{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:K2WLRK7LU772TXVL45B4FX2TEK","short_pith_number":"pith:K2WLRK7L","canonical_record":{"source":{"id":"2209.09987","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-20T20:45:56Z","cross_cats_sorted":[],"title_canon_sha256":"6b5245cb23ccd1c9a436b18d783cb40955651202d888ba4a49fd29b80242500f","abstract_canon_sha256":"c3181286b0edee9b94bdd40d2d826d10f7e10ef16d275482e3185dc9b8f5acc7"},"schema_version":"1.0"},"canonical_sha256":"56acb8abeba7ffa9deabe743c2df5322b1780b1821450c2895d41e0a7a2174b4","source":{"kind":"arxiv","id":"2209.09987","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.09987","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"arxiv_version","alias_value":"2209.09987v1","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.09987","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"pith_short_12","alias_value":"K2WLRK7LU772","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"pith_short_16","alias_value":"K2WLRK7LU772TXVL","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"pith_short_8","alias_value":"K2WLRK7L","created_at":"2026-07-05T04:59:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:K2WLRK7LU772TXVL45B4FX2TEK","target":"record","payload":{"canonical_record":{"source":{"id":"2209.09987","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-20T20:45:56Z","cross_cats_sorted":[],"title_canon_sha256":"6b5245cb23ccd1c9a436b18d783cb40955651202d888ba4a49fd29b80242500f","abstract_canon_sha256":"c3181286b0edee9b94bdd40d2d826d10f7e10ef16d275482e3185dc9b8f5acc7"},"schema_version":"1.0"},"canonical_sha256":"56acb8abeba7ffa9deabe743c2df5322b1780b1821450c2895d41e0a7a2174b4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:59:43.494899Z","signature_b64":"Xls4AqHMCrV44GT+9T0F3btqOpoiXibffG0D9ifWpUP+Im27pylIXhhBTARmacmsE9VeYbB6d4vHzZWtX+uNAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"56acb8abeba7ffa9deabe743c2df5322b1780b1821450c2895d41e0a7a2174b4","last_reissued_at":"2026-07-05T04:59:43.494464Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:59:43.494464Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.09987","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":"2026-07-05T04:59:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2qR4Wt6D+PxVE95LItroqcNfSC2r1wOiCwufg6g5Sn5PaXCuWoDoR7NLx+Odw9LyaVl3yaxqxV1nOjyfgU9ZDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T16:26:28.003791Z"},"content_sha256":"3ba1ea7cd10138dcb094ca9f93c7e764a43e95422382abee083dbc2ed9eb8d88","schema_version":"1.0","event_id":"sha256:3ba1ea7cd10138dcb094ca9f93c7e764a43e95422382abee083dbc2ed9eb8d88"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:K2WLRK7LU772TXVL45B4FX2TEK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MARIO: Modular and Extensible Architecture for Computing Visual Statistics in RoboCup SPL","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Andrea Pennisi, Cristian Zampino, Domenico D. Bloisi, Flavio Biancospino, Francesco Laus, Gianluca Di Stefano, Michele Brienza, Rocchina Romano","submitted_at":"2022-09-20T20:45:56Z","abstract_excerpt":"This technical report describes a modular and extensible architecture for computing visual statistics in RoboCup SPL (MARIO), presented during the SPL Open Research Challenge at RoboCup 2022, held in Bangkok (Thailand). MARIO is an open-source, ready-to-use software application whose final goal is to contribute to the growth of the RoboCup SPL community. MARIO comes with a GUI that integrates multiple machine learning and computer vision based functions, including automatic camera calibration, background subtraction, homography computation, player + ball tracking and localization, NAO robot po"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.09987","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/2209.09987/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":"2026-07-05T04:59:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XkmbMiJgntGu/w8AtLlCl7Wt7nKp2S6IQdrVEET/AlxURy8SoD30Fx+om7AafaX1Gq3PCLzV2CcjI57C1xclBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T16:26:28.005102Z"},"content_sha256":"412f7ea135a84edb85b8e37da8a45d3508b33224e8e9033f94f22ce17e65d2c2","schema_version":"1.0","event_id":"sha256:412f7ea135a84edb85b8e37da8a45d3508b33224e8e9033f94f22ce17e65d2c2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/K2WLRK7LU772TXVL45B4FX2TEK/bundle.json","state_url":"https://pith.science/pith/K2WLRK7LU772TXVL45B4FX2TEK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/K2WLRK7LU772TXVL45B4FX2TEK/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":"2026-08-07T16:26:28Z","links":{"resolver":"https://pith.science/pith/K2WLRK7LU772TXVL45B4FX2TEK","bundle":"https://pith.science/pith/K2WLRK7LU772TXVL45B4FX2TEK/bundle.json","state":"https://pith.science/pith/K2WLRK7LU772TXVL45B4FX2TEK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/K2WLRK7LU772TXVL45B4FX2TEK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:K2WLRK7LU772TXVL45B4FX2TEK","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":"c3181286b0edee9b94bdd40d2d826d10f7e10ef16d275482e3185dc9b8f5acc7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-20T20:45:56Z","title_canon_sha256":"6b5245cb23ccd1c9a436b18d783cb40955651202d888ba4a49fd29b80242500f"},"schema_version":"1.0","source":{"id":"2209.09987","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.09987","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"arxiv_version","alias_value":"2209.09987v1","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.09987","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"pith_short_12","alias_value":"K2WLRK7LU772","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"pith_short_16","alias_value":"K2WLRK7LU772TXVL","created_at":"2026-07-05T04:59:43Z"},{"alias_kind":"pith_short_8","alias_value":"K2WLRK7L","created_at":"2026-07-05T04:59:43Z"}],"graph_snapshots":[{"event_id":"sha256:412f7ea135a84edb85b8e37da8a45d3508b33224e8e9033f94f22ce17e65d2c2","target":"graph","created_at":"2026-07-05T04:59:43Z","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/2209.09987/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This technical report describes a modular and extensible architecture for computing visual statistics in RoboCup SPL (MARIO), presented during the SPL Open Research Challenge at RoboCup 2022, held in Bangkok (Thailand). MARIO is an open-source, ready-to-use software application whose final goal is to contribute to the growth of the RoboCup SPL community. MARIO comes with a GUI that integrates multiple machine learning and computer vision based functions, including automatic camera calibration, background subtraction, homography computation, player + ball tracking and localization, NAO robot po","authors_text":"Andrea Pennisi, Cristian Zampino, Domenico D. Bloisi, Flavio Biancospino, Francesco Laus, Gianluca Di Stefano, Michele Brienza, Rocchina Romano","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-20T20:45:56Z","title":"MARIO: Modular and Extensible Architecture for Computing Visual Statistics in RoboCup SPL"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.09987","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":"sha256:3ba1ea7cd10138dcb094ca9f93c7e764a43e95422382abee083dbc2ed9eb8d88","target":"record","created_at":"2026-07-05T04:59:43Z","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":"c3181286b0edee9b94bdd40d2d826d10f7e10ef16d275482e3185dc9b8f5acc7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-20T20:45:56Z","title_canon_sha256":"6b5245cb23ccd1c9a436b18d783cb40955651202d888ba4a49fd29b80242500f"},"schema_version":"1.0","source":{"id":"2209.09987","kind":"arxiv","version":1}},"canonical_sha256":"56acb8abeba7ffa9deabe743c2df5322b1780b1821450c2895d41e0a7a2174b4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"56acb8abeba7ffa9deabe743c2df5322b1780b1821450c2895d41e0a7a2174b4","first_computed_at":"2026-07-05T04:59:43.494464Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:59:43.494464Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Xls4AqHMCrV44GT+9T0F3btqOpoiXibffG0D9ifWpUP+Im27pylIXhhBTARmacmsE9VeYbB6d4vHzZWtX+uNAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:59:43.494899Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.09987","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3ba1ea7cd10138dcb094ca9f93c7e764a43e95422382abee083dbc2ed9eb8d88","sha256:412f7ea135a84edb85b8e37da8a45d3508b33224e8e9033f94f22ce17e65d2c2"],"state_sha256":"c231e9cf44238eab161882b4c6b30e9bfa245b27973b40e7775c6799b52159f0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FvX8iY4fFKCIxJNd3VhKsEKv4ZgdD5Yk+8bXORyzj+4pQFAQuXYIi4xniv8w5M10HTMBsrID9n37vrJC/IZoDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T16:26:28.010878Z","bundle_sha256":"5292daf15bd1c2e44b3213f2cefad829011f44b1048640a32a87058277400652"}}