{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:K5XPEY4HJILOJHOTL4THFO2IU5","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":"e486c289f319a03d310444c8d1e0d888e6d62d90811ed3376a651a2a08111ad3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-08-28T05:42:37Z","title_canon_sha256":"4a237d2698ac7efb99dc058f09a3727285da08480d647ef271fecd64addf0657"},"schema_version":"1.0","source":{"id":"1808.09128","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.09128","created_at":"2026-05-18T00:07:04Z"},{"alias_kind":"arxiv_version","alias_value":"1808.09128v1","created_at":"2026-05-18T00:07:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.09128","created_at":"2026-05-18T00:07:04Z"},{"alias_kind":"pith_short_12","alias_value":"K5XPEY4HJILO","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_16","alias_value":"K5XPEY4HJILOJHOT","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_8","alias_value":"K5XPEY4H","created_at":"2026-05-18T12:32:33Z"}],"graph_snapshots":[{"event_id":"sha256:db4f76407f266b23daa1e4aaa5ea49aa80fd5cd2f689d1439cf39c9b5c20a039","target":"graph","created_at":"2026-05-18T00:07:04Z","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":"Lane detection is very important for self-driving vehicles. In recent years, computer stereo vision has been prevalently used to enhance the accuracy of the lane detection systems. This paper mainly presents a multiple lane detection algorithm developed based on optimised dense disparity map estimation, where the disparity information obtained at time t_{n} is utilised to optimise the process of disparity estimation at time t_{n+1}. This is achieved by estimating the road model at time t_{n} and then controlling the search range for the disparity estimation at time t_{n+1}. The lanes are then ","authors_text":"Han Ma, Jianhao Jiao, Lujia Wang, Ming Liu, Mohammud Junaid Bocus, M Usman Maqbool Bhutta, Rui Fan, Yixin Ma","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-08-28T05:42:37Z","title":"Multiple Lane Detection Algorithm Based on Optimised Dense Disparity Map Estimation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.09128","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:d7ff13f614c6edaef3485f9f15aede10708dfa6cd1ef2d27cbcf13316ade20f5","target":"record","created_at":"2026-05-18T00:07:04Z","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":"e486c289f319a03d310444c8d1e0d888e6d62d90811ed3376a651a2a08111ad3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-08-28T05:42:37Z","title_canon_sha256":"4a237d2698ac7efb99dc058f09a3727285da08480d647ef271fecd64addf0657"},"schema_version":"1.0","source":{"id":"1808.09128","kind":"arxiv","version":1}},"canonical_sha256":"576ef263874a16e49dd35f2672bb48a74f524f4b9e036110863dff2e934fcd69","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"576ef263874a16e49dd35f2672bb48a74f524f4b9e036110863dff2e934fcd69","first_computed_at":"2026-05-18T00:07:04.403894Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:07:04.403894Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"evcZnl6M6Q5sUF1BRy9ujVMj/dMHOKmkhiBiVJfsdqrvrOVIX1we15p6Tv2ZP/wMgdGuRWXAsTWrIledtkJoDg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:07:04.404501Z","signed_message":"canonical_sha256_bytes"},"source_id":"1808.09128","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d7ff13f614c6edaef3485f9f15aede10708dfa6cd1ef2d27cbcf13316ade20f5","sha256:db4f76407f266b23daa1e4aaa5ea49aa80fd5cd2f689d1439cf39c9b5c20a039"],"state_sha256":"fc83fbeaca3e1136637e15f0fbeb1e92952dadc67f8d69ca59a57e39145a371a"}