{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:MV4JUW7CDZUPANXSNZDBVJIMZA","short_pith_number":"pith:MV4JUW7C","canonical_record":{"source":{"id":"2109.06550","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T09:45:56Z","cross_cats_sorted":[],"title_canon_sha256":"d6bacd4b41f39ebc38bcae44dbb8db7d0c17e8fd44532c7f9b3a134bdf4e6585","abstract_canon_sha256":"670ccf692fec6f11faf196dd4a3fabcda356b929db59a7e89790e8cd4dfe00be"},"schema_version":"1.0"},"canonical_sha256":"65789a5be21e68f036f26e461aa50cc813af367fd24aeed7687ae8e9e66335d5","source":{"kind":"arxiv","id":"2109.06550","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.06550","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"arxiv_version","alias_value":"2109.06550v3","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.06550","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"pith_short_12","alias_value":"MV4JUW7CDZUP","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"pith_short_16","alias_value":"MV4JUW7CDZUPANXS","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"pith_short_8","alias_value":"MV4JUW7C","created_at":"2026-07-05T05:00:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:MV4JUW7CDZUPANXSNZDBVJIMZA","target":"record","payload":{"canonical_record":{"source":{"id":"2109.06550","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T09:45:56Z","cross_cats_sorted":[],"title_canon_sha256":"d6bacd4b41f39ebc38bcae44dbb8db7d0c17e8fd44532c7f9b3a134bdf4e6585","abstract_canon_sha256":"670ccf692fec6f11faf196dd4a3fabcda356b929db59a7e89790e8cd4dfe00be"},"schema_version":"1.0"},"canonical_sha256":"65789a5be21e68f036f26e461aa50cc813af367fd24aeed7687ae8e9e66335d5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:00:38.399932Z","signature_b64":"mCvzbkQg1GbpWjx7/Dk2C6XeGt2I5qe2l7okLxE5ekbamRMTnpylIo4vTtspYZWHFkWuPKScbIBosJfANaoMDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"65789a5be21e68f036f26e461aa50cc813af367fd24aeed7687ae8e9e66335d5","last_reissued_at":"2026-07-05T05:00:38.399451Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:00:38.399451Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.06550","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:00:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3BhkLWwzgkb5q9YS2BHhpI34ZJuH4k3QSxB+V/cNUH7hXL4lb3q8IXdKIzI4vb1sXV/u0t0UnqwkbQv+bM5TBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:19:48.734402Z"},"content_sha256":"262feebd76af773a8979430e7651920798b21f89112f67db2ca286b81ca66abe","schema_version":"1.0","event_id":"sha256:262feebd76af773a8979430e7651920798b21f89112f67db2ca286b81ca66abe"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:MV4JUW7CDZUPANXSNZDBVJIMZA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras using Adaptive Voxelization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chongjian Yuan, Fu Zhang, Xiyuan Liu","submitted_at":"2021-09-14T09:45:56Z","abstract_excerpt":"Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very small Field-of-View (FoV), and multiple units are often used collectively. The majority of extrinsic calibration methods are proposed for 360$^\\circ$ mechanical spinning LiDARs where the FoV overlap with other LiDAR or camera sensors is assumed. Few research works have been focused on the calibration of small FoV LiDARs and cameras nor on the improvement of the calibration speed. In this work, we consider the problem of "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.06550","kind":"arxiv","version":3},"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/2109.06550/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":"2026-07-05T05:00:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"e6kI3GhmEMIBPg0ETDS/Mk7yV6j/WsI7oD0ShUk40uFGubHAWE8I1cPZWZAmOQY8NxdgCmrE/KSTCO4tNb4zBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:19:48.734784Z"},"content_sha256":"8eb185367ab3605711a962262dcc23f7b62dc2b3cd349d55dd5cc5b725bae7e1","schema_version":"1.0","event_id":"sha256:8eb185367ab3605711a962262dcc23f7b62dc2b3cd349d55dd5cc5b725bae7e1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MV4JUW7CDZUPANXSNZDBVJIMZA/bundle.json","state_url":"https://pith.science/pith/MV4JUW7CDZUPANXSNZDBVJIMZA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MV4JUW7CDZUPANXSNZDBVJIMZA/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":"2026-07-07T08:19:48Z","links":{"resolver":"https://pith.science/pith/MV4JUW7CDZUPANXSNZDBVJIMZA","bundle":"https://pith.science/pith/MV4JUW7CDZUPANXSNZDBVJIMZA/bundle.json","state":"https://pith.science/pith/MV4JUW7CDZUPANXSNZDBVJIMZA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MV4JUW7CDZUPANXSNZDBVJIMZA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:MV4JUW7CDZUPANXSNZDBVJIMZA","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":"670ccf692fec6f11faf196dd4a3fabcda356b929db59a7e89790e8cd4dfe00be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T09:45:56Z","title_canon_sha256":"d6bacd4b41f39ebc38bcae44dbb8db7d0c17e8fd44532c7f9b3a134bdf4e6585"},"schema_version":"1.0","source":{"id":"2109.06550","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.06550","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"arxiv_version","alias_value":"2109.06550v3","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.06550","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"pith_short_12","alias_value":"MV4JUW7CDZUP","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"pith_short_16","alias_value":"MV4JUW7CDZUPANXS","created_at":"2026-07-05T05:00:38Z"},{"alias_kind":"pith_short_8","alias_value":"MV4JUW7C","created_at":"2026-07-05T05:00:38Z"}],"graph_snapshots":[{"event_id":"sha256:8eb185367ab3605711a962262dcc23f7b62dc2b3cd349d55dd5cc5b725bae7e1","target":"graph","created_at":"2026-07-05T05:00:38Z","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/2109.06550/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very small Field-of-View (FoV), and multiple units are often used collectively. The majority of extrinsic calibration methods are proposed for 360$^\\circ$ mechanical spinning LiDARs where the FoV overlap with other LiDAR or camera sensors is assumed. Few research works have been focused on the calibration of small FoV LiDARs and cameras nor on the improvement of the calibration speed. In this work, we consider the problem of ","authors_text":"Chongjian Yuan, Fu Zhang, Xiyuan Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T09:45:56Z","title":"Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras using Adaptive Voxelization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.06550","kind":"arxiv","version":3},"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":"sha256:262feebd76af773a8979430e7651920798b21f89112f67db2ca286b81ca66abe","target":"record","created_at":"2026-07-05T05:00:38Z","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":"670ccf692fec6f11faf196dd4a3fabcda356b929db59a7e89790e8cd4dfe00be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T09:45:56Z","title_canon_sha256":"d6bacd4b41f39ebc38bcae44dbb8db7d0c17e8fd44532c7f9b3a134bdf4e6585"},"schema_version":"1.0","source":{"id":"2109.06550","kind":"arxiv","version":3}},"canonical_sha256":"65789a5be21e68f036f26e461aa50cc813af367fd24aeed7687ae8e9e66335d5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"65789a5be21e68f036f26e461aa50cc813af367fd24aeed7687ae8e9e66335d5","first_computed_at":"2026-07-05T05:00:38.399451Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:00:38.399451Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mCvzbkQg1GbpWjx7/Dk2C6XeGt2I5qe2l7okLxE5ekbamRMTnpylIo4vTtspYZWHFkWuPKScbIBosJfANaoMDg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:00:38.399932Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.06550","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:262feebd76af773a8979430e7651920798b21f89112f67db2ca286b81ca66abe","sha256:8eb185367ab3605711a962262dcc23f7b62dc2b3cd349d55dd5cc5b725bae7e1"],"state_sha256":"7465de2af2a077ca8738712ae4c04c425706256f736d8858f0bf50059ef6d297"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"REE+pI64VsgcySBPJD8NK1TlYWjWK/cpAGmPBhRr0plD92sLcHbWMvry+xesnNfCnjmOkSMsfkYBUtd6RX3oDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T08:19:48.736725Z","bundle_sha256":"ecdc791efa508971124e2d836e7432d5c763c23e72f9d4e9ddf49cf8bed12e20"}}