{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:JKZFHI3QXQGYC2SQF363DUCWIE","short_pith_number":"pith:JKZFHI3Q","canonical_record":{"source":{"id":"1705.04085","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-11T09:27:59Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"98789294a910ed9406df547b68a0498d93c6008a0fa651978e7db4aaf22a2e05","abstract_canon_sha256":"6b4c1876c10c51186de9f9de2ba451737e3646ec26b6fa398e1be1df504d7542"},"schema_version":"1.0"},"canonical_sha256":"4ab253a370bc0d816a502efdb1d056411f3f4e404f3e29a27e94a124358ea4f5","source":{"kind":"arxiv","id":"1705.04085","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.04085","created_at":"2026-05-18T00:39:22Z"},{"alias_kind":"arxiv_version","alias_value":"1705.04085v3","created_at":"2026-05-18T00:39:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.04085","created_at":"2026-05-18T00:39:22Z"},{"alias_kind":"pith_short_12","alias_value":"JKZFHI3QXQGY","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_16","alias_value":"JKZFHI3QXQGYC2SQ","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_8","alias_value":"JKZFHI3Q","created_at":"2026-05-18T12:31:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:JKZFHI3QXQGYC2SQF363DUCWIE","target":"record","payload":{"canonical_record":{"source":{"id":"1705.04085","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-11T09:27:59Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"98789294a910ed9406df547b68a0498d93c6008a0fa651978e7db4aaf22a2e05","abstract_canon_sha256":"6b4c1876c10c51186de9f9de2ba451737e3646ec26b6fa398e1be1df504d7542"},"schema_version":"1.0"},"canonical_sha256":"4ab253a370bc0d816a502efdb1d056411f3f4e404f3e29a27e94a124358ea4f5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:39:22.604470Z","signature_b64":"Dj3WtpngPhUSqD5xavglO7PHydMkf7TpVK73SIr5iIQHY88FqaTkx2ZQnHm0F2U9vpEUCzswTaFCyqjgJk7aBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4ab253a370bc0d816a502efdb1d056411f3f4e404f3e29a27e94a124358ea4f5","last_reissued_at":"2026-05-18T00:39:22.603723Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:39:22.603723Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1705.04085","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:39:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G87d1+AOqSbzRFNQHhuKumIGXO3U8I64SceO+ufJTmSAesf8bYsV7+cMmpZHGAR/c0+1MBuXKcxRy4oRyv84Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T14:42:20.098357Z"},"content_sha256":"220ace816bcf14d194e7e3dc48f6e8201ee0b76ab46aed7c461e08b5257761d3","schema_version":"1.0","event_id":"sha256:220ace816bcf14d194e7e3dc48f6e8201ee0b76ab46aed7c461e08b5257761d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:JKZFHI3QXQGYC2SQF363DUCWIE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Carlos Guindel, David Mart\\'in, Fernando Garc\\'ia, Jorge Beltr\\'an","submitted_at":"2017-05-11T09:27:59Z","abstract_excerpt":"Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a tedious calibration process. We present a method for extrinsic calibration of lidar-stereo camera pairs without user intervention. Our calibration approach is aimed to cope with the constraints commonly found in automotive setups, such as low-resolution and specific sensor poses. To demonstrate the performance of our method, we also introduce a novel approach f"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.04085","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:39:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VJULjvx5UGufJIwZll1KKZttlBSD5Ta/bYHVgkCgFyE9qpN/tbU0j6Ko8C4gyKIZE/cXwIYFaqZVZFxLSUx5Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T14:42:20.098704Z"},"content_sha256":"a7fce9346e933855add959aa2247d94fd0c78025a1ee9406a77d69bf272a9b32","schema_version":"1.0","event_id":"sha256:a7fce9346e933855add959aa2247d94fd0c78025a1ee9406a77d69bf272a9b32"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JKZFHI3QXQGYC2SQF363DUCWIE/bundle.json","state_url":"https://pith.science/pith/JKZFHI3QXQGYC2SQF363DUCWIE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JKZFHI3QXQGYC2SQF363DUCWIE/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":"2026-06-02T14:42:20Z","links":{"resolver":"https://pith.science/pith/JKZFHI3QXQGYC2SQF363DUCWIE","bundle":"https://pith.science/pith/JKZFHI3QXQGYC2SQF363DUCWIE/bundle.json","state":"https://pith.science/pith/JKZFHI3QXQGYC2SQF363DUCWIE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JKZFHI3QXQGYC2SQF363DUCWIE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:JKZFHI3QXQGYC2SQF363DUCWIE","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":"6b4c1876c10c51186de9f9de2ba451737e3646ec26b6fa398e1be1df504d7542","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-11T09:27:59Z","title_canon_sha256":"98789294a910ed9406df547b68a0498d93c6008a0fa651978e7db4aaf22a2e05"},"schema_version":"1.0","source":{"id":"1705.04085","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.04085","created_at":"2026-05-18T00:39:22Z"},{"alias_kind":"arxiv_version","alias_value":"1705.04085v3","created_at":"2026-05-18T00:39:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.04085","created_at":"2026-05-18T00:39:22Z"},{"alias_kind":"pith_short_12","alias_value":"JKZFHI3QXQGY","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_16","alias_value":"JKZFHI3QXQGYC2SQ","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_8","alias_value":"JKZFHI3Q","created_at":"2026-05-18T12:31:24Z"}],"graph_snapshots":[{"event_id":"sha256:a7fce9346e933855add959aa2247d94fd0c78025a1ee9406a77d69bf272a9b32","target":"graph","created_at":"2026-05-18T00:39:22Z","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":"Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a tedious calibration process. We present a method for extrinsic calibration of lidar-stereo camera pairs without user intervention. Our calibration approach is aimed to cope with the constraints commonly found in automotive setups, such as low-resolution and specific sensor poses. To demonstrate the performance of our method, we also introduce a novel approach f","authors_text":"Carlos Guindel, David Mart\\'in, Fernando Garc\\'ia, Jorge Beltr\\'an","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-11T09:27:59Z","title":"Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.04085","kind":"arxiv","version":3},"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":"sha256:220ace816bcf14d194e7e3dc48f6e8201ee0b76ab46aed7c461e08b5257761d3","target":"record","created_at":"2026-05-18T00:39:22Z","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":"6b4c1876c10c51186de9f9de2ba451737e3646ec26b6fa398e1be1df504d7542","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-11T09:27:59Z","title_canon_sha256":"98789294a910ed9406df547b68a0498d93c6008a0fa651978e7db4aaf22a2e05"},"schema_version":"1.0","source":{"id":"1705.04085","kind":"arxiv","version":3}},"canonical_sha256":"4ab253a370bc0d816a502efdb1d056411f3f4e404f3e29a27e94a124358ea4f5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4ab253a370bc0d816a502efdb1d056411f3f4e404f3e29a27e94a124358ea4f5","first_computed_at":"2026-05-18T00:39:22.603723Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:39:22.603723Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Dj3WtpngPhUSqD5xavglO7PHydMkf7TpVK73SIr5iIQHY88FqaTkx2ZQnHm0F2U9vpEUCzswTaFCyqjgJk7aBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:39:22.604470Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.04085","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:220ace816bcf14d194e7e3dc48f6e8201ee0b76ab46aed7c461e08b5257761d3","sha256:a7fce9346e933855add959aa2247d94fd0c78025a1ee9406a77d69bf272a9b32"],"state_sha256":"f2bde3cd6959213f75d34842901912c61859872b701834b28e99f882fa41d7da"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Lp4c327ePrF1+9ty1gy5oake4Sj4EXkEKjOPWfxoTFo/AWs7LO+pToa2ZITPyDvF3Cg/h+ftB+kHGybkLJrCBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T14:42:20.100717Z","bundle_sha256":"68e292e3e3205fbbabc819b97b3f99fede83e9cec7fec7c37b3637021e993ed9"}}