{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:MV5U4Y2NKS3GEAHO7V7HCRQYUG","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":"c9b4f62ddcf25f5529ef6c89de694c1f708ad2b400bee1d6efc557b83179b49c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T03:36:00Z","title_canon_sha256":"cab6d245d9dbf7bbef8f63f9c7aa8f13c5492243c8a32a50fc7d812282fa303b"},"schema_version":"1.0","source":{"id":"2606.31096","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.31096","created_at":"2026-07-01T01:17:28Z"},{"alias_kind":"arxiv_version","alias_value":"2606.31096v1","created_at":"2026-07-01T01:17:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.31096","created_at":"2026-07-01T01:17:28Z"},{"alias_kind":"pith_short_12","alias_value":"MV5U4Y2NKS3G","created_at":"2026-07-01T01:17:28Z"},{"alias_kind":"pith_short_16","alias_value":"MV5U4Y2NKS3GEAHO","created_at":"2026-07-01T01:17:28Z"},{"alias_kind":"pith_short_8","alias_value":"MV5U4Y2N","created_at":"2026-07-01T01:17:28Z"}],"graph_snapshots":[{"event_id":"sha256:60f16c8e2d3ef5385b5f8c0306c73eff5a0c0f42e2d8bc6f8e570fc72da41c34","target":"graph","created_at":"2026-07-01T01:17:28Z","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/2606.31096/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Long-range 3D object detection is critical for safe autonomous driving at highway speeds, yet existing radar-camera fusion methods remain limited at extended ranges. BEV-based methods capture scene-level context but incur rapidly growing computation and often lose fine-grained object detail, while query-based methods are efficient but provide limited scene-level context. Temporal fusion further requires both multi-frame accumulation for sparse distant observations and object-level motion modeling for fast-moving objects. We propose Horizon3D, a sparse radar-camera fusion framework for long-ran","authors_text":"Dongyoung Lee, Geonho Bang, Geunju Baek, Jun Won Choi, Wonjun Jeong","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T03:36:00Z","title":"Horizon3D: Sparse Radar-Camera Fusion for Long-Range 3D Perception in Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.31096","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:e50342a4cbc72ca955c7bab89852098d50bf8611684b812184589170acb878a3","target":"record","created_at":"2026-07-01T01:17:28Z","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":"c9b4f62ddcf25f5529ef6c89de694c1f708ad2b400bee1d6efc557b83179b49c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T03:36:00Z","title_canon_sha256":"cab6d245d9dbf7bbef8f63f9c7aa8f13c5492243c8a32a50fc7d812282fa303b"},"schema_version":"1.0","source":{"id":"2606.31096","kind":"arxiv","version":1}},"canonical_sha256":"657b4e634d54b66200eefd7e714618a18fbbaf3ed37fd6d768ef2f87d62f0108","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"657b4e634d54b66200eefd7e714618a18fbbaf3ed37fd6d768ef2f87d62f0108","first_computed_at":"2026-07-01T01:17:28.937382Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-01T01:17:28.937382Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ifclQRwRtmCzU0ZvQDmt20C5za8lxYKR8SBhjfWiYsKHVdou7u6tr/eoRZUrqPwAyJhROmfUoACVFLgV0t2hCw==","signature_status":"signed_v1","signed_at":"2026-07-01T01:17:28.937855Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.31096","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e50342a4cbc72ca955c7bab89852098d50bf8611684b812184589170acb878a3","sha256:60f16c8e2d3ef5385b5f8c0306c73eff5a0c0f42e2d8bc6f8e570fc72da41c34"],"state_sha256":"3fb003d2f6ced8f56e0df379fd87f53c0109df9a67d8a6cac316145daf22dc9b"}