{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:J6MGKSRPR6I7UZJCDJ5TO5XW4Q","short_pith_number":"pith:J6MGKSRP","canonical_record":{"source":{"id":"2105.02679","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-06T14:01:46Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5229e6306c36513cdcf64c0a581601680560213d060bcfc5f0066ec5281f9f0f","abstract_canon_sha256":"f8b4a29c3e70914e52d510a4618bfa02a3fc9881d3ed3e6208f973539fdb336c"},"schema_version":"1.0"},"canonical_sha256":"4f98654a2f8f91fa65221a7b3776f6e40eb24ce58ffffa9469a6e71dee636049","source":{"kind":"arxiv","id":"2105.02679","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.02679","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"arxiv_version","alias_value":"2105.02679v1","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.02679","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"pith_short_12","alias_value":"J6MGKSRPR6I7","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"pith_short_16","alias_value":"J6MGKSRPR6I7UZJC","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"pith_short_8","alias_value":"J6MGKSRP","created_at":"2026-07-05T02:38:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:J6MGKSRPR6I7UZJCDJ5TO5XW4Q","target":"record","payload":{"canonical_record":{"source":{"id":"2105.02679","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-06T14:01:46Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5229e6306c36513cdcf64c0a581601680560213d060bcfc5f0066ec5281f9f0f","abstract_canon_sha256":"f8b4a29c3e70914e52d510a4618bfa02a3fc9881d3ed3e6208f973539fdb336c"},"schema_version":"1.0"},"canonical_sha256":"4f98654a2f8f91fa65221a7b3776f6e40eb24ce58ffffa9469a6e71dee636049","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:38:03.688201Z","signature_b64":"rV6FmiXZr9gB+AyZqoU49MWMCHoXgm06MeBE+Wcjw/xsuSVba6F+0ZjFmVYtulRtkBzqUAoOLjZE4Kk3CeqrBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4f98654a2f8f91fa65221a7b3776f6e40eb24ce58ffffa9469a6e71dee636049","last_reissued_at":"2026-07-05T02:38:03.687752Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:38:03.687752Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.02679","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":"2026-07-05T02:38:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZSqYX5qhnxETIBBSSVU4ZDeWCqwPNOLjGqRfg10cmd+s6QYvi73X770BDer6PuoOKBq398KTq77pieiLpD4ABw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T10:56:52.144003Z"},"content_sha256":"994314dd1184bc5547c13de13526abdf7d72fc5f2f9175ca5ce93e041a77f888","schema_version":"1.0","event_id":"sha256:994314dd1184bc5547c13de13526abdf7d72fc5f2f9175ca5ce93e041a77f888"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:J6MGKSRPR6I7UZJCDJ5TO5XW4Q","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A 2.5D Vehicle Odometry Estimation for Vision Applications","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Anbuchezhiyan Selvaraju, Ciar\\'an Eising, John McDonald, Jonathan Horgan, Leroy-Francisco Periera, Pantelis Ermilios, Paul Moran, Tejash Prakash","submitted_at":"2021-05-06T14:01:46Z","abstract_excerpt":"This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors, with outputs available on automotive communication buses (e.g. CAN or FlexRay), we describe a set of steps to combine a planar odometry based on wheel sensors with a suspension model based on linear suspension sensors. The aim is to determine a more accurate estimate of the camera pose. We outline its usage for applications in both visualisation and computer "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.02679","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/2105.02679/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":"2026-07-05T02:38:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bVe4rvuY3BU3yLcyflCrYnbGbw+OIfqhLe+JD/Epxx+vZEl4uNrVsFq3e2gpF9oHJSVmeJyesTXT7dTEaseoCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T10:56:52.144742Z"},"content_sha256":"8d146d82ad05fcfdc33d0c250bcd66d29ed50b28f7fc58bdbd221808720d2b2f","schema_version":"1.0","event_id":"sha256:8d146d82ad05fcfdc33d0c250bcd66d29ed50b28f7fc58bdbd221808720d2b2f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J6MGKSRPR6I7UZJCDJ5TO5XW4Q/bundle.json","state_url":"https://pith.science/pith/J6MGKSRPR6I7UZJCDJ5TO5XW4Q/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J6MGKSRPR6I7UZJCDJ5TO5XW4Q/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":"2026-08-01T10:56:52Z","links":{"resolver":"https://pith.science/pith/J6MGKSRPR6I7UZJCDJ5TO5XW4Q","bundle":"https://pith.science/pith/J6MGKSRPR6I7UZJCDJ5TO5XW4Q/bundle.json","state":"https://pith.science/pith/J6MGKSRPR6I7UZJCDJ5TO5XW4Q/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J6MGKSRPR6I7UZJCDJ5TO5XW4Q/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:J6MGKSRPR6I7UZJCDJ5TO5XW4Q","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":"f8b4a29c3e70914e52d510a4618bfa02a3fc9881d3ed3e6208f973539fdb336c","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-06T14:01:46Z","title_canon_sha256":"5229e6306c36513cdcf64c0a581601680560213d060bcfc5f0066ec5281f9f0f"},"schema_version":"1.0","source":{"id":"2105.02679","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.02679","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"arxiv_version","alias_value":"2105.02679v1","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.02679","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"pith_short_12","alias_value":"J6MGKSRPR6I7","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"pith_short_16","alias_value":"J6MGKSRPR6I7UZJC","created_at":"2026-07-05T02:38:03Z"},{"alias_kind":"pith_short_8","alias_value":"J6MGKSRP","created_at":"2026-07-05T02:38:03Z"}],"graph_snapshots":[{"event_id":"sha256:8d146d82ad05fcfdc33d0c250bcd66d29ed50b28f7fc58bdbd221808720d2b2f","target":"graph","created_at":"2026-07-05T02:38:03Z","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/2105.02679/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors, with outputs available on automotive communication buses (e.g. CAN or FlexRay), we describe a set of steps to combine a planar odometry based on wheel sensors with a suspension model based on linear suspension sensors. The aim is to determine a more accurate estimate of the camera pose. We outline its usage for applications in both visualisation and computer ","authors_text":"Anbuchezhiyan Selvaraju, Ciar\\'an Eising, John McDonald, Jonathan Horgan, Leroy-Francisco Periera, Pantelis Ermilios, Paul Moran, Tejash Prakash","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-06T14:01:46Z","title":"A 2.5D Vehicle Odometry Estimation for Vision Applications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.02679","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":"sha256:994314dd1184bc5547c13de13526abdf7d72fc5f2f9175ca5ce93e041a77f888","target":"record","created_at":"2026-07-05T02:38:03Z","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":"f8b4a29c3e70914e52d510a4618bfa02a3fc9881d3ed3e6208f973539fdb336c","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-06T14:01:46Z","title_canon_sha256":"5229e6306c36513cdcf64c0a581601680560213d060bcfc5f0066ec5281f9f0f"},"schema_version":"1.0","source":{"id":"2105.02679","kind":"arxiv","version":1}},"canonical_sha256":"4f98654a2f8f91fa65221a7b3776f6e40eb24ce58ffffa9469a6e71dee636049","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4f98654a2f8f91fa65221a7b3776f6e40eb24ce58ffffa9469a6e71dee636049","first_computed_at":"2026-07-05T02:38:03.687752Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:38:03.687752Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rV6FmiXZr9gB+AyZqoU49MWMCHoXgm06MeBE+Wcjw/xsuSVba6F+0ZjFmVYtulRtkBzqUAoOLjZE4Kk3CeqrBw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:38:03.688201Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.02679","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:994314dd1184bc5547c13de13526abdf7d72fc5f2f9175ca5ce93e041a77f888","sha256:8d146d82ad05fcfdc33d0c250bcd66d29ed50b28f7fc58bdbd221808720d2b2f"],"state_sha256":"2a5adb747ed67d44c1874d0d81f74d3ea1496f8eedfdb98ef1b45edf7f90a515"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kyn9rv4ih4/Yj8oaQ0HXA1Rilro4XIViWFT9BrB7MHcNdogU+urRczJQFaj3S2lGmiJq77VG1NMfiM5uaK6oAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T10:56:52.153460Z","bundle_sha256":"cea5fe5eba1b26d8dbb0f27245c7b4c4e6aa9088f8c00b26da7201a9fb800253"}}