{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:NOMW6E4EEHCLJ7IILL3K5HTQIX","short_pith_number":"pith:NOMW6E4E","canonical_record":{"source":{"id":"1907.12646","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-11T04:31:59Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"2232415c539f4e4a3be9574becc52954c50cedc201373a6219be10e675ade1ee","abstract_canon_sha256":"ad563208f3e068014d8dd3c504d9634eaab00c863528b02a32a5a62f22f82d89"},"schema_version":"1.0"},"canonical_sha256":"6b996f138421c4b4fd085af6ae9e7045e5478ae94ac6b91cfd88107dff339312","source":{"kind":"arxiv","id":"1907.12646","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.12646","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"arxiv_version","alias_value":"1907.12646v1","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.12646","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"pith_short_12","alias_value":"NOMW6E4EEHCL","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"pith_short_16","alias_value":"NOMW6E4EEHCLJ7II","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"pith_short_8","alias_value":"NOMW6E4E","created_at":"2026-07-04T23:50:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:NOMW6E4EEHCLJ7IILL3K5HTQIX","target":"record","payload":{"canonical_record":{"source":{"id":"1907.12646","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-11T04:31:59Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"2232415c539f4e4a3be9574becc52954c50cedc201373a6219be10e675ade1ee","abstract_canon_sha256":"ad563208f3e068014d8dd3c504d9634eaab00c863528b02a32a5a62f22f82d89"},"schema_version":"1.0"},"canonical_sha256":"6b996f138421c4b4fd085af6ae9e7045e5478ae94ac6b91cfd88107dff339312","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-04T23:50:23.109737Z","signature_b64":"FTjTKb8G4Bq9P/BySJCItVuM3HeGr6eVALBYlo4oRRr9PXCXLWe9TL769XR3cNRjuVR08rOxtNIIw1pYkjZrDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6b996f138421c4b4fd085af6ae9e7045e5478ae94ac6b91cfd88107dff339312","last_reissued_at":"2026-07-04T23:50:23.109287Z","signature_status":"signed_v1","first_computed_at":"2026-07-04T23:50:23.109287Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.12646","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":"2026-07-04T23:50:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bO1rwK+vvhnDJHRcGU12pzLA94WnmOqZPdQDZTimmGVjl8CPhcooTO8xcAecnvL/LawCH3Uwyjijz+0uh21UDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T22:57:36.640462Z"},"content_sha256":"64bdf1ad464900854de8eb546c59c05d6f81f8cb7af7049169afc84c0de64c50","schema_version":"1.0","event_id":"sha256:64bdf1ad464900854de8eb546c59c05d6f81f8cb7af7049169afc84c0de64c50"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:NOMW6E4EEHCLJ7IILL3K5HTQIX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Camera Exposure Control for Robust Robot Vision with Noise-Aware Image Quality Assessment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Francois Rameau, Gyumin Shim, In So Kweon, Jinsun Park, Ukcheol Shin","submitted_at":"2019-07-11T04:31:59Z","abstract_excerpt":"In this paper, we propose a noise-aware exposure control algorithm for robust robot vision. Our method aims to capture the best-exposed image which can boost the performance of various computer vision and robotics tasks. For this purpose, we carefully design an image quality metric which captures complementary quality attributes and ensures light-weight computation. Specifically, our metric consists of a combination of image gradient, entropy, and noise metrics. The synergy of these measures allows preserving sharp edge and rich texture in the image while maintaining a low noise level. Using t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.12646","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/1907.12646/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":"2026-07-04T23:50:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YaZpbz4ZCA/lU5jCBLL+3nRzpgKbIVUmYROBk+HeTtjSpQbtW1JDCIB4QbtTOkEpJIAddGfVwk0QuHFyvyvpAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T22:57:36.640832Z"},"content_sha256":"4af31dd1fb37df9ab210dea273df445b61b7c50df3573f9bbb02217b1ce7e6d0","schema_version":"1.0","event_id":"sha256:4af31dd1fb37df9ab210dea273df445b61b7c50df3573f9bbb02217b1ce7e6d0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NOMW6E4EEHCLJ7IILL3K5HTQIX/bundle.json","state_url":"https://pith.science/pith/NOMW6E4EEHCLJ7IILL3K5HTQIX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NOMW6E4EEHCLJ7IILL3K5HTQIX/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":"2026-07-08T22:57:36Z","links":{"resolver":"https://pith.science/pith/NOMW6E4EEHCLJ7IILL3K5HTQIX","bundle":"https://pith.science/pith/NOMW6E4EEHCLJ7IILL3K5HTQIX/bundle.json","state":"https://pith.science/pith/NOMW6E4EEHCLJ7IILL3K5HTQIX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NOMW6E4EEHCLJ7IILL3K5HTQIX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:NOMW6E4EEHCLJ7IILL3K5HTQIX","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":"ad563208f3e068014d8dd3c504d9634eaab00c863528b02a32a5a62f22f82d89","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-11T04:31:59Z","title_canon_sha256":"2232415c539f4e4a3be9574becc52954c50cedc201373a6219be10e675ade1ee"},"schema_version":"1.0","source":{"id":"1907.12646","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.12646","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"arxiv_version","alias_value":"1907.12646v1","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.12646","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"pith_short_12","alias_value":"NOMW6E4EEHCL","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"pith_short_16","alias_value":"NOMW6E4EEHCLJ7II","created_at":"2026-07-04T23:50:23Z"},{"alias_kind":"pith_short_8","alias_value":"NOMW6E4E","created_at":"2026-07-04T23:50:23Z"}],"graph_snapshots":[{"event_id":"sha256:4af31dd1fb37df9ab210dea273df445b61b7c50df3573f9bbb02217b1ce7e6d0","target":"graph","created_at":"2026-07-04T23:50:23Z","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/1907.12646/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a noise-aware exposure control algorithm for robust robot vision. Our method aims to capture the best-exposed image which can boost the performance of various computer vision and robotics tasks. For this purpose, we carefully design an image quality metric which captures complementary quality attributes and ensures light-weight computation. Specifically, our metric consists of a combination of image gradient, entropy, and noise metrics. The synergy of these measures allows preserving sharp edge and rich texture in the image while maintaining a low noise level. Using t","authors_text":"Francois Rameau, Gyumin Shim, In So Kweon, Jinsun Park, Ukcheol Shin","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-11T04:31:59Z","title":"Camera Exposure Control for Robust Robot Vision with Noise-Aware Image Quality Assessment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.12646","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":"sha256:64bdf1ad464900854de8eb546c59c05d6f81f8cb7af7049169afc84c0de64c50","target":"record","created_at":"2026-07-04T23:50:23Z","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":"ad563208f3e068014d8dd3c504d9634eaab00c863528b02a32a5a62f22f82d89","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-11T04:31:59Z","title_canon_sha256":"2232415c539f4e4a3be9574becc52954c50cedc201373a6219be10e675ade1ee"},"schema_version":"1.0","source":{"id":"1907.12646","kind":"arxiv","version":1}},"canonical_sha256":"6b996f138421c4b4fd085af6ae9e7045e5478ae94ac6b91cfd88107dff339312","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6b996f138421c4b4fd085af6ae9e7045e5478ae94ac6b91cfd88107dff339312","first_computed_at":"2026-07-04T23:50:23.109287Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:50:23.109287Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FTjTKb8G4Bq9P/BySJCItVuM3HeGr6eVALBYlo4oRRr9PXCXLWe9TL769XR3cNRjuVR08rOxtNIIw1pYkjZrDA==","signature_status":"signed_v1","signed_at":"2026-07-04T23:50:23.109737Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.12646","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:64bdf1ad464900854de8eb546c59c05d6f81f8cb7af7049169afc84c0de64c50","sha256:4af31dd1fb37df9ab210dea273df445b61b7c50df3573f9bbb02217b1ce7e6d0"],"state_sha256":"2be17eb4e9e4af202efca46888d5b9cb2fc223c506f7957ee4b7be80c170e2d5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g/W+7NOa0aAdpVCSg7zhzaA3DcIO0qA/isFiyyQR51rdx6pV6ggBAvuLzo9XffawuvIFALPuMgOXXbwOo+mcCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T22:57:36.643099Z","bundle_sha256":"43d8ea0dff622330b61945ed44edff90c5c734b15d649fce2f1fde0d786b96f2"}}