{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MESHDPM6XOXFDYPCEOBCXVBGZR","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":"2347e19f4dbbba9fdfb15a01b0c4d3769e8ee3c5d42dc9abefb1867404762e73","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-19T06:28:40Z","title_canon_sha256":"d8f605bb2dc37620fade975410705900d30371fed14df25a05b7ba3fe35ef269"},"schema_version":"1.0","source":{"id":"2402.11872","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.11872","created_at":"2026-07-05T07:46:45Z"},{"alias_kind":"arxiv_version","alias_value":"2402.11872v1","created_at":"2026-07-05T07:46:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.11872","created_at":"2026-07-05T07:46:45Z"},{"alias_kind":"pith_short_12","alias_value":"MESHDPM6XOXF","created_at":"2026-07-05T07:46:45Z"},{"alias_kind":"pith_short_16","alias_value":"MESHDPM6XOXFDYPC","created_at":"2026-07-05T07:46:45Z"},{"alias_kind":"pith_short_8","alias_value":"MESHDPM6","created_at":"2026-07-05T07:46:45Z"}],"graph_snapshots":[{"event_id":"sha256:166ac83ff13bfb2031c57d1f2479167132272b4139bd4829b35c572f007fc703","target":"graph","created_at":"2026-07-05T07:46:45Z","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/2402.11872/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with instance segmentation, feature matching, and point-set registration for egocentric robots with binocular vision, and demonstrate the robot's grasping capability through the proposed pipeline. First, we design an RGB image-based segmentation approach for single-view 3D semantic scene segmentation, leveraging common object classes in 2D datasets to encapsulate 3D po","authors_text":"K. Nguyen, M. Huber, T. Dang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-19T06:28:40Z","title":"Real-time 3D Semantic Scene Perception for Egocentric Robots with Binocular Vision"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.11872","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":"sha256:80f81cce9dbacdfe0e077f55cbbaa8551a3e758df91e1ca70279e12cc4cb3e6f","target":"record","created_at":"2026-07-05T07:46:45Z","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":"2347e19f4dbbba9fdfb15a01b0c4d3769e8ee3c5d42dc9abefb1867404762e73","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-19T06:28:40Z","title_canon_sha256":"d8f605bb2dc37620fade975410705900d30371fed14df25a05b7ba3fe35ef269"},"schema_version":"1.0","source":{"id":"2402.11872","kind":"arxiv","version":1}},"canonical_sha256":"612471bd9ebbae51e1e223822bd426cc434d55d88e90503491517453dd0d26e6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"612471bd9ebbae51e1e223822bd426cc434d55d88e90503491517453dd0d26e6","first_computed_at":"2026-07-05T07:46:45.804264Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:46:45.804264Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"79w+BxXnymFp5CkWXgTt7K91bDfF+6jUlo2a2tB0Fqbfe34tzUh4Lrcq5Ah6QL277YHqfZBI18H2wV1K59kRAg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:46:45.804617Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.11872","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:80f81cce9dbacdfe0e077f55cbbaa8551a3e758df91e1ca70279e12cc4cb3e6f","sha256:166ac83ff13bfb2031c57d1f2479167132272b4139bd4829b35c572f007fc703"],"state_sha256":"f35dcaec1fefc57f45474f931bc2d49848db034706e83c4783cf0e03c2f2bf06"}