{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:PFKYMX2KZT7VPZPYYXCVYRZDGY","short_pith_number":"pith:PFKYMX2K","canonical_record":{"source":{"id":"2208.02792","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-04T17:48:20Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"0dd68d80871b8cf1792c499a068eac128bf19abcfbc6d456744bae1b25faf0c0","abstract_canon_sha256":"f074e6dd0aa5f3ca8500a32017c5d7ea307096852858e217b7d7b2cbbc750d8e"},"schema_version":"1.0"},"canonical_sha256":"7955865f4accff57e5f8c5c55c472336198722bf2b6eaa9f6cd2bd1a8757edff","source":{"kind":"arxiv","id":"2208.02792","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.02792","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"arxiv_version","alias_value":"2208.02792v1","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.02792","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"pith_short_12","alias_value":"PFKYMX2KZT7V","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"pith_short_16","alias_value":"PFKYMX2KZT7VPZPY","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"pith_short_8","alias_value":"PFKYMX2K","created_at":"2026-07-05T04:46:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:PFKYMX2KZT7VPZPYYXCVYRZDGY","target":"record","payload":{"canonical_record":{"source":{"id":"2208.02792","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-04T17:48:20Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"0dd68d80871b8cf1792c499a068eac128bf19abcfbc6d456744bae1b25faf0c0","abstract_canon_sha256":"f074e6dd0aa5f3ca8500a32017c5d7ea307096852858e217b7d7b2cbbc750d8e"},"schema_version":"1.0"},"canonical_sha256":"7955865f4accff57e5f8c5c55c472336198722bf2b6eaa9f6cd2bd1a8757edff","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:46:09.030994Z","signature_b64":"vZd775dDPIm8Te+xB2gznoC0wCW2t0ePFszBHf5Gdn69sEed8gIhkaE3r0dmkoYWJ/mn4MzSZn6r42kPEde+AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7955865f4accff57e5f8c5c55c472336198722bf2b6eaa9f6cd2bd1a8757edff","last_reissued_at":"2026-07-05T04:46:09.030568Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:46:09.030568Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2208.02792","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":"2026-07-05T04:46:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eAnZEybqedcp+hwqmqAvxudmGkqmrroWcwcZXG/CaH/qgVrXNdNLJ3l7pXjaNrcTWdTA6DU8nh3tlyFkY8RXBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:57:06.085608Z"},"content_sha256":"50ef5f11e4d00e000121094609f78fa01b8762f312ea019bc4438cc1b38c610c","schema_version":"1.0","event_id":"sha256:50ef5f11e4d00e000121094609f78fa01b8762f312ea019bc4438cc1b38c610c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:PFKYMX2KZT7VPZPYYXCVYRZDGY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Cooperative Perception Environment for Traffic Operations and Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Brian Liu, Feng Qian, Hanlin Chen, Xumiao Zhang, Yiheng Feng, Z. Morley Mao","submitted_at":"2022-08-04T17:48:20Z","abstract_excerpt":"Existing data collection methods for traffic operations and control usually rely on infrastructure-based loop detectors or probe vehicle trajectories. Connected and automated vehicles (CAVs) not only can report data about themselves but also can provide the status of all detected surrounding vehicles. Integration of perception data from multiple CAVs as well as infrastructure sensors (e.g., LiDAR) can provide richer information even under a very low penetration rate. This paper aims to develop a cooperative data collection system, which integrates Lidar point cloud data from both infrastructur"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.02792","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/2208.02792/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":"2026-07-05T04:46:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IoCoiMUGcipXZj4XFaapgLtDtsdfZ9EQbGSnGAhYS7x4SI9wGbzKDbrqlUagyzwUbRDwaKcptKUdD9pbZfWyAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:57:06.086283Z"},"content_sha256":"c8b756928fc69f26d8f701c27603f4aa9f6a4fefdaaeb2b742d8596f71fa2eb5","schema_version":"1.0","event_id":"sha256:c8b756928fc69f26d8f701c27603f4aa9f6a4fefdaaeb2b742d8596f71fa2eb5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PFKYMX2KZT7VPZPYYXCVYRZDGY/bundle.json","state_url":"https://pith.science/pith/PFKYMX2KZT7VPZPYYXCVYRZDGY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PFKYMX2KZT7VPZPYYXCVYRZDGY/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":"2026-07-09T05:57:06Z","links":{"resolver":"https://pith.science/pith/PFKYMX2KZT7VPZPYYXCVYRZDGY","bundle":"https://pith.science/pith/PFKYMX2KZT7VPZPYYXCVYRZDGY/bundle.json","state":"https://pith.science/pith/PFKYMX2KZT7VPZPYYXCVYRZDGY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PFKYMX2KZT7VPZPYYXCVYRZDGY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:PFKYMX2KZT7VPZPYYXCVYRZDGY","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":"f074e6dd0aa5f3ca8500a32017c5d7ea307096852858e217b7d7b2cbbc750d8e","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-04T17:48:20Z","title_canon_sha256":"0dd68d80871b8cf1792c499a068eac128bf19abcfbc6d456744bae1b25faf0c0"},"schema_version":"1.0","source":{"id":"2208.02792","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.02792","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"arxiv_version","alias_value":"2208.02792v1","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.02792","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"pith_short_12","alias_value":"PFKYMX2KZT7V","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"pith_short_16","alias_value":"PFKYMX2KZT7VPZPY","created_at":"2026-07-05T04:46:09Z"},{"alias_kind":"pith_short_8","alias_value":"PFKYMX2K","created_at":"2026-07-05T04:46:09Z"}],"graph_snapshots":[{"event_id":"sha256:c8b756928fc69f26d8f701c27603f4aa9f6a4fefdaaeb2b742d8596f71fa2eb5","target":"graph","created_at":"2026-07-05T04:46:09Z","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/2208.02792/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Existing data collection methods for traffic operations and control usually rely on infrastructure-based loop detectors or probe vehicle trajectories. Connected and automated vehicles (CAVs) not only can report data about themselves but also can provide the status of all detected surrounding vehicles. Integration of perception data from multiple CAVs as well as infrastructure sensors (e.g., LiDAR) can provide richer information even under a very low penetration rate. This paper aims to develop a cooperative data collection system, which integrates Lidar point cloud data from both infrastructur","authors_text":"Brian Liu, Feng Qian, Hanlin Chen, Xumiao Zhang, Yiheng Feng, Z. Morley Mao","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-04T17:48:20Z","title":"A Cooperative Perception Environment for Traffic Operations and Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.02792","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":"sha256:50ef5f11e4d00e000121094609f78fa01b8762f312ea019bc4438cc1b38c610c","target":"record","created_at":"2026-07-05T04:46:09Z","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":"f074e6dd0aa5f3ca8500a32017c5d7ea307096852858e217b7d7b2cbbc750d8e","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-04T17:48:20Z","title_canon_sha256":"0dd68d80871b8cf1792c499a068eac128bf19abcfbc6d456744bae1b25faf0c0"},"schema_version":"1.0","source":{"id":"2208.02792","kind":"arxiv","version":1}},"canonical_sha256":"7955865f4accff57e5f8c5c55c472336198722bf2b6eaa9f6cd2bd1a8757edff","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7955865f4accff57e5f8c5c55c472336198722bf2b6eaa9f6cd2bd1a8757edff","first_computed_at":"2026-07-05T04:46:09.030568Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:46:09.030568Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vZd775dDPIm8Te+xB2gznoC0wCW2t0ePFszBHf5Gdn69sEed8gIhkaE3r0dmkoYWJ/mn4MzSZn6r42kPEde+AA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:46:09.030994Z","signed_message":"canonical_sha256_bytes"},"source_id":"2208.02792","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:50ef5f11e4d00e000121094609f78fa01b8762f312ea019bc4438cc1b38c610c","sha256:c8b756928fc69f26d8f701c27603f4aa9f6a4fefdaaeb2b742d8596f71fa2eb5"],"state_sha256":"7902aa192872f3db40f29f9e2693ccb14e156580470848f5f7640abf66446760"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eql8FZWt1Zl6lDShHUWnf19xD8tDcIu78KjGOBJEiW34AIkd6Gyl/rbdffwnfC1AtUbF+80Vh+UEDBuE4mCkBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T05:57:06.089577Z","bundle_sha256":"2fd013534b2504a19ccea6518fb12384051218bc030090cfeb67e9f83defba79"}}