{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:KGDDULDHKCOG33S5JC5YQ7ISHC","short_pith_number":"pith:KGDDULDH","canonical_record":{"source":{"id":"2409.13985","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T02:27:11Z","cross_cats_sorted":[],"title_canon_sha256":"ea18b46d3c2d8e8d8665d9895ff99b542aa0030e19ac6d4608b658899ba91498","abstract_canon_sha256":"69c735f21edc5b530886ee9fe785b798d41ba3a6a43744c602e8e094e4a23402"},"schema_version":"1.0"},"canonical_sha256":"51863a2c67509c6dee5d48bb887d123897cf80945db472bebef1622f1c71d172","source":{"kind":"arxiv","id":"2409.13985","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.13985","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"arxiv_version","alias_value":"2409.13985v1","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.13985","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"pith_short_12","alias_value":"KGDDULDHKCOG","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"pith_short_16","alias_value":"KGDDULDHKCOG33S5","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"pith_short_8","alias_value":"KGDDULDH","created_at":"2026-07-05T09:10:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:KGDDULDHKCOG33S5JC5YQ7ISHC","target":"record","payload":{"canonical_record":{"source":{"id":"2409.13985","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T02:27:11Z","cross_cats_sorted":[],"title_canon_sha256":"ea18b46d3c2d8e8d8665d9895ff99b542aa0030e19ac6d4608b658899ba91498","abstract_canon_sha256":"69c735f21edc5b530886ee9fe785b798d41ba3a6a43744c602e8e094e4a23402"},"schema_version":"1.0"},"canonical_sha256":"51863a2c67509c6dee5d48bb887d123897cf80945db472bebef1622f1c71d172","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:10:09.859709Z","signature_b64":"sUPJCxAYfb2kQGbb+88Pl54nDmGxmYu4PIZ6gSvOG6N9V8wx5mONoFu+CJKiTXNBPMYJvoZw/bihoiCxcJhaBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"51863a2c67509c6dee5d48bb887d123897cf80945db472bebef1622f1c71d172","last_reissued_at":"2026-07-05T09:10:09.859226Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:10:09.859226Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.13985","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":"2026-07-05T09:10:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QpSjbsOaAvBLdIj+iR7a6pbRUZbwbj0ZBi/59quFRzf7WRGCuNzYlryCMTtwsBQz/b6vT21vqkefgqDQa9NxBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:27:15.832919Z"},"content_sha256":"a47434aeaf132c85592d8b316385955d49a5b3bee395888674899f751b0ecc87","schema_version":"1.0","event_id":"sha256:a47434aeaf132c85592d8b316385955d49a5b3bee395888674899f751b0ecc87"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:KGDDULDHKCOG33S5JC5YQ7ISHC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anthony S. P. Hung, Fangcheng Zhu, Fu Zhang, Rui Guo, Vickie W. W. Kong, Wenyi Liu, Yixi Cai, Yunfan Ren, Yuying Zou","submitted_at":"2024-09-21T02:27:11Z","abstract_excerpt":"This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result in landslides. To mitigate the landslide risks, the Civil Engineering and Development Department (CEDD) has constructed steel flexible debris-resisting barriers on vulnerable natural catchments to protect residents. However, it is necessary to carry out regular inspections to identify any anomalies, which may affect the proper functioning of the barriers. Traditional manual inspection methods face challenges and hig"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.13985","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/2409.13985/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":"2026-07-05T09:10:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YdxgDQctRb7rjeZr8U+maGTuTdOYfoebRQFLHyph2mBElcKXk9JkhX2I6q/9JEjJQbYek/Odvk5Dk5K6o0SBBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:27:15.833572Z"},"content_sha256":"3f78c67aa1d91f9690a406fb9e993be3a882f9f97a2edbce8a0c8e98f6167245","schema_version":"1.0","event_id":"sha256:3f78c67aa1d91f9690a406fb9e993be3a882f9f97a2edbce8a0c8e98f6167245"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KGDDULDHKCOG33S5JC5YQ7ISHC/bundle.json","state_url":"https://pith.science/pith/KGDDULDHKCOG33S5JC5YQ7ISHC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KGDDULDHKCOG33S5JC5YQ7ISHC/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":"2026-07-07T06:27:15Z","links":{"resolver":"https://pith.science/pith/KGDDULDHKCOG33S5JC5YQ7ISHC","bundle":"https://pith.science/pith/KGDDULDHKCOG33S5JC5YQ7ISHC/bundle.json","state":"https://pith.science/pith/KGDDULDHKCOG33S5JC5YQ7ISHC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KGDDULDHKCOG33S5JC5YQ7ISHC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KGDDULDHKCOG33S5JC5YQ7ISHC","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":"69c735f21edc5b530886ee9fe785b798d41ba3a6a43744c602e8e094e4a23402","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T02:27:11Z","title_canon_sha256":"ea18b46d3c2d8e8d8665d9895ff99b542aa0030e19ac6d4608b658899ba91498"},"schema_version":"1.0","source":{"id":"2409.13985","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.13985","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"arxiv_version","alias_value":"2409.13985v1","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.13985","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"pith_short_12","alias_value":"KGDDULDHKCOG","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"pith_short_16","alias_value":"KGDDULDHKCOG33S5","created_at":"2026-07-05T09:10:09Z"},{"alias_kind":"pith_short_8","alias_value":"KGDDULDH","created_at":"2026-07-05T09:10:09Z"}],"graph_snapshots":[{"event_id":"sha256:3f78c67aa1d91f9690a406fb9e993be3a882f9f97a2edbce8a0c8e98f6167245","target":"graph","created_at":"2026-07-05T09:10:09Z","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/2409.13985/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result in landslides. To mitigate the landslide risks, the Civil Engineering and Development Department (CEDD) has constructed steel flexible debris-resisting barriers on vulnerable natural catchments to protect residents. However, it is necessary to carry out regular inspections to identify any anomalies, which may affect the proper functioning of the barriers. Traditional manual inspection methods face challenges and hig","authors_text":"Anthony S. P. Hung, Fangcheng Zhu, Fu Zhang, Rui Guo, Vickie W. W. Kong, Wenyi Liu, Yixi Cai, Yunfan Ren, Yuying Zou","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T02:27:11Z","title":"LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.13985","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:a47434aeaf132c85592d8b316385955d49a5b3bee395888674899f751b0ecc87","target":"record","created_at":"2026-07-05T09:10:09Z","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":"69c735f21edc5b530886ee9fe785b798d41ba3a6a43744c602e8e094e4a23402","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T02:27:11Z","title_canon_sha256":"ea18b46d3c2d8e8d8665d9895ff99b542aa0030e19ac6d4608b658899ba91498"},"schema_version":"1.0","source":{"id":"2409.13985","kind":"arxiv","version":1}},"canonical_sha256":"51863a2c67509c6dee5d48bb887d123897cf80945db472bebef1622f1c71d172","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"51863a2c67509c6dee5d48bb887d123897cf80945db472bebef1622f1c71d172","first_computed_at":"2026-07-05T09:10:09.859226Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:10:09.859226Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sUPJCxAYfb2kQGbb+88Pl54nDmGxmYu4PIZ6gSvOG6N9V8wx5mONoFu+CJKiTXNBPMYJvoZw/bihoiCxcJhaBw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:10:09.859709Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.13985","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a47434aeaf132c85592d8b316385955d49a5b3bee395888674899f751b0ecc87","sha256:3f78c67aa1d91f9690a406fb9e993be3a882f9f97a2edbce8a0c8e98f6167245"],"state_sha256":"9d530b2168b1dd6d0f59ee38881ef5a83089f95c925a858bc80d3b5fc2844754"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JD4B71Gb8nYC8Dj2h++bJVlMAXJOTZk/BpJTlDEfXsIXCXhqcGLjuYv/mv36U0utlU3ZeNgYg8yXfS3uRbAqDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:27:15.836898Z","bundle_sha256":"9e681367e590ab8a43a2c88fe3557b5bfa3939e3151303249cfbc4087ba0caaa"}}