{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:JLNI7QFOYN5WGBYH3EFKJSF7NV","short_pith_number":"pith:JLNI7QFO","canonical_record":{"source":{"id":"2210.10263","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2022-10-19T02:58:08Z","cross_cats_sorted":["cs.RO","eess.IV"],"title_canon_sha256":"b843530d29af777db667d2aa6229ed9eeefe1e440fb215b784def0c694469710","abstract_canon_sha256":"2d5f530adc3d01cf794f7369bf9bb6058769ebc4f36b11948a44581c703106f3"},"schema_version":"1.0"},"canonical_sha256":"4ada8fc0aec37b630707d90aa4c8bf6d6da352b0b3d2c33ff1df31ae2303dd56","source":{"kind":"arxiv","id":"2210.10263","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.10263","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"arxiv_version","alias_value":"2210.10263v1","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.10263","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"pith_short_12","alias_value":"JLNI7QFOYN5W","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"pith_short_16","alias_value":"JLNI7QFOYN5WGBYH","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"pith_short_8","alias_value":"JLNI7QFO","created_at":"2026-07-05T05:08:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:JLNI7QFOYN5WGBYH3EFKJSF7NV","target":"record","payload":{"canonical_record":{"source":{"id":"2210.10263","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2022-10-19T02:58:08Z","cross_cats_sorted":["cs.RO","eess.IV"],"title_canon_sha256":"b843530d29af777db667d2aa6229ed9eeefe1e440fb215b784def0c694469710","abstract_canon_sha256":"2d5f530adc3d01cf794f7369bf9bb6058769ebc4f36b11948a44581c703106f3"},"schema_version":"1.0"},"canonical_sha256":"4ada8fc0aec37b630707d90aa4c8bf6d6da352b0b3d2c33ff1df31ae2303dd56","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:08:07.913060Z","signature_b64":"irhVqaIatCVKm/aL5m0kY21+evLMvMUDoOkXvPx4PEYqK95cwINoyb1yAYZYfMTdaRYLm/D6NRsARSCU0S8oBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4ada8fc0aec37b630707d90aa4c8bf6d6da352b0b3d2c33ff1df31ae2303dd56","last_reissued_at":"2026-07-05T05:08:07.912678Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:08:07.912678Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.10263","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":"2026-07-05T05:08:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ox2U+097JW3K9oWe4gqmMYGz5PuDpVT4Las8DTNLXtLFDa87q8Xen27vAYJ13mjeSFIEn1f5Aquu46i7OSuKDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T03:20:07.438277Z"},"content_sha256":"28b68a5cd485644b072bb8b729b6279290c6cedda51b8f33fb30c6375f007688","schema_version":"1.0","event_id":"sha256:28b68a5cd485644b072bb8b729b6279290c6cedda51b8f33fb30c6375f007688"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:JLNI7QFOYN5WGBYH3EFKJSF7NV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Time and Cost-Efficient Bathymetric Mapping System using Sparse Point Cloud Generation and Automatic Object Detection","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.RO","eess.IV"],"primary_cat":"cs.CV","authors_text":"Andres Pulido, Andrew Ortega, Antonio Diaz, Jaejeong Shin, Peter Ifju, Ruoyao Qin","submitted_at":"2022-10-19T02:58:08Z","abstract_excerpt":"Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and localization of vehicles such as submarines. Side-scan sonar sensors are available in inexpensive cost ranges, especially in fish-finders, where the transducers are usually mounted to the bottom of a boat and can approach shallower depths than the ones attached to an Uncrewed Underwater Vehicle (UUV) can. However, extracting 3D information from side-scan sonar"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.10263","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/2210.10263/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":"2026-07-05T05:08:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"An4x0sxSEIqTDWVlJfV8TwzhlP19LzRJFgtcOVfd1gfiI3TpWITUnjW1VZwavUHf3VusNERvIXtX8quwBXQOBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T03:20:07.438793Z"},"content_sha256":"b3c5de378017d493faa248972a5bcac2ac304afb1d328df547bd25cc772d6bf9","schema_version":"1.0","event_id":"sha256:b3c5de378017d493faa248972a5bcac2ac304afb1d328df547bd25cc772d6bf9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JLNI7QFOYN5WGBYH3EFKJSF7NV/bundle.json","state_url":"https://pith.science/pith/JLNI7QFOYN5WGBYH3EFKJSF7NV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JLNI7QFOYN5WGBYH3EFKJSF7NV/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":"2026-08-19T03:20:07Z","links":{"resolver":"https://pith.science/pith/JLNI7QFOYN5WGBYH3EFKJSF7NV","bundle":"https://pith.science/pith/JLNI7QFOYN5WGBYH3EFKJSF7NV/bundle.json","state":"https://pith.science/pith/JLNI7QFOYN5WGBYH3EFKJSF7NV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JLNI7QFOYN5WGBYH3EFKJSF7NV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:JLNI7QFOYN5WGBYH3EFKJSF7NV","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":"2d5f530adc3d01cf794f7369bf9bb6058769ebc4f36b11948a44581c703106f3","cross_cats_sorted":["cs.RO","eess.IV"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2022-10-19T02:58:08Z","title_canon_sha256":"b843530d29af777db667d2aa6229ed9eeefe1e440fb215b784def0c694469710"},"schema_version":"1.0","source":{"id":"2210.10263","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.10263","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"arxiv_version","alias_value":"2210.10263v1","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.10263","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"pith_short_12","alias_value":"JLNI7QFOYN5W","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"pith_short_16","alias_value":"JLNI7QFOYN5WGBYH","created_at":"2026-07-05T05:08:07Z"},{"alias_kind":"pith_short_8","alias_value":"JLNI7QFO","created_at":"2026-07-05T05:08:07Z"}],"graph_snapshots":[{"event_id":"sha256:b3c5de378017d493faa248972a5bcac2ac304afb1d328df547bd25cc772d6bf9","target":"graph","created_at":"2026-07-05T05:08:07Z","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/2210.10263/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and localization of vehicles such as submarines. Side-scan sonar sensors are available in inexpensive cost ranges, especially in fish-finders, where the transducers are usually mounted to the bottom of a boat and can approach shallower depths than the ones attached to an Uncrewed Underwater Vehicle (UUV) can. However, extracting 3D information from side-scan sonar","authors_text":"Andres Pulido, Andrew Ortega, Antonio Diaz, Jaejeong Shin, Peter Ifju, Ruoyao Qin","cross_cats":["cs.RO","eess.IV"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2022-10-19T02:58:08Z","title":"Time and Cost-Efficient Bathymetric Mapping System using Sparse Point Cloud Generation and Automatic Object Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.10263","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":"sha256:28b68a5cd485644b072bb8b729b6279290c6cedda51b8f33fb30c6375f007688","target":"record","created_at":"2026-07-05T05:08:07Z","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":"2d5f530adc3d01cf794f7369bf9bb6058769ebc4f36b11948a44581c703106f3","cross_cats_sorted":["cs.RO","eess.IV"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2022-10-19T02:58:08Z","title_canon_sha256":"b843530d29af777db667d2aa6229ed9eeefe1e440fb215b784def0c694469710"},"schema_version":"1.0","source":{"id":"2210.10263","kind":"arxiv","version":1}},"canonical_sha256":"4ada8fc0aec37b630707d90aa4c8bf6d6da352b0b3d2c33ff1df31ae2303dd56","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4ada8fc0aec37b630707d90aa4c8bf6d6da352b0b3d2c33ff1df31ae2303dd56","first_computed_at":"2026-07-05T05:08:07.912678Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:08:07.912678Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"irhVqaIatCVKm/aL5m0kY21+evLMvMUDoOkXvPx4PEYqK95cwINoyb1yAYZYfMTdaRYLm/D6NRsARSCU0S8oBg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:08:07.913060Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.10263","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:28b68a5cd485644b072bb8b729b6279290c6cedda51b8f33fb30c6375f007688","sha256:b3c5de378017d493faa248972a5bcac2ac304afb1d328df547bd25cc772d6bf9"],"state_sha256":"eb8e3a40fc8b04fd072d52ab9a88cc4cc6ca7c0b7854d190a20f6892efad79fe"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5kl41LD2wIGuE9frngC5JdiolGaCoMEV5WylgsoNoHgg4cLOf0pmUO+y1IbC3tKyF2aN21hYhF7KiaQne7gDDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T03:20:07.442768Z","bundle_sha256":"c8b80811662368f86d3e85b640884bee862da5a26ac9b9887bb08d4e9c85dcae"}}