{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:QIUUWG2R6IGEEK53RPVXL4J6MW","short_pith_number":"pith:QIUUWG2R","canonical_record":{"source":{"id":"1708.07338","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-24T09:53:07Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"3dad69739105cf11c706a7b478d74351d3ea519d4d2d7d63843955d8750efb9f","abstract_canon_sha256":"9ce66fd6488cb598da5774f19b43ceff08507a4488a5e615d91dd6e0913c7921"},"schema_version":"1.0"},"canonical_sha256":"82294b1b51f20c422bbb8beb75f13e65bc7e8f594cc9d28bcacf91e7c0dfab03","source":{"kind":"arxiv","id":"1708.07338","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1708.07338","created_at":"2026-05-18T00:13:21Z"},{"alias_kind":"arxiv_version","alias_value":"1708.07338v3","created_at":"2026-05-18T00:13:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.07338","created_at":"2026-05-18T00:13:21Z"},{"alias_kind":"pith_short_12","alias_value":"QIUUWG2R6IGE","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_16","alias_value":"QIUUWG2R6IGEEK53","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_8","alias_value":"QIUUWG2R","created_at":"2026-05-18T12:31:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:QIUUWG2R6IGEEK53RPVXL4J6MW","target":"record","payload":{"canonical_record":{"source":{"id":"1708.07338","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-24T09:53:07Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"3dad69739105cf11c706a7b478d74351d3ea519d4d2d7d63843955d8750efb9f","abstract_canon_sha256":"9ce66fd6488cb598da5774f19b43ceff08507a4488a5e615d91dd6e0913c7921"},"schema_version":"1.0"},"canonical_sha256":"82294b1b51f20c422bbb8beb75f13e65bc7e8f594cc9d28bcacf91e7c0dfab03","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:13:21.920547Z","signature_b64":"ntT48fdYuI1M8Si+akC1N4cchk3/MYtIgEbuGc+wIBoXL8kZas5RZQEBnD1zibQqkDUQ/91SHtaljS8n4X2BDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"82294b1b51f20c422bbb8beb75f13e65bc7e8f594cc9d28bcacf91e7c0dfab03","last_reissued_at":"2026-05-18T00:13:21.919963Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:13:21.919963Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1708.07338","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":"2026-05-18T00:13:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fhCZsiyq9dgBvKOrdumTXzZdLSbxfGBB3k0+nAlx/jDmFfar550EPF7FoWsyyKOPypw3yeXGfpp0iu4k36hVBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:47:57.334705Z"},"content_sha256":"01abc475df9f2266bf685bc6ba4d5afdf85183830ce6d819982732ca5e9a56ef","schema_version":"1.0","event_id":"sha256:01abc475df9f2266bf685bc6ba4d5afdf85183830ce6d819982732ca5e9a56ef"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:QIUUWG2R6IGEEK53RPVXL4J6MW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Gradient-based Camera Exposure Control for Outdoor Mobile Platforms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Dong-Geol Choi, In So Kweon, Inwook Shim, Jinwook Choi, Joon-Young Lee, Tae-Hyun Oh","submitted_at":"2017-08-24T09:53:07Z","abstract_excerpt":"We introduce a novel method to automatically adjust camera exposure for image processing and computer vision applications on mobile robot platforms. Because most image processing algorithms rely heavily on low-level image features that are based mainly on local gradient information, we consider that gradient quantity can determine the proper exposure level, allowing a camera to capture the important image features in a manner robust to illumination conditions. We then extend this concept to a multi-camera system and present a new control algorithm to achieve both brightness consistency between"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.07338","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":""},"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":"2026-05-18T00:13:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"huX4Z4j9xQ2dBqSJmhE+YAbX/9xvSLjBci1LUAVrwRJ5c2IlPBiI3w6+9eLXUD7nVOm9FXY+Az8ERsLH4w+HAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:47:57.335383Z"},"content_sha256":"3b009f9ae2323931d06003661958c2585024262ad7d7dd6d8af3f3e96fa6a94f","schema_version":"1.0","event_id":"sha256:3b009f9ae2323931d06003661958c2585024262ad7d7dd6d8af3f3e96fa6a94f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QIUUWG2R6IGEEK53RPVXL4J6MW/bundle.json","state_url":"https://pith.science/pith/QIUUWG2R6IGEEK53RPVXL4J6MW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QIUUWG2R6IGEEK53RPVXL4J6MW/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":"2026-05-26T01:47:57Z","links":{"resolver":"https://pith.science/pith/QIUUWG2R6IGEEK53RPVXL4J6MW","bundle":"https://pith.science/pith/QIUUWG2R6IGEEK53RPVXL4J6MW/bundle.json","state":"https://pith.science/pith/QIUUWG2R6IGEEK53RPVXL4J6MW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QIUUWG2R6IGEEK53RPVXL4J6MW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:QIUUWG2R6IGEEK53RPVXL4J6MW","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":"9ce66fd6488cb598da5774f19b43ceff08507a4488a5e615d91dd6e0913c7921","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-24T09:53:07Z","title_canon_sha256":"3dad69739105cf11c706a7b478d74351d3ea519d4d2d7d63843955d8750efb9f"},"schema_version":"1.0","source":{"id":"1708.07338","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1708.07338","created_at":"2026-05-18T00:13:21Z"},{"alias_kind":"arxiv_version","alias_value":"1708.07338v3","created_at":"2026-05-18T00:13:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.07338","created_at":"2026-05-18T00:13:21Z"},{"alias_kind":"pith_short_12","alias_value":"QIUUWG2R6IGE","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_16","alias_value":"QIUUWG2R6IGEEK53","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_8","alias_value":"QIUUWG2R","created_at":"2026-05-18T12:31:39Z"}],"graph_snapshots":[{"event_id":"sha256:3b009f9ae2323931d06003661958c2585024262ad7d7dd6d8af3f3e96fa6a94f","target":"graph","created_at":"2026-05-18T00:13:21Z","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"},"paper":{"abstract_excerpt":"We introduce a novel method to automatically adjust camera exposure for image processing and computer vision applications on mobile robot platforms. Because most image processing algorithms rely heavily on low-level image features that are based mainly on local gradient information, we consider that gradient quantity can determine the proper exposure level, allowing a camera to capture the important image features in a manner robust to illumination conditions. We then extend this concept to a multi-camera system and present a new control algorithm to achieve both brightness consistency between","authors_text":"Dong-Geol Choi, In So Kweon, Inwook Shim, Jinwook Choi, Joon-Young Lee, Tae-Hyun Oh","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-24T09:53:07Z","title":"Gradient-based Camera Exposure Control for Outdoor Mobile Platforms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.07338","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":"sha256:01abc475df9f2266bf685bc6ba4d5afdf85183830ce6d819982732ca5e9a56ef","target":"record","created_at":"2026-05-18T00:13:21Z","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":"9ce66fd6488cb598da5774f19b43ceff08507a4488a5e615d91dd6e0913c7921","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-24T09:53:07Z","title_canon_sha256":"3dad69739105cf11c706a7b478d74351d3ea519d4d2d7d63843955d8750efb9f"},"schema_version":"1.0","source":{"id":"1708.07338","kind":"arxiv","version":3}},"canonical_sha256":"82294b1b51f20c422bbb8beb75f13e65bc7e8f594cc9d28bcacf91e7c0dfab03","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"82294b1b51f20c422bbb8beb75f13e65bc7e8f594cc9d28bcacf91e7c0dfab03","first_computed_at":"2026-05-18T00:13:21.919963Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:13:21.919963Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ntT48fdYuI1M8Si+akC1N4cchk3/MYtIgEbuGc+wIBoXL8kZas5RZQEBnD1zibQqkDUQ/91SHtaljS8n4X2BDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:13:21.920547Z","signed_message":"canonical_sha256_bytes"},"source_id":"1708.07338","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:01abc475df9f2266bf685bc6ba4d5afdf85183830ce6d819982732ca5e9a56ef","sha256:3b009f9ae2323931d06003661958c2585024262ad7d7dd6d8af3f3e96fa6a94f"],"state_sha256":"92af2f39f12722662938357709385a59d4a392c1f45549caf50561df8bf5c0d1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0zIRNkl5mxzHPNt5sX3yOn32J6j7yt7IrWy9s0dHrLHMAjdSXiWvgDouDjapsn8AxDcMNVbszAOi4Pn4+ymgCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T01:47:57.339110Z","bundle_sha256":"468c98a675cd1d667b5decea0bf22672ef246c0ad031ccbd7c2e16614876e311"}}