{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2016:PYBHPLSJWKGQXRP4XHWI57OK6U","short_pith_number":"pith:PYBHPLSJ","schema_version":"1.0","canonical_sha256":"7e0277ae49b28d0bc5fcb9ec8efdcaf50cd2dcb804f8bbd081b8969b58212194","source":{"kind":"arxiv","id":"1603.09422","version":2},"attestation_state":"computed","paper":{"title":"Detecting and avoiding frontal obstacles from monocular camera for micro unmanned aerial vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hiliwi Kidane, Ibrahim Sadek, Mohamed Elawady","submitted_at":"2016-03-31T00:07:04Z","abstract_excerpt":"In literature, several approaches are trying to make the UAVs fly autonomously i.e., by extracting perspective cues such as straight lines. However, it is only available in well-defined human made environments, in addition to many other cues which require enough texture information. Our main target is to detect and avoid frontal obstacles from a monocular camera using a quad rotor Ar.Drone 2 by exploiting optical flow as a motion parallax, the drone is permitted to fly at a speed of 1 m/s and an altitude ranging from 1 to 4 meters above the ground level. In general, detecting and avoiding fron"},"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":"1603.09422","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-03-31T00:07:04Z","cross_cats_sorted":[],"title_canon_sha256":"89a037c267057d69b324e68c98954fd5673b72e2264a0bbfb31f56641a6aaa2e","abstract_canon_sha256":"30f75bea1c69cf86079375607e637bde1fafccb410938eb3009397f3c271573c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:17:49.803058Z","signature_b64":"ZFaX/GQd7+/8V8Yu37baiu41UqX12e0x2OP55mfDYk5nKLcjProfD+9x7foe4XBaJTPpSTA+T5SHzaKug1bkAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7e0277ae49b28d0bc5fcb9ec8efdcaf50cd2dcb804f8bbd081b8969b58212194","last_reissued_at":"2026-05-18T01:17:49.802389Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:17:49.802389Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Detecting and avoiding frontal obstacles from monocular camera for micro unmanned aerial vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hiliwi Kidane, Ibrahim Sadek, Mohamed Elawady","submitted_at":"2016-03-31T00:07:04Z","abstract_excerpt":"In literature, several approaches are trying to make the UAVs fly autonomously i.e., by extracting perspective cues such as straight lines. However, it is only available in well-defined human made environments, in addition to many other cues which require enough texture information. Our main target is to detect and avoid frontal obstacles from a monocular camera using a quad rotor Ar.Drone 2 by exploiting optical flow as a motion parallax, the drone is permitted to fly at a speed of 1 m/s and an altitude ranging from 1 to 4 meters above the ground level. In general, detecting and avoiding fron"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1603.09422","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":""},"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":"1603.09422","created_at":"2026-05-18T01:17:49.802488+00:00"},{"alias_kind":"arxiv_version","alias_value":"1603.09422v2","created_at":"2026-05-18T01:17:49.802488+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1603.09422","created_at":"2026-05-18T01:17:49.802488+00:00"},{"alias_kind":"pith_short_12","alias_value":"PYBHPLSJWKGQ","created_at":"2026-05-18T12:30:39.010887+00:00"},{"alias_kind":"pith_short_16","alias_value":"PYBHPLSJWKGQXRP4","created_at":"2026-05-18T12:30:39.010887+00:00"},{"alias_kind":"pith_short_8","alias_value":"PYBHPLSJ","created_at":"2026-05-18T12:30:39.010887+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/PYBHPLSJWKGQXRP4XHWI57OK6U","json":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U.json","graph_json":"https://pith.science/api/pith-number/PYBHPLSJWKGQXRP4XHWI57OK6U/graph.json","events_json":"https://pith.science/api/pith-number/PYBHPLSJWKGQXRP4XHWI57OK6U/events.json","paper":"https://pith.science/paper/PYBHPLSJ"},"agent_actions":{"view_html":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U","download_json":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U.json","view_paper":"https://pith.science/paper/PYBHPLSJ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1603.09422&json=true","fetch_graph":"https://pith.science/api/pith-number/PYBHPLSJWKGQXRP4XHWI57OK6U/graph.json","fetch_events":"https://pith.science/api/pith-number/PYBHPLSJWKGQXRP4XHWI57OK6U/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U/action/timestamp_anchor","attest_storage":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U/action/storage_attestation","attest_author":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U/action/author_attestation","sign_citation":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U/action/citation_signature","submit_replication":"https://pith.science/pith/PYBHPLSJWKGQXRP4XHWI57OK6U/action/replication_record"}},"created_at":"2026-05-18T01:17:49.802488+00:00","updated_at":"2026-05-18T01:17:49.802488+00:00"}