{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:IMDVUL2JR6L4IXNS6S2LGHUGRX","short_pith_number":"pith:IMDVUL2J","canonical_record":{"source":{"id":"1606.05729","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-18T08:10:59Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"cacd19ee85481968f15403022ca19cf20f133a7dc302f8e87070deced434c6d4","abstract_canon_sha256":"8abee0e755fa2ef7ddfcd23bb9b6bac0710e51b29f29cbbbdb6ede1d882a43a7"},"schema_version":"1.0"},"canonical_sha256":"43075a2f498f97c45db2f4b4b31e868df009b820747bc12b48634bd166f2fb36","source":{"kind":"arxiv","id":"1606.05729","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1606.05729","created_at":"2026-05-18T00:43:09Z"},{"alias_kind":"arxiv_version","alias_value":"1606.05729v2","created_at":"2026-05-18T00:43:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1606.05729","created_at":"2026-05-18T00:43:09Z"},{"alias_kind":"pith_short_12","alias_value":"IMDVUL2JR6L4","created_at":"2026-05-18T12:30:22Z"},{"alias_kind":"pith_short_16","alias_value":"IMDVUL2JR6L4IXNS","created_at":"2026-05-18T12:30:22Z"},{"alias_kind":"pith_short_8","alias_value":"IMDVUL2J","created_at":"2026-05-18T12:30:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:IMDVUL2JR6L4IXNS6S2LGHUGRX","target":"record","payload":{"canonical_record":{"source":{"id":"1606.05729","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-18T08:10:59Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"cacd19ee85481968f15403022ca19cf20f133a7dc302f8e87070deced434c6d4","abstract_canon_sha256":"8abee0e755fa2ef7ddfcd23bb9b6bac0710e51b29f29cbbbdb6ede1d882a43a7"},"schema_version":"1.0"},"canonical_sha256":"43075a2f498f97c45db2f4b4b31e868df009b820747bc12b48634bd166f2fb36","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:43:09.331583Z","signature_b64":"F7/nWNk06MiukC8d13Akn2ctJd8LA/ma/ZVWp2LKFQmIoQRbgQ9zcnvDLBmgAWJrz6WtfA9caX73qLXRSG/1Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"43075a2f498f97c45db2f4b4b31e868df009b820747bc12b48634bd166f2fb36","last_reissued_at":"2026-05-18T00:43:09.331002Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:43:09.331002Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1606.05729","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":"2026-05-18T00:43:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g+mBtwpGHjIItOezzoAClDq4mNNh32Bzoo9oi94lDjPWFy4bOjXIOA3o6Edq2agVOmEryCb/VwDulw0JpUvBAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T23:05:24.317804Z"},"content_sha256":"271eafaf489778a10195347b65cf0c70963f3b1e7a6871f65d34a4f176ff656a","schema_version":"1.0","event_id":"sha256:271eafaf489778a10195347b65cf0c70963f3b1e7a6871f65d34a4f176ff656a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:IMDVUL2JR6L4IXNS6S2LGHUGRX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RRV: A Spatiotemporal Descriptor for Rigid Body Motion Recognition","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Yao Guo, Youfu Li, Zhanpeng Shao","submitted_at":"2016-06-18T08:10:59Z","abstract_excerpt":"Motion behaviors of a rigid body can be characterized by a 6-dimensional motion trajectory, which contains position vectors of a reference point on the rigid body and rotations of this rigid body over time. This paper devises a Rotation and Relative Velocity (RRV) descriptor by exploring the local translational and rotational invariants of motion trajectories of rigid bodies, which is insensitive to noise, invariant to rigid transformation and scaling. A flexible metric is also introduced to measure the distance between two RRV descriptors. The RRV descriptor is then applied to characterize mo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1606.05729","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":"2026-05-18T00:43:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QNiivxemzx6so8i0pQ1esy9liDnyqcjSTMG+pDO1SzDucAXNW4V6KjwizDJso4DhyBTn+7VKvPSo7rpZwVAvCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T23:05:24.318521Z"},"content_sha256":"eda5e53d1daf1679e7a8da02a4effad47c17466781cb2640f1ce6275b8e3ff6b","schema_version":"1.0","event_id":"sha256:eda5e53d1daf1679e7a8da02a4effad47c17466781cb2640f1ce6275b8e3ff6b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IMDVUL2JR6L4IXNS6S2LGHUGRX/bundle.json","state_url":"https://pith.science/pith/IMDVUL2JR6L4IXNS6S2LGHUGRX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IMDVUL2JR6L4IXNS6S2LGHUGRX/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":"2026-06-06T23:05:24Z","links":{"resolver":"https://pith.science/pith/IMDVUL2JR6L4IXNS6S2LGHUGRX","bundle":"https://pith.science/pith/IMDVUL2JR6L4IXNS6S2LGHUGRX/bundle.json","state":"https://pith.science/pith/IMDVUL2JR6L4IXNS6S2LGHUGRX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IMDVUL2JR6L4IXNS6S2LGHUGRX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:IMDVUL2JR6L4IXNS6S2LGHUGRX","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":"8abee0e755fa2ef7ddfcd23bb9b6bac0710e51b29f29cbbbdb6ede1d882a43a7","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-18T08:10:59Z","title_canon_sha256":"cacd19ee85481968f15403022ca19cf20f133a7dc302f8e87070deced434c6d4"},"schema_version":"1.0","source":{"id":"1606.05729","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1606.05729","created_at":"2026-05-18T00:43:09Z"},{"alias_kind":"arxiv_version","alias_value":"1606.05729v2","created_at":"2026-05-18T00:43:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1606.05729","created_at":"2026-05-18T00:43:09Z"},{"alias_kind":"pith_short_12","alias_value":"IMDVUL2JR6L4","created_at":"2026-05-18T12:30:22Z"},{"alias_kind":"pith_short_16","alias_value":"IMDVUL2JR6L4IXNS","created_at":"2026-05-18T12:30:22Z"},{"alias_kind":"pith_short_8","alias_value":"IMDVUL2J","created_at":"2026-05-18T12:30:22Z"}],"graph_snapshots":[{"event_id":"sha256:eda5e53d1daf1679e7a8da02a4effad47c17466781cb2640f1ce6275b8e3ff6b","target":"graph","created_at":"2026-05-18T00:43:09Z","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":"Motion behaviors of a rigid body can be characterized by a 6-dimensional motion trajectory, which contains position vectors of a reference point on the rigid body and rotations of this rigid body over time. This paper devises a Rotation and Relative Velocity (RRV) descriptor by exploring the local translational and rotational invariants of motion trajectories of rigid bodies, which is insensitive to noise, invariant to rigid transformation and scaling. A flexible metric is also introduced to measure the distance between two RRV descriptors. The RRV descriptor is then applied to characterize mo","authors_text":"Yao Guo, Youfu Li, Zhanpeng Shao","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-18T08:10:59Z","title":"RRV: A Spatiotemporal Descriptor for Rigid Body Motion Recognition"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1606.05729","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":"sha256:271eafaf489778a10195347b65cf0c70963f3b1e7a6871f65d34a4f176ff656a","target":"record","created_at":"2026-05-18T00:43:09Z","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":"8abee0e755fa2ef7ddfcd23bb9b6bac0710e51b29f29cbbbdb6ede1d882a43a7","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-06-18T08:10:59Z","title_canon_sha256":"cacd19ee85481968f15403022ca19cf20f133a7dc302f8e87070deced434c6d4"},"schema_version":"1.0","source":{"id":"1606.05729","kind":"arxiv","version":2}},"canonical_sha256":"43075a2f498f97c45db2f4b4b31e868df009b820747bc12b48634bd166f2fb36","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"43075a2f498f97c45db2f4b4b31e868df009b820747bc12b48634bd166f2fb36","first_computed_at":"2026-05-18T00:43:09.331002Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:43:09.331002Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"F7/nWNk06MiukC8d13Akn2ctJd8LA/ma/ZVWp2LKFQmIoQRbgQ9zcnvDLBmgAWJrz6WtfA9caX73qLXRSG/1Bg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:43:09.331583Z","signed_message":"canonical_sha256_bytes"},"source_id":"1606.05729","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:271eafaf489778a10195347b65cf0c70963f3b1e7a6871f65d34a4f176ff656a","sha256:eda5e53d1daf1679e7a8da02a4effad47c17466781cb2640f1ce6275b8e3ff6b"],"state_sha256":"111a9e60eb7f391c1f39d80fc8c8bc8f87fa0b672a19750eced51a538e113dc1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nSO2wjaLpTs2tZiSXu4YKKv/befyhzLAf639W/XwRXez3O1EYNO5unPs3Sc5TLB+h9I1fdjjbZgWBsORD2u7Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T23:05:24.322652Z","bundle_sha256":"56dbb0b406b833369ee7ffd4d20877926caeb892ba1d6c514b5716421821ee8b"}}