{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:TC4OCBGWGOJLRODZMY2LVIRP6L","short_pith_number":"pith:TC4OCBGW","schema_version":"1.0","canonical_sha256":"98b8e104d63392b8b8796634baa22ff2ec5ea62e57805703dfb0772aa9de6b56","source":{"kind":"arxiv","id":"2109.11615","version":2},"attestation_state":"computed","paper":{"title":"Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Driving","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Hao Cheng, Monika Sester, Yunshuang Yuan","submitted_at":"2021-09-23T19:41:02Z","abstract_excerpt":"Sharing collective perception messages (CPM) between vehicles is investigated to decrease occlusions so as to improve the perception accuracy and safety of autonomous driving. However, highly accurate data sharing and low communication overhead is a big challenge for collective perception, especially when real-time communication is required among connected and automated vehicles. In this paper, we propose an efficient and effective keypoints-based deep feature fusion framework built on the 3D object detector PV-RCNN, called Fusion PV-RCNN (FPV-RCNN for short), for collective perception. We int"},"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":"2109.11615","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2021-09-23T19:41:02Z","cross_cats_sorted":[],"title_canon_sha256":"3f25a8ba692d3236654488d7d2d31972f94300cbdc1a72513f2489bff1d2d8db","abstract_canon_sha256":"6e126167de8e32ce61d3e98e7e01fdb7309044a5530d85e76910ca67f26daf94"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:56:50.138759Z","signature_b64":"C8HXXDPb+VNF8kcqj3CNu1V8rQbFc8LCifJZb2EZqoAd/QXkKiIzwkClFMcFzVIw/fa9CqP+H5MBREoFgQfcCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"98b8e104d63392b8b8796634baa22ff2ec5ea62e57805703dfb0772aa9de6b56","last_reissued_at":"2026-07-05T03:56:50.138330Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:56:50.138330Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Driving","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Hao Cheng, Monika Sester, Yunshuang Yuan","submitted_at":"2021-09-23T19:41:02Z","abstract_excerpt":"Sharing collective perception messages (CPM) between vehicles is investigated to decrease occlusions so as to improve the perception accuracy and safety of autonomous driving. However, highly accurate data sharing and low communication overhead is a big challenge for collective perception, especially when real-time communication is required among connected and automated vehicles. In this paper, we propose an efficient and effective keypoints-based deep feature fusion framework built on the 3D object detector PV-RCNN, called Fusion PV-RCNN (FPV-RCNN for short), for collective perception. We int"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.11615","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2109.11615/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":"2109.11615","created_at":"2026-07-05T03:56:50.138396+00:00"},{"alias_kind":"arxiv_version","alias_value":"2109.11615v2","created_at":"2026-07-05T03:56:50.138396+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.11615","created_at":"2026-07-05T03:56:50.138396+00:00"},{"alias_kind":"pith_short_12","alias_value":"TC4OCBGWGOJL","created_at":"2026-07-05T03:56:50.138396+00:00"},{"alias_kind":"pith_short_16","alias_value":"TC4OCBGWGOJLRODZ","created_at":"2026-07-05T03:56:50.138396+00:00"},{"alias_kind":"pith_short_8","alias_value":"TC4OCBGW","created_at":"2026-07-05T03:56:50.138396+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/TC4OCBGWGOJLRODZMY2LVIRP6L","json":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L.json","graph_json":"https://pith.science/api/pith-number/TC4OCBGWGOJLRODZMY2LVIRP6L/graph.json","events_json":"https://pith.science/api/pith-number/TC4OCBGWGOJLRODZMY2LVIRP6L/events.json","paper":"https://pith.science/paper/TC4OCBGW"},"agent_actions":{"view_html":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L","download_json":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L.json","view_paper":"https://pith.science/paper/TC4OCBGW","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2109.11615&json=true","fetch_graph":"https://pith.science/api/pith-number/TC4OCBGWGOJLRODZMY2LVIRP6L/graph.json","fetch_events":"https://pith.science/api/pith-number/TC4OCBGWGOJLRODZMY2LVIRP6L/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L/action/timestamp_anchor","attest_storage":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L/action/storage_attestation","attest_author":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L/action/author_attestation","sign_citation":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L/action/citation_signature","submit_replication":"https://pith.science/pith/TC4OCBGWGOJLRODZMY2LVIRP6L/action/replication_record"}},"created_at":"2026-07-05T03:56:50.138396+00:00","updated_at":"2026-07-05T03:56:50.138396+00:00"}