{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:OEO7AIM542MLFNIT2O2ZG2K3UX","short_pith_number":"pith:OEO7AIM5","canonical_record":{"source":{"id":"2405.16873","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-27T06:43:12Z","cross_cats_sorted":[],"title_canon_sha256":"5ffa53b3321ee79062998d93da8a088064737365276191a0aab286c8fd03a163","abstract_canon_sha256":"385226fec32c342a7213752c163a1f2371b2d4fc4f95f710151ddc46ff1eb6b4"},"schema_version":"1.0"},"canonical_sha256":"711df0219de698b2b513d3b593695ba5e5b52526dc8ae2312e3b216293a240c1","source":{"kind":"arxiv","id":"2405.16873","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.16873","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"arxiv_version","alias_value":"2405.16873v3","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.16873","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"pith_short_12","alias_value":"OEO7AIM542ML","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"pith_short_16","alias_value":"OEO7AIM542MLFNIT","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"pith_short_8","alias_value":"OEO7AIM5","created_at":"2026-07-05T11:55:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:OEO7AIM542MLFNIT2O2ZG2K3UX","target":"record","payload":{"canonical_record":{"source":{"id":"2405.16873","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-27T06:43:12Z","cross_cats_sorted":[],"title_canon_sha256":"5ffa53b3321ee79062998d93da8a088064737365276191a0aab286c8fd03a163","abstract_canon_sha256":"385226fec32c342a7213752c163a1f2371b2d4fc4f95f710151ddc46ff1eb6b4"},"schema_version":"1.0"},"canonical_sha256":"711df0219de698b2b513d3b593695ba5e5b52526dc8ae2312e3b216293a240c1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:55:35.638291Z","signature_b64":"MZavqU3B2Pa2y7GPq88hvNNT62o3PAZ7LylWSMm+WNwH8UcK8OVsedVrC/Cepkza8YUNYg/G1EqX3FYnxN22AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"711df0219de698b2b513d3b593695ba5e5b52526dc8ae2312e3b216293a240c1","last_reissued_at":"2026-07-05T11:55:35.637794Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:55:35.637794Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.16873","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":"2026-07-05T11:55:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gqL+ZIWcKxyoX/Kg3a9kPXNtHqwaiJVXMEmm7G7aNBoAdjCRNOTP3NsDg5I2S561Wz316IxVcGxxRGZdrP/QDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T02:42:20.466190Z"},"content_sha256":"c03d599a6a7b03fe5dd85530f1b3ecf07d789b8900277d53cce59f87e4b57230","schema_version":"1.0","event_id":"sha256:c03d599a6a7b03fe5dd85530f1b3ecf07d789b8900277d53cce59f87e4b57230"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:OEO7AIM542MLFNIT2O2ZG2K3UX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ContrastAlign: Toward Robust BEV Feature Alignment via Contrastive Learning for Multi-Modal 3D Object Detection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Caiyan Jia, Feiyang Jia, Hongyu Pan, Lei Yang, Lin Liu, Peiliang Wu, Shaoqing Xu, Yadan Luo, Yongchang Zhang, Zheng Zhang, Ziying Song","submitted_at":"2024-05-27T06:43:12Z","abstract_excerpt":"In the field of 3D object detection tasks, fusing heterogeneous features from LiDAR and camera sensors into a unified Bird's Eye View (BEV) representation is a widely adopted paradigm. However, existing methods often suffer from imprecise sensor calibration, leading to feature misalignment in LiDAR-camera BEV fusion. Moreover, such inaccuracies cause errors in depth estimation for the camera branch, aggravating misalignment between LiDAR and camera BEV features. In this work, we propose a novel ContrastAlign approach that utilizes contrastive learning to enhance the alignment of heterogeneous "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.16873","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/2405.16873/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":"2026-07-05T11:55:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ixPqUsp9JVuVsPRmrjdaYKS8/mYbIXsfT4bxWkZmAEH7YapdZh7mtyIKh+wkZTw+3mwZ08R0BkMO1dgTAlFdBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T02:42:20.466714Z"},"content_sha256":"f6662bd311c2cc20ab80aa60a2658c283e77321058a6d4c13a66aab1c2184d1c","schema_version":"1.0","event_id":"sha256:f6662bd311c2cc20ab80aa60a2658c283e77321058a6d4c13a66aab1c2184d1c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OEO7AIM542MLFNIT2O2ZG2K3UX/bundle.json","state_url":"https://pith.science/pith/OEO7AIM542MLFNIT2O2ZG2K3UX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OEO7AIM542MLFNIT2O2ZG2K3UX/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":"2026-08-09T02:42:20Z","links":{"resolver":"https://pith.science/pith/OEO7AIM542MLFNIT2O2ZG2K3UX","bundle":"https://pith.science/pith/OEO7AIM542MLFNIT2O2ZG2K3UX/bundle.json","state":"https://pith.science/pith/OEO7AIM542MLFNIT2O2ZG2K3UX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OEO7AIM542MLFNIT2O2ZG2K3UX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:OEO7AIM542MLFNIT2O2ZG2K3UX","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":"385226fec32c342a7213752c163a1f2371b2d4fc4f95f710151ddc46ff1eb6b4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-27T06:43:12Z","title_canon_sha256":"5ffa53b3321ee79062998d93da8a088064737365276191a0aab286c8fd03a163"},"schema_version":"1.0","source":{"id":"2405.16873","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.16873","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"arxiv_version","alias_value":"2405.16873v3","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.16873","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"pith_short_12","alias_value":"OEO7AIM542ML","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"pith_short_16","alias_value":"OEO7AIM542MLFNIT","created_at":"2026-07-05T11:55:35Z"},{"alias_kind":"pith_short_8","alias_value":"OEO7AIM5","created_at":"2026-07-05T11:55:35Z"}],"graph_snapshots":[{"event_id":"sha256:f6662bd311c2cc20ab80aa60a2658c283e77321058a6d4c13a66aab1c2184d1c","target":"graph","created_at":"2026-07-05T11:55:35Z","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/2405.16873/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In the field of 3D object detection tasks, fusing heterogeneous features from LiDAR and camera sensors into a unified Bird's Eye View (BEV) representation is a widely adopted paradigm. However, existing methods often suffer from imprecise sensor calibration, leading to feature misalignment in LiDAR-camera BEV fusion. Moreover, such inaccuracies cause errors in depth estimation for the camera branch, aggravating misalignment between LiDAR and camera BEV features. In this work, we propose a novel ContrastAlign approach that utilizes contrastive learning to enhance the alignment of heterogeneous ","authors_text":"Caiyan Jia, Feiyang Jia, Hongyu Pan, Lei Yang, Lin Liu, Peiliang Wu, Shaoqing Xu, Yadan Luo, Yongchang Zhang, Zheng Zhang, Ziying Song","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-27T06:43:12Z","title":"ContrastAlign: Toward Robust BEV Feature Alignment via Contrastive Learning for Multi-Modal 3D Object Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.16873","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:c03d599a6a7b03fe5dd85530f1b3ecf07d789b8900277d53cce59f87e4b57230","target":"record","created_at":"2026-07-05T11:55:35Z","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":"385226fec32c342a7213752c163a1f2371b2d4fc4f95f710151ddc46ff1eb6b4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-27T06:43:12Z","title_canon_sha256":"5ffa53b3321ee79062998d93da8a088064737365276191a0aab286c8fd03a163"},"schema_version":"1.0","source":{"id":"2405.16873","kind":"arxiv","version":3}},"canonical_sha256":"711df0219de698b2b513d3b593695ba5e5b52526dc8ae2312e3b216293a240c1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"711df0219de698b2b513d3b593695ba5e5b52526dc8ae2312e3b216293a240c1","first_computed_at":"2026-07-05T11:55:35.637794Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:55:35.637794Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MZavqU3B2Pa2y7GPq88hvNNT62o3PAZ7LylWSMm+WNwH8UcK8OVsedVrC/Cepkza8YUNYg/G1EqX3FYnxN22AA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:55:35.638291Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.16873","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c03d599a6a7b03fe5dd85530f1b3ecf07d789b8900277d53cce59f87e4b57230","sha256:f6662bd311c2cc20ab80aa60a2658c283e77321058a6d4c13a66aab1c2184d1c"],"state_sha256":"7b29bb8f68aa5688368036fa7595c3c89e49c36e3290ae152fe99208b52921af"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UfCrp1zZFCqobVYlTSF+tZIMBCzogMQTZnhHk7Wur6LhU+wSXvacQTVwUtDCFwHvxE8ma3DqxLzI43hTLVT8Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T02:42:20.472139Z","bundle_sha256":"ba84ffa61169c532864e060e7717ea1bf7ce1c0df3614469b2d7ed6ba51a5e04"}}