{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:LWT3VKVHAAGZVJA3JE257GJZPR","short_pith_number":"pith:LWT3VKVH","canonical_record":{"source":{"id":"1901.08180","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-24T00:36:11Z","cross_cats_sorted":[],"title_canon_sha256":"5de8828dd2a873dc441121a20f0a9fdff5c454450186bbefd19358721358372e","abstract_canon_sha256":"91cb1e3289b024cbc327b90ed9e8eccb52e6625392f04a11ce5ad0cba87427de"},"schema_version":"1.0"},"canonical_sha256":"5da7baaaa7000d9aa41b4935df99397c7bb7464b1cd6a268dacb720847d3e533","source":{"kind":"arxiv","id":"1901.08180","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.08180","created_at":"2026-05-17T23:55:37Z"},{"alias_kind":"arxiv_version","alias_value":"1901.08180v1","created_at":"2026-05-17T23:55:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.08180","created_at":"2026-05-17T23:55:37Z"},{"alias_kind":"pith_short_12","alias_value":"LWT3VKVHAAGZ","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"LWT3VKVHAAGZVJA3","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"LWT3VKVH","created_at":"2026-05-18T12:33:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:LWT3VKVHAAGZVJA3JE257GJZPR","target":"record","payload":{"canonical_record":{"source":{"id":"1901.08180","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-24T00:36:11Z","cross_cats_sorted":[],"title_canon_sha256":"5de8828dd2a873dc441121a20f0a9fdff5c454450186bbefd19358721358372e","abstract_canon_sha256":"91cb1e3289b024cbc327b90ed9e8eccb52e6625392f04a11ce5ad0cba87427de"},"schema_version":"1.0"},"canonical_sha256":"5da7baaaa7000d9aa41b4935df99397c7bb7464b1cd6a268dacb720847d3e533","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:55:37.715722Z","signature_b64":"7CuL8kcWSAQEdmntv03Z4HGUtb3IpI0fmjlxf+lDENWOK+eavvvusu+OxWSiCc6OOijaCLOovtnLElic8Jp2CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5da7baaaa7000d9aa41b4935df99397c7bb7464b1cd6a268dacb720847d3e533","last_reissued_at":"2026-05-17T23:55:37.715095Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:55:37.715095Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1901.08180","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":"2026-05-17T23:55:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VTqdFcrdiUq+SA4hhaXkNOOPb/jdAeGdtQuH5RhnkUK9a/9aZoNf+ZfS8RAu1A5wd78csdu7r3CY2tSUK+qzCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T10:15:59.191370Z"},"content_sha256":"5b3cee82837718e51defc70ffe09e34c7fbe7ffdc3c09ff91069f3eb7cd25003","schema_version":"1.0","event_id":"sha256:5b3cee82837718e51defc70ffe09e34c7fbe7ffdc3c09ff91069f3eb7cd25003"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:LWT3VKVHAAGZVJA3JE257GJZPR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Vision-based Obstacle Removal System for Autonomous Ground Vehicles Using a Robotic Arm","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edgar Lobaton, Jeremy Cole, Kevin Han, Khashayar Asadi, Mingda Sun, Mojtaba Noghabaei, Rahul Jain, Ziqian Qin","submitted_at":"2019-01-24T00:36:11Z","abstract_excerpt":"Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground are challenging environments for a mobile unmanned ground vehicle (UGV) to navigate. To address this issue, this study presents a mobile UGV equipped with a stereo camera and a robotic arm that can remove obstacles along the UGV's path. To achieve this objective, the surrounding environment is captured by the stereo camera and obstacles are detected. The ob"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.08180","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":""},"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":"2026-05-17T23:55:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/b5+DRnMLrrLsbS26meOndGEO+2fQUG2p0RfOKDb+i97GE9DOOQzvmOnH/nvLWuSjSoEHulI/KH1CJgQwnJVBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T10:15:59.191721Z"},"content_sha256":"f8a4d288fb0e34ba7fdb2fcaf97ffd32c9f1cb37a00205b3ac59f79bdede1649","schema_version":"1.0","event_id":"sha256:f8a4d288fb0e34ba7fdb2fcaf97ffd32c9f1cb37a00205b3ac59f79bdede1649"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LWT3VKVHAAGZVJA3JE257GJZPR/bundle.json","state_url":"https://pith.science/pith/LWT3VKVHAAGZVJA3JE257GJZPR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LWT3VKVHAAGZVJA3JE257GJZPR/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":"2026-06-02T10:15:59Z","links":{"resolver":"https://pith.science/pith/LWT3VKVHAAGZVJA3JE257GJZPR","bundle":"https://pith.science/pith/LWT3VKVHAAGZVJA3JE257GJZPR/bundle.json","state":"https://pith.science/pith/LWT3VKVHAAGZVJA3JE257GJZPR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LWT3VKVHAAGZVJA3JE257GJZPR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:LWT3VKVHAAGZVJA3JE257GJZPR","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":"91cb1e3289b024cbc327b90ed9e8eccb52e6625392f04a11ce5ad0cba87427de","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-24T00:36:11Z","title_canon_sha256":"5de8828dd2a873dc441121a20f0a9fdff5c454450186bbefd19358721358372e"},"schema_version":"1.0","source":{"id":"1901.08180","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.08180","created_at":"2026-05-17T23:55:37Z"},{"alias_kind":"arxiv_version","alias_value":"1901.08180v1","created_at":"2026-05-17T23:55:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.08180","created_at":"2026-05-17T23:55:37Z"},{"alias_kind":"pith_short_12","alias_value":"LWT3VKVHAAGZ","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"LWT3VKVHAAGZVJA3","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"LWT3VKVH","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:f8a4d288fb0e34ba7fdb2fcaf97ffd32c9f1cb37a00205b3ac59f79bdede1649","target":"graph","created_at":"2026-05-17T23:55:37Z","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":"Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground are challenging environments for a mobile unmanned ground vehicle (UGV) to navigate. To address this issue, this study presents a mobile UGV equipped with a stereo camera and a robotic arm that can remove obstacles along the UGV's path. To achieve this objective, the surrounding environment is captured by the stereo camera and obstacles are detected. The ob","authors_text":"Edgar Lobaton, Jeremy Cole, Kevin Han, Khashayar Asadi, Mingda Sun, Mojtaba Noghabaei, Rahul Jain, Ziqian Qin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-24T00:36:11Z","title":"Vision-based Obstacle Removal System for Autonomous Ground Vehicles Using a Robotic Arm"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.08180","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":"sha256:5b3cee82837718e51defc70ffe09e34c7fbe7ffdc3c09ff91069f3eb7cd25003","target":"record","created_at":"2026-05-17T23:55:37Z","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":"91cb1e3289b024cbc327b90ed9e8eccb52e6625392f04a11ce5ad0cba87427de","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-24T00:36:11Z","title_canon_sha256":"5de8828dd2a873dc441121a20f0a9fdff5c454450186bbefd19358721358372e"},"schema_version":"1.0","source":{"id":"1901.08180","kind":"arxiv","version":1}},"canonical_sha256":"5da7baaaa7000d9aa41b4935df99397c7bb7464b1cd6a268dacb720847d3e533","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5da7baaaa7000d9aa41b4935df99397c7bb7464b1cd6a268dacb720847d3e533","first_computed_at":"2026-05-17T23:55:37.715095Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:55:37.715095Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7CuL8kcWSAQEdmntv03Z4HGUtb3IpI0fmjlxf+lDENWOK+eavvvusu+OxWSiCc6OOijaCLOovtnLElic8Jp2CA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:55:37.715722Z","signed_message":"canonical_sha256_bytes"},"source_id":"1901.08180","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5b3cee82837718e51defc70ffe09e34c7fbe7ffdc3c09ff91069f3eb7cd25003","sha256:f8a4d288fb0e34ba7fdb2fcaf97ffd32c9f1cb37a00205b3ac59f79bdede1649"],"state_sha256":"69831afcebefc78c86bdd88639696e9d7b8b64333164614eff1630816d91104d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0x+zt3ChzFMWWP8/cVgcGNv/y8A6VS7fpa6kc0GEO+HHH6vAz5NX0oLG1Yt9TxjM2nVZEkid/zukWc8+MAP9DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T10:15:59.193709Z","bundle_sha256":"95840f330223554c172de5d98671a86b0157cdb6cdd0a5654ffd127e3b084666"}}