{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:NBOJ5BEKAOLJ4X2B3HJXQM772U","short_pith_number":"pith:NBOJ5BEK","schema_version":"1.0","canonical_sha256":"685c9e848a03969e5f41d9d37833ffd51076b120ae16de6c06ae3e4ec23936a1","source":{"kind":"arxiv","id":"2303.15771","version":3},"attestation_state":"computed","paper":{"title":"TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexander Lambert, Amirreza Shaban, Anqi Li, Byron Boots, Dieter Fox, Greg Okopal, Joonho Lee, Matthew Schmittle, Nathan Hatch, Nolan Wagener, Samuel Deng, Wentao Yuan, XiangYun Meng, Zoey Chen","submitted_at":"2023-03-28T07:15:54Z","abstract_excerpt":"Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene prediction have yet to be successfully adapted for complex outdoor terrain. To this end, we present TerrainNet, a vision-based terrain perception system for semantic and geometric terrain prediction for aggressive, off-road navigation. The approach relies on several key insights and practical considerations for achieving reliable terrain modeling. The netwo"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2303.15771","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-28T07:15:54Z","cross_cats_sorted":[],"title_canon_sha256":"dc19fba8c08f8abdc195fab2367c29ee35313aaa22ed4ccd3c348b50f1aa007e","abstract_canon_sha256":"7fdfc9b8ed308ee17d4301160a7520636354a7050ee68c62fb33ea966c781a5e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:14:58.087113Z","signature_b64":"VhULrJ0Fq0GV7pGbJdr3sauRjOSBxjLk1CQ2c0dfseXFW499kUvK4QND00VveFYKxnMZSGTYwk4WCiGWEaC3Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"685c9e848a03969e5f41d9d37833ffd51076b120ae16de6c06ae3e4ec23936a1","last_reissued_at":"2026-07-05T06:14:58.086710Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:14:58.086710Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexander Lambert, Amirreza Shaban, Anqi Li, Byron Boots, Dieter Fox, Greg Okopal, Joonho Lee, Matthew Schmittle, Nathan Hatch, Nolan Wagener, Samuel Deng, Wentao Yuan, XiangYun Meng, Zoey Chen","submitted_at":"2023-03-28T07:15:54Z","abstract_excerpt":"Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene prediction have yet to be successfully adapted for complex outdoor terrain. To this end, we present TerrainNet, a vision-based terrain perception system for semantic and geometric terrain prediction for aggressive, off-road navigation. The approach relies on several key insights and practical considerations for achieving reliable terrain modeling. The netwo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.15771","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/2303.15771/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2303.15771","created_at":"2026-07-05T06:14:58.086760+00:00"},{"alias_kind":"arxiv_version","alias_value":"2303.15771v3","created_at":"2026-07-05T06:14:58.086760+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.15771","created_at":"2026-07-05T06:14:58.086760+00:00"},{"alias_kind":"pith_short_12","alias_value":"NBOJ5BEKAOLJ","created_at":"2026-07-05T06:14:58.086760+00:00"},{"alias_kind":"pith_short_16","alias_value":"NBOJ5BEKAOLJ4X2B","created_at":"2026-07-05T06:14:58.086760+00:00"},{"alias_kind":"pith_short_8","alias_value":"NBOJ5BEK","created_at":"2026-07-05T06:14:58.086760+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":2,"internal_anchor_count":0,"sample":[{"citing_arxiv_id":"2503.10475","citing_title":"Stratified Topological Autonomy for Long-Range Coordination (STALC)","ref_index":65,"is_internal_anchor":false},{"citing_arxiv_id":"2604.03096","citing_title":"An Open-Source LiDAR and Monocular Off-Road Autonomous Navigation Stack","ref_index":15,"is_internal_anchor":false}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U","json":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U.json","graph_json":"https://pith.science/api/pith-number/NBOJ5BEKAOLJ4X2B3HJXQM772U/graph.json","events_json":"https://pith.science/api/pith-number/NBOJ5BEKAOLJ4X2B3HJXQM772U/events.json","paper":"https://pith.science/paper/NBOJ5BEK"},"agent_actions":{"view_html":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U","download_json":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U.json","view_paper":"https://pith.science/paper/NBOJ5BEK","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2303.15771&json=true","fetch_graph":"https://pith.science/api/pith-number/NBOJ5BEKAOLJ4X2B3HJXQM772U/graph.json","fetch_events":"https://pith.science/api/pith-number/NBOJ5BEKAOLJ4X2B3HJXQM772U/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U/action/storage_attestation","attest_author":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U/action/author_attestation","sign_citation":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U/action/citation_signature","submit_replication":"https://pith.science/pith/NBOJ5BEKAOLJ4X2B3HJXQM772U/action/replication_record"}},"created_at":"2026-07-05T06:14:58.086760+00:00","updated_at":"2026-07-05T06:14:58.086760+00:00"}