{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:Q5RS2PODATBE5WLXWNY3PZZ3CB","short_pith_number":"pith:Q5RS2POD","schema_version":"1.0","canonical_sha256":"87632d3dc304c24ed977b371b7e73b106d9d945c9457d260bb74b32e5a97459b","source":{"kind":"arxiv","id":"2608.12866","version":1},"attestation_state":"computed","paper":{"title":"AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Feitian Zhang, Mingyang Yang, Xiaorui Wang, Zeyu Sha","submitted_at":"2026-08-13T06:29:43Z","abstract_excerpt":"Reliable relative pose estimation between autonomous underwater vehicles (AUVs) is critical for cooperative ocean exploration, sampling, and multi-robot coordination. However, achieving robust vision-based relative localization in underwater environments remains challenging due to severe optical degradation, including turbidity, illumination variations, reflections, and intermittent feature occlusions. This paper presents AMR-Pose, an active LED marker-based relative pose estimation framework for cooperative AUVs. A compact marker module consisting of one red central LED and three blue periphe"},"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":"2608.12866","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-13T06:29:43Z","cross_cats_sorted":[],"title_canon_sha256":"cf32b0e487c576ac9fe4d230c5e4014a67d550dd4d76988296005b076535f9ec","abstract_canon_sha256":"76d705c6321a12b4b53b62d0826fa35cdb8c2ca40129a457f8a49d08ec87b54a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-08-14T00:49:23.805750Z","signature_b64":"+lWv7sEyqqraIBINQIXtetCLfJhcX6pKnLBm40RgAaguoBbtJd21jrVG9BnW+cdh0Kez2wRrEYImWXtDw6pqDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"87632d3dc304c24ed977b371b7e73b106d9d945c9457d260bb74b32e5a97459b","last_reissued_at":"2026-08-14T00:49:23.786331Z","signature_status":"signed_v1","first_computed_at":"2026-08-14T00:49:23.786331Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Feitian Zhang, Mingyang Yang, Xiaorui Wang, Zeyu Sha","submitted_at":"2026-08-13T06:29:43Z","abstract_excerpt":"Reliable relative pose estimation between autonomous underwater vehicles (AUVs) is critical for cooperative ocean exploration, sampling, and multi-robot coordination. However, achieving robust vision-based relative localization in underwater environments remains challenging due to severe optical degradation, including turbidity, illumination variations, reflections, and intermittent feature occlusions. This paper presents AMR-Pose, an active LED marker-based relative pose estimation framework for cooperative AUVs. A compact marker module consisting of one red central LED and three blue periphe"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.12866","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/2608.12866/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2608.12866","created_at":"2026-08-14T00:49:23.795030+00:00"},{"alias_kind":"arxiv_version","alias_value":"2608.12866v1","created_at":"2026-08-14T00:49:23.795030+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.12866","created_at":"2026-08-14T00:49:23.795030+00:00"},{"alias_kind":"pith_short_12","alias_value":"Q5RS2PODATBE","created_at":"2026-08-14T00:49:23.795030+00:00"},{"alias_kind":"pith_short_16","alias_value":"Q5RS2PODATBE5WLX","created_at":"2026-08-14T00:49:23.795030+00:00"},{"alias_kind":"pith_short_8","alias_value":"Q5RS2POD","created_at":"2026-08-14T00:49:23.795030+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/Q5RS2PODATBE5WLXWNY3PZZ3CB","json":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB.json","graph_json":"https://pith.science/api/pith-number/Q5RS2PODATBE5WLXWNY3PZZ3CB/graph.json","events_json":"https://pith.science/api/pith-number/Q5RS2PODATBE5WLXWNY3PZZ3CB/events.json","paper":"https://pith.science/paper/Q5RS2POD"},"agent_actions":{"view_html":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB","download_json":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB.json","view_paper":"https://pith.science/paper/Q5RS2POD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2608.12866&json=true","fetch_graph":"https://pith.science/api/pith-number/Q5RS2PODATBE5WLXWNY3PZZ3CB/graph.json","fetch_events":"https://pith.science/api/pith-number/Q5RS2PODATBE5WLXWNY3PZZ3CB/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB/action/timestamp_anchor","attest_storage":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB/action/storage_attestation","attest_author":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB/action/author_attestation","sign_citation":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB/action/citation_signature","submit_replication":"https://pith.science/pith/Q5RS2PODATBE5WLXWNY3PZZ3CB/action/replication_record"}},"created_at":"2026-08-14T00:49:23.795030+00:00","updated_at":"2026-08-14T00:49:23.795030+00:00"}