{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:PM243CMGHJ2ENPEVOXNEIW6GKV","short_pith_number":"pith:PM243CMG","canonical_record":{"source":{"id":"2205.00083","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-29T21:15:56Z","cross_cats_sorted":[],"title_canon_sha256":"3ff600ab1d6cf6d5b0ed2f0524bafb9dd8e10d1aa0723570d2497fc3c18af24d","abstract_canon_sha256":"9969eb564cd49f14ae3a0ad66e53fb483b0ed5f47422ed28f61b4591d43a43ef"},"schema_version":"1.0"},"canonical_sha256":"7b35cd89863a7446bc9575da445bc6555c0717f90dd2ee44bdfb05e675264414","source":{"kind":"arxiv","id":"2205.00083","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.00083","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"arxiv_version","alias_value":"2205.00083v1","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.00083","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"pith_short_12","alias_value":"PM243CMGHJ2E","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"pith_short_16","alias_value":"PM243CMGHJ2ENPEV","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"pith_short_8","alias_value":"PM243CMG","created_at":"2026-07-05T04:19:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:PM243CMGHJ2ENPEVOXNEIW6GKV","target":"record","payload":{"canonical_record":{"source":{"id":"2205.00083","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-29T21:15:56Z","cross_cats_sorted":[],"title_canon_sha256":"3ff600ab1d6cf6d5b0ed2f0524bafb9dd8e10d1aa0723570d2497fc3c18af24d","abstract_canon_sha256":"9969eb564cd49f14ae3a0ad66e53fb483b0ed5f47422ed28f61b4591d43a43ef"},"schema_version":"1.0"},"canonical_sha256":"7b35cd89863a7446bc9575da445bc6555c0717f90dd2ee44bdfb05e675264414","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:19:09.502789Z","signature_b64":"wx9huHoeIm2oiO0Rmw2kIWYDMeoAEXhX64o1WU5jRiEeiH93uP2bbF8//pNVBAtPfQ9+TCdm2Wwy9/FEv3OdCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7b35cd89863a7446bc9575da445bc6555c0717f90dd2ee44bdfb05e675264414","last_reissued_at":"2026-07-05T04:19:09.502402Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:19:09.502402Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2205.00083","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":"2026-07-05T04:19:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"i7VFy/W1D/pRS72C8Z7uiG4GtLFQkoXKH0ab8Wd6vQEMvprJXPc2VKN/unhH+DWptqVKJ8Kd2fV6zt2L5x9xDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T22:48:02.140029Z"},"content_sha256":"398c105fbb5a0922c49a98b4adca7858669deba28220fa98266b535e1a4228b8","schema_version":"1.0","event_id":"sha256:398c105fbb5a0922c49a98b4adca7858669deba28220fa98266b535e1a4228b8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:PM243CMGHJ2ENPEVOXNEIW6GKV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Vision-based system for a real-time detection and following of UAV","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Antonella Barisic, Marko Car, Stjepan Bogdan","submitted_at":"2022-04-29T21:15:56Z","abstract_excerpt":"In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained on a collected and processed dataset of 10,000 images. The trained network is capable of detecting various multirotor UAVs in indoor, outdoor and simulation environments. Furthermore, detection results are improved with Kalman filter which ensures steady and reliable information about position and velocity of a target UAV. Preserving the target UAV in the fi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.00083","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/2205.00083/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":"2026-07-05T04:19:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oR59DpSzlRpjwzNAs/K0uN4LPimXgPLCZA9MKTgV+Oq8TRw7W0PGXJs7Iu7/9U08iFRyZEShDa+wxqrw/6p/Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T22:48:02.141228Z"},"content_sha256":"8e5f9a00ed0a2792fe5ee89e98d8e47f60d53f09849478197e37ed8bc7518f09","schema_version":"1.0","event_id":"sha256:8e5f9a00ed0a2792fe5ee89e98d8e47f60d53f09849478197e37ed8bc7518f09"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PM243CMGHJ2ENPEVOXNEIW6GKV/bundle.json","state_url":"https://pith.science/pith/PM243CMGHJ2ENPEVOXNEIW6GKV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PM243CMGHJ2ENPEVOXNEIW6GKV/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":"2026-08-13T22:48:02Z","links":{"resolver":"https://pith.science/pith/PM243CMGHJ2ENPEVOXNEIW6GKV","bundle":"https://pith.science/pith/PM243CMGHJ2ENPEVOXNEIW6GKV/bundle.json","state":"https://pith.science/pith/PM243CMGHJ2ENPEVOXNEIW6GKV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PM243CMGHJ2ENPEVOXNEIW6GKV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:PM243CMGHJ2ENPEVOXNEIW6GKV","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":"9969eb564cd49f14ae3a0ad66e53fb483b0ed5f47422ed28f61b4591d43a43ef","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-29T21:15:56Z","title_canon_sha256":"3ff600ab1d6cf6d5b0ed2f0524bafb9dd8e10d1aa0723570d2497fc3c18af24d"},"schema_version":"1.0","source":{"id":"2205.00083","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.00083","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"arxiv_version","alias_value":"2205.00083v1","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.00083","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"pith_short_12","alias_value":"PM243CMGHJ2E","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"pith_short_16","alias_value":"PM243CMGHJ2ENPEV","created_at":"2026-07-05T04:19:09Z"},{"alias_kind":"pith_short_8","alias_value":"PM243CMG","created_at":"2026-07-05T04:19:09Z"}],"graph_snapshots":[{"event_id":"sha256:8e5f9a00ed0a2792fe5ee89e98d8e47f60d53f09849478197e37ed8bc7518f09","target":"graph","created_at":"2026-07-05T04:19:09Z","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/2205.00083/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained on a collected and processed dataset of 10,000 images. The trained network is capable of detecting various multirotor UAVs in indoor, outdoor and simulation environments. Furthermore, detection results are improved with Kalman filter which ensures steady and reliable information about position and velocity of a target UAV. Preserving the target UAV in the fi","authors_text":"Antonella Barisic, Marko Car, Stjepan Bogdan","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-29T21:15:56Z","title":"Vision-based system for a real-time detection and following of UAV"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.00083","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":"sha256:398c105fbb5a0922c49a98b4adca7858669deba28220fa98266b535e1a4228b8","target":"record","created_at":"2026-07-05T04:19:09Z","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":"9969eb564cd49f14ae3a0ad66e53fb483b0ed5f47422ed28f61b4591d43a43ef","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-29T21:15:56Z","title_canon_sha256":"3ff600ab1d6cf6d5b0ed2f0524bafb9dd8e10d1aa0723570d2497fc3c18af24d"},"schema_version":"1.0","source":{"id":"2205.00083","kind":"arxiv","version":1}},"canonical_sha256":"7b35cd89863a7446bc9575da445bc6555c0717f90dd2ee44bdfb05e675264414","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7b35cd89863a7446bc9575da445bc6555c0717f90dd2ee44bdfb05e675264414","first_computed_at":"2026-07-05T04:19:09.502402Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:19:09.502402Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wx9huHoeIm2oiO0Rmw2kIWYDMeoAEXhX64o1WU5jRiEeiH93uP2bbF8//pNVBAtPfQ9+TCdm2Wwy9/FEv3OdCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:19:09.502789Z","signed_message":"canonical_sha256_bytes"},"source_id":"2205.00083","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:398c105fbb5a0922c49a98b4adca7858669deba28220fa98266b535e1a4228b8","sha256:8e5f9a00ed0a2792fe5ee89e98d8e47f60d53f09849478197e37ed8bc7518f09"],"state_sha256":"081ac94119e78f4be5e3b2942e535d6c039790c96a5aefd93a734270ed95a2e0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"q9pIuUEiqSzJXtwt0q7eC3MpDrX/L2UzV2+RCKY+iPe1JTKY9TszHN1TRAho19ylDm7DdGkgtgIhXdIKhRoGAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T22:48:02.148218Z","bundle_sha256":"5447efc427e4fb04d0ce0b9e4af0cf0e5a8b16fc2968662ae02576f2d3d3cdbd"}}