{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:MQKBQON2YTBKWCCBXZXQTMOODM","short_pith_number":"pith:MQKBQON2","canonical_record":{"source":{"id":"2203.10073","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-18T17:38:52Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"title_canon_sha256":"dfb63ed1b2c03a1af12fb04d2f6048b79317445b3d23c3381584cfd0e28815ec","abstract_canon_sha256":"ce7388beaf0ff9480705a6d2ce47ef6e1eb5734e580ee72804276351eff039b1"},"schema_version":"1.0"},"canonical_sha256":"64141839bac4c2ab0841be6f09b1ce1b1be4d4c2347d1080ae99451c920e73ed","source":{"kind":"arxiv","id":"2203.10073","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.10073","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"arxiv_version","alias_value":"2203.10073v1","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.10073","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"pith_short_12","alias_value":"MQKBQON2YTBK","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"pith_short_16","alias_value":"MQKBQON2YTBKWCCB","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"pith_short_8","alias_value":"MQKBQON2","created_at":"2026-07-05T04:06:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:MQKBQON2YTBKWCCBXZXQTMOODM","target":"record","payload":{"canonical_record":{"source":{"id":"2203.10073","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-18T17:38:52Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"title_canon_sha256":"dfb63ed1b2c03a1af12fb04d2f6048b79317445b3d23c3381584cfd0e28815ec","abstract_canon_sha256":"ce7388beaf0ff9480705a6d2ce47ef6e1eb5734e580ee72804276351eff039b1"},"schema_version":"1.0"},"canonical_sha256":"64141839bac4c2ab0841be6f09b1ce1b1be4d4c2347d1080ae99451c920e73ed","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:06:27.939072Z","signature_b64":"/ei0H1+RPN/LM9H/aEjDJmxc9G07dFfy4oqDM+En2FQLhe7xXetrF9XvnNZpdqN/c0n62LBNE4LaXCkI3o+/AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"64141839bac4c2ab0841be6f09b1ce1b1be4d4c2347d1080ae99451c920e73ed","last_reissued_at":"2026-07-05T04:06:27.938589Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:06:27.938589Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2203.10073","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":"2026-07-05T04:06:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ToFXHrcznLui/dhPaj4iN3LYzb6Tn4MNxdfa9v3f4yZ7I2Ctpd3szT/6WpNh8ZSYXFyQm52Ew5pRh6IOmCfCBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T03:50:29.199417Z"},"content_sha256":"1d0631110ccd74894ff5dc309013cd53d329480c5c47031c01cdd46f9c3f80f8","schema_version":"1.0","event_id":"sha256:1d0631110ccd74894ff5dc309013cd53d329480c5c47031c01cdd46f9c3f80f8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:MQKBQON2YTBKWCCBXZXQTMOODM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Lunar Rover Localization Using Craters as Landmarks","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Deegan Atha, Larry Matthies, Masahiro Ono, R. Michael Swan, Sanjna Ravichandar, Scott Tepsuporn, Shreyansh Daftry, Yang Cheng","submitted_at":"2022-03-18T17:38:52Z","abstract_excerpt":"Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a ground-in-the-loop (GITL) interaction is used to get a position update from human operators in a more global reference frame, by matching images or local maps from onboard the rover to orbital reconnaissance images or maps of a large region around the rover's current position. Autonomous rover drives are limited i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.10073","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/2203.10073/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":"2026-07-05T04:06:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4OYqaD8BAoT+dTa21AXq1i2Cj8QUaqhCSodPpcYXIEW739MrFs7/C8X6OhZUL5VcfsE3gSNk1717rQ97ze57DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T03:50:29.200233Z"},"content_sha256":"aafb8b59327534b000868528dcbc5ec372d0852a97dd977160187793da97ce46","schema_version":"1.0","event_id":"sha256:aafb8b59327534b000868528dcbc5ec372d0852a97dd977160187793da97ce46"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MQKBQON2YTBKWCCBXZXQTMOODM/bundle.json","state_url":"https://pith.science/pith/MQKBQON2YTBKWCCBXZXQTMOODM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MQKBQON2YTBKWCCBXZXQTMOODM/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":"2026-08-07T03:50:29Z","links":{"resolver":"https://pith.science/pith/MQKBQON2YTBKWCCBXZXQTMOODM","bundle":"https://pith.science/pith/MQKBQON2YTBKWCCBXZXQTMOODM/bundle.json","state":"https://pith.science/pith/MQKBQON2YTBKWCCBXZXQTMOODM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MQKBQON2YTBKWCCBXZXQTMOODM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:MQKBQON2YTBKWCCBXZXQTMOODM","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":"ce7388beaf0ff9480705a6d2ce47ef6e1eb5734e580ee72804276351eff039b1","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-18T17:38:52Z","title_canon_sha256":"dfb63ed1b2c03a1af12fb04d2f6048b79317445b3d23c3381584cfd0e28815ec"},"schema_version":"1.0","source":{"id":"2203.10073","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.10073","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"arxiv_version","alias_value":"2203.10073v1","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.10073","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"pith_short_12","alias_value":"MQKBQON2YTBK","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"pith_short_16","alias_value":"MQKBQON2YTBKWCCB","created_at":"2026-07-05T04:06:27Z"},{"alias_kind":"pith_short_8","alias_value":"MQKBQON2","created_at":"2026-07-05T04:06:27Z"}],"graph_snapshots":[{"event_id":"sha256:aafb8b59327534b000868528dcbc5ec372d0852a97dd977160187793da97ce46","target":"graph","created_at":"2026-07-05T04:06:27Z","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/2203.10073/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a ground-in-the-loop (GITL) interaction is used to get a position update from human operators in a more global reference frame, by matching images or local maps from onboard the rover to orbital reconnaissance images or maps of a large region around the rover's current position. Autonomous rover drives are limited i","authors_text":"Deegan Atha, Larry Matthies, Masahiro Ono, R. Michael Swan, Sanjna Ravichandar, Scott Tepsuporn, Shreyansh Daftry, Yang Cheng","cross_cats":["cs.AI","cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-18T17:38:52Z","title":"Lunar Rover Localization Using Craters as Landmarks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.10073","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":"sha256:1d0631110ccd74894ff5dc309013cd53d329480c5c47031c01cdd46f9c3f80f8","target":"record","created_at":"2026-07-05T04:06:27Z","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":"ce7388beaf0ff9480705a6d2ce47ef6e1eb5734e580ee72804276351eff039b1","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-18T17:38:52Z","title_canon_sha256":"dfb63ed1b2c03a1af12fb04d2f6048b79317445b3d23c3381584cfd0e28815ec"},"schema_version":"1.0","source":{"id":"2203.10073","kind":"arxiv","version":1}},"canonical_sha256":"64141839bac4c2ab0841be6f09b1ce1b1be4d4c2347d1080ae99451c920e73ed","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"64141839bac4c2ab0841be6f09b1ce1b1be4d4c2347d1080ae99451c920e73ed","first_computed_at":"2026-07-05T04:06:27.938589Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:06:27.938589Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/ei0H1+RPN/LM9H/aEjDJmxc9G07dFfy4oqDM+En2FQLhe7xXetrF9XvnNZpdqN/c0n62LBNE4LaXCkI3o+/AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:06:27.939072Z","signed_message":"canonical_sha256_bytes"},"source_id":"2203.10073","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1d0631110ccd74894ff5dc309013cd53d329480c5c47031c01cdd46f9c3f80f8","sha256:aafb8b59327534b000868528dcbc5ec372d0852a97dd977160187793da97ce46"],"state_sha256":"a5d8b2898257dd9582f312c80524994d9be11c1a1d8df3f77776fbdf94457bc4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0bbeKCuw6zh8eOi9HAQH22oA2Cuf2rNY4gnZa5zzOCEIhxm8WeXajX866S8MyAtPesuUrET1w7fu8+GkTPoTBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T03:50:29.206493Z","bundle_sha256":"3f02eebe7819600591ab701bded5ca2708a3b5d48065359d880f9f036efd0511"}}