Z"},"content_sha256":"7b44864ac0ee304b45e8685875c989887540e02bf9ef5654f8f7d5d259e49d63","schema_version":"1.0","event_id":"sha256:7b44864ac0ee304b45e8685875c989887540e02bf9ef5654f8f7d5d259e49d63"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:I7MYXYLWX4ESZN3KBBZQJQHXCU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TEX-CUP: The University of Texas Challenge for Urban Positioning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["eess.SP"],"primary_cat":"cs.RO","authors_text":"Daniel M. LaChapelle, Elliot de Toldi, Guirec Morvant, Jean-Baptiste Lacambre, J. Michael Wooten, Lakshay Narula, Matthew J. Murrian, Todd E. Humphreys","submitted_at":"2020-05-02T05:26:18Z","abstract_excerpt":"A public benchmark dataset collected in the dense urban center of the city of Austin, TX is introduced for evaluation of multi-sensor GNSS-based urban positioning. Existing public datasets on localization and/or odometry evaluation are based on sensors such as lidar, cameras, and radar. The role of GNSS in these datasets is typically limited to the generation of a reference trajectory in conjunction with a high-end inertial navigation system (INS). In contrast, the dataset introduced in this paper provides raw ADC output of wideband intermediate frequency (IF) GNSS data along with tightly sync"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.00709","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2005.00709/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":"2026-07-05T00:59:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rSnLsb7R4N8lhRJgKWgPAzBvpwMCA/i/GtKmlhX3hmTHqRECshYHDztsdZr3LeUR+mb44vQbKaCICbwswgsQDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T18:59:12.446879Z"},"content_sha256":"aeb1e530263841a947b8d5fde971a93867b052ca9a656ec6d508f6b8aeff5121","schema_version":"1.0","event_id":"sha256:aeb1e530263841a947b8d5fde971a93867b052ca9a656ec6d508f6b8aeff5121"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/I7MYXYLWX4ESZN3KBBZQJQHXCU/bundle.json","state_url":"https://pith.science/pith/I7MYXYLWX4ESZN3KBBZQJQHXCU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/I7MYXYLWX4ESZN3KBBZQJQHXCU/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":"2026-07-31T18:59:12Z","links":{"resolver":"https://pith.science/pith/I7MYXYLWX4ESZN3KBBZQJQHXCU","bundle":"https://pith.science/pith/I7MYXYLWX4ESZN3KBBZQJQHXCU/bundle.json","state":"https://pith.science/pith/I7MYXYLWX4ESZN3KBBZQJQHXCU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/I7MYXYLWX4ESZN3KBBZQJQHXCU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:I7MYXYLWX4ESZN3KBBZQJQHXCU","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":"7f7c3a2e16b4517781a3ed8bf212b631d8a4cc3f12371a956eb24ef66df0ec2e","cross_cats_sorted":["eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-02T05:26:18Z","title_canon_sha256":"c8bbe2dffa4903b5d0b545e8bc097732edb814495d184812bfa568e7d80eecc3"},"schema_version":"1.0","source":{"id":"2005.00709","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.00709","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"arxiv_version","alias_value":"2005.00709v1","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.00709","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"pith_short_12","alias_value":"I7MYXYLWX4ES","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"pith_short_16","alias_value":"I7MYXYLWX4ESZN3K","created_at":"2026-07-05T00:59:59Z"},{"alias_kind":"pith_short_8","alias_value":"I7MYXYLW","created_at":"2026-07-05T00:59:59Z"}],"graph_snapshots":[{"event_id":"sha256:aeb1e530263841a947b8d5fde971a93867b052ca9a656ec6d508f6b8aeff5121","target":"graph","created_at":"2026-07-05T00:59:59Z","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/2005.00709/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A public benchmark dataset collected in the dense urban center of the city of Austin, TX is introduced for evaluation of multi-sensor GNSS-based urban positioning. Existing public datasets on localization and/or odometry evaluation are based on sensors such as lidar, cameras, and radar. The role of GNSS in these datasets is typically limited to the generation of a reference trajectory in conjunction with a high-end inertial navigation system (INS). In contrast, the dataset introduced in this paper provides raw ADC output of wideband intermediate frequency (IF) GNSS data along with tightly sync","authors_text":"Daniel M. LaChapelle, Elliot de Toldi, Guirec Morvant, Jean-Baptiste Lacambre, J. Michael Wooten, Lakshay Narula, Matthew J. Murrian, Todd E. Humphreys","cross_cats":["eess.SP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-02T05:26:18Z","title":"TEX-CUP: The University of Texas Challenge for Urban Positioning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.00709","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":"sha256:7b44864ac0ee304b45e8685875c989887540e02bf9ef5654f8f7d5d259e49d63","target":"record","created_at":"2026-07-05T00:59:59Z","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":"7f7c3a2e16b4517781a3ed8bf212b631d8a4cc3f12371a956eb24ef66df0ec2e","cross_cats_sorted":["eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-02T05:26:18Z","title_canon_sha256":"c8bbe2dffa4903b5d0b545e8bc097732edb814495d184812bfa568e7d80eecc3"},"schema_version":"1.0","source":{"id":"2005.00709","kind":"arxiv","version":1}},"canonical_sha256":"47d98be176bf092cb76a087304c0f7152fb0d5c64b84f81479253a34c0b916fe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"47d98be176bf092cb76a087304c0f7152fb0d5c64b84f81479253a34c0b916fe","first_computed_at":"2026-07-05T00:59:59.874342Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:59:59.874342Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tlFMC1H9tNXnSDR0Gox9i7+CLbpt5zIvbahfy+HRtbRAQ71l2SkxDAQMiKnm4REfwy0uwsLDC8XLYkjLFaX/Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:59:59.874695Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.00709","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7b44864ac0ee304b45e8685875c989887540e02bf9ef5654f8f7d5d259e49d63","sha256:aeb1e530263841a947b8d5fde971a93867b052ca9a656ec6d508f6b8aeff5121"],"state_sha256":"9aa16c7fb0c7b0096ea01d87c91bb5c637299eb4c2a8d3de8bcf511e4ca0a034"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+DMNpQ8dAQ+io67RluAAF/IKygqRrFt79YZC1fNicmXoCpqIZyEZryAJLv0bBY43J7jpcSkKhcJ6Imuh4nG1CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-31T18:59:12.452393Z","bundle_sha256":"4fc99906e4d695a562c906e84b0980ce96f246213b39100b0b6f2e24d7f8368e"}}