{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:SLQ4K3QYZB722R4PVQ4W2HTPQX","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":"6ae25e787ae3a9c23ee82df06341d27f98b8c337781664197f30a28a48c393d1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-20T02:00:53Z","title_canon_sha256":"cf254b42d346a5572b761ce87ec11ffccbfd2c4438382ffa51a4acc9b130c5f7"},"schema_version":"1.0","source":{"id":"1903.08313","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.08313","created_at":"2026-05-17T23:42:02Z"},{"alias_kind":"arxiv_version","alias_value":"1903.08313v2","created_at":"2026-05-17T23:42:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.08313","created_at":"2026-05-17T23:42:02Z"},{"alias_kind":"pith_short_12","alias_value":"SLQ4K3QYZB72","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"SLQ4K3QYZB722R4P","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"SLQ4K3QY","created_at":"2026-05-18T12:33:27Z"}],"graph_snapshots":[{"event_id":"sha256:2697803254d003e3cd6f80722b9ab3b05336dce59e8184899325685f284a4e7c","target":"graph","created_at":"2026-05-17T23:42:02Z","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":"A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional infrastructure to failure of both visual and range sensor-based techniques in highly aliased or visually challenging environments. In our previous work, we presented a lightweight coarse vision-based localisation system that could map and then localise to within a few metres in an underground mining environment. However, this level of precision is insufficient fo","authors_text":"Adam Jacobson, David Smith, Fan Zeng, Michael Milford, Nigel Boswell, Thierry Peynot","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-20T02:00:53Z","title":"LookUP: Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.08313","kind":"arxiv","version":2},"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:a83eb2776736adab62aabe1cab0b28a8111eb3aea5ebfd61864a518a3cb6a4e8","target":"record","created_at":"2026-05-17T23:42:02Z","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":"6ae25e787ae3a9c23ee82df06341d27f98b8c337781664197f30a28a48c393d1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-20T02:00:53Z","title_canon_sha256":"cf254b42d346a5572b761ce87ec11ffccbfd2c4438382ffa51a4acc9b130c5f7"},"schema_version":"1.0","source":{"id":"1903.08313","kind":"arxiv","version":2}},"canonical_sha256":"92e1c56e18c87fad478fac396d1e6f85f1fa93936e0bc80a93f52846af74c20e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"92e1c56e18c87fad478fac396d1e6f85f1fa93936e0bc80a93f52846af74c20e","first_computed_at":"2026-05-17T23:42:02.395655Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:42:02.395655Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZvSBgw8J3f7RfhBj1n/dJj8DfJk+3bwqIxXom4Fg/uLj9l3HcomgZuBuVbUOCDmfTJACIS9L37+LIl0XPEMNDw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:42:02.396195Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.08313","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a83eb2776736adab62aabe1cab0b28a8111eb3aea5ebfd61864a518a3cb6a4e8","sha256:2697803254d003e3cd6f80722b9ab3b05336dce59e8184899325685f284a4e7c"],"state_sha256":"f562c0ae6f0c616e0e9c2cdf5d9ad7c10a91222162d863334a33f6160eaf0eff"}