{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:NJ4FRXRVDHTY2WL473ECDKJGWW","short_pith_number":"pith:NJ4FRXRV","schema_version":"1.0","canonical_sha256":"6a7858de3519e78d597cfec821a926b59ca8e227fa95230470839c6ebb5f47ab","source":{"kind":"arxiv","id":"1908.10425","version":2},"attestation_state":"computed","paper":{"title":"Improving Visual Feature Extraction in Glacial Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Aaron Parness, Jeremy Nash, Kobus Barnard, Russell Smith, Shoya Higa, Steven D. Morad","submitted_at":"2019-08-27T19:29:34Z","abstract_excerpt":"Glacial science could benefit tremendously from autonomous robots, but previous glacial robots have had perception issues in these colorless and featureless environments, specifically with visual feature extraction. This translates to failures in visual odometry and visual navigation. Glaciologists use near-infrared imagery to reveal the underlying heterogeneous spatial structure of snow and ice, and we theorize that this hidden near-infrared structure could produce more and higher quality features than available in visible light. We took a custom camera rig to Igloo Cave at Mt. St. Helens to "},"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":"1908.10425","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-08-27T19:29:34Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"06006fb650fe131e6a399631ca6df5e08a3489f68e6df36ef373b4662216b015","abstract_canon_sha256":"5497e9de8900a9770be6668ca7baf2bcd084c180f46970da7cff21790607cf65"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:23:07.019117Z","signature_b64":"iXIOgFO6Zm8eNpsYYLFnwdu3svBMEmzzAeZMoDkW0INNRabwOnnnGBfBL8KtC5Is7a2rh8DNFf7kEv6zqA00BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6a7858de3519e78d597cfec821a926b59ca8e227fa95230470839c6ebb5f47ab","last_reissued_at":"2026-07-05T00:23:07.018738Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:23:07.018738Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Improving Visual Feature Extraction in Glacial Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Aaron Parness, Jeremy Nash, Kobus Barnard, Russell Smith, Shoya Higa, Steven D. Morad","submitted_at":"2019-08-27T19:29:34Z","abstract_excerpt":"Glacial science could benefit tremendously from autonomous robots, but previous glacial robots have had perception issues in these colorless and featureless environments, specifically with visual feature extraction. This translates to failures in visual odometry and visual navigation. Glaciologists use near-infrared imagery to reveal the underlying heterogeneous spatial structure of snow and ice, and we theorize that this hidden near-infrared structure could produce more and higher quality features than available in visible light. We took a custom camera rig to Igloo Cave at Mt. St. Helens to "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.10425","kind":"arxiv","version":2},"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/1908.10425/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":"1908.10425","created_at":"2026-07-05T00:23:07.018793+00:00"},{"alias_kind":"arxiv_version","alias_value":"1908.10425v2","created_at":"2026-07-05T00:23:07.018793+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.10425","created_at":"2026-07-05T00:23:07.018793+00:00"},{"alias_kind":"pith_short_12","alias_value":"NJ4FRXRVDHTY","created_at":"2026-07-05T00:23:07.018793+00:00"},{"alias_kind":"pith_short_16","alias_value":"NJ4FRXRVDHTY2WL4","created_at":"2026-07-05T00:23:07.018793+00:00"},{"alias_kind":"pith_short_8","alias_value":"NJ4FRXRV","created_at":"2026-07-05T00:23:07.018793+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW","json":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW.json","graph_json":"https://pith.science/api/pith-number/NJ4FRXRVDHTY2WL473ECDKJGWW/graph.json","events_json":"https://pith.science/api/pith-number/NJ4FRXRVDHTY2WL473ECDKJGWW/events.json","paper":"https://pith.science/paper/NJ4FRXRV"},"agent_actions":{"view_html":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW","download_json":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW.json","view_paper":"https://pith.science/paper/NJ4FRXRV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1908.10425&json=true","fetch_graph":"https://pith.science/api/pith-number/NJ4FRXRVDHTY2WL473ECDKJGWW/graph.json","fetch_events":"https://pith.science/api/pith-number/NJ4FRXRVDHTY2WL473ECDKJGWW/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW/action/storage_attestation","attest_author":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW/action/author_attestation","sign_citation":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW/action/citation_signature","submit_replication":"https://pith.science/pith/NJ4FRXRVDHTY2WL473ECDKJGWW/action/replication_record"}},"created_at":"2026-07-05T00:23:07.018793+00:00","updated_at":"2026-07-05T00:23:07.018793+00:00"}