{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:TQBVBOKS5AVHGSR3EG4VSZ23RP","short_pith_number":"pith:TQBVBOKS","canonical_record":{"source":{"id":"1804.07873","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-21T01:15:44Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"dd5185b49e73fbc7d2b2a7ba10d130fcbd27435c4052cce576e64e052b18e63c","abstract_canon_sha256":"a7df6fbc25bc49952121aeb225c93c2a482994c86166f0b78d3e1dc572c4a7df"},"schema_version":"1.0"},"canonical_sha256":"9c0350b952e82a734a3b21b959675b8bec308873a964efd20d5e889d10c3a890","source":{"kind":"arxiv","id":"1804.07873","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.07873","created_at":"2026-05-18T00:06:50Z"},{"alias_kind":"arxiv_version","alias_value":"1804.07873v2","created_at":"2026-05-18T00:06:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.07873","created_at":"2026-05-18T00:06:50Z"},{"alias_kind":"pith_short_12","alias_value":"TQBVBOKS5AVH","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"TQBVBOKS5AVHGSR3","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"TQBVBOKS","created_at":"2026-05-18T12:32:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:TQBVBOKS5AVHGSR3EG4VSZ23RP","target":"record","payload":{"canonical_record":{"source":{"id":"1804.07873","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-21T01:15:44Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"dd5185b49e73fbc7d2b2a7ba10d130fcbd27435c4052cce576e64e052b18e63c","abstract_canon_sha256":"a7df6fbc25bc49952121aeb225c93c2a482994c86166f0b78d3e1dc572c4a7df"},"schema_version":"1.0"},"canonical_sha256":"9c0350b952e82a734a3b21b959675b8bec308873a964efd20d5e889d10c3a890","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:06:50.748888Z","signature_b64":"v1FhQQRT6aa0elQc7+Y39iOgCQd928gRniAqjZwT+mX8ZmBcPXcgxEFFqHJ8Phhf26Yj8IYpdzY7JX50cEK3Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9c0350b952e82a734a3b21b959675b8bec308873a964efd20d5e889d10c3a890","last_reissued_at":"2026-05-18T00:06:50.748298Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:06:50.748298Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1804.07873","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:06:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dvcIhevZKEjxJ3tFyJaNNCEsve7dE3Zpph2Y4SkXfQeJ9OKxachhPx8tKMz4GGOdTS6hZ47afnvrg6iM4y6VCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T16:06:17.487468Z"},"content_sha256":"606edb9f696c61e0251e299f8c9b375e0cb7a9cde7b8e54b3d4de065a633b9e0","schema_version":"1.0","event_id":"sha256:606edb9f696c61e0251e299f8c9b375e0cb7a9cde7b8e54b3d4de065a633b9e0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:TQBVBOKS5AVHGSR3EG4VSZ23RP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"3D Human Pose Estimation on a Configurable Bed from a Pressure Image","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ariel Kapusta, Charles C. Kemp, Daehyung Park, Henry M. Clever, Yash Chitalia, Zackory Erickson","submitted_at":"2018-04-21T01:15:44Z","abstract_excerpt":"Robots have the potential to assist people in bed, such as in healthcare settings, yet bedding materials like sheets and blankets can make observation of the human body difficult for robots. A pressure-sensing mat on a bed can provide pressure images that are relatively insensitive to bedding materials. However, prior work on estimating human pose from pressure images has been restricted to 2D pose estimates and flat beds. In this work, we present two convolutional neural networks to estimate the 3D joint positions of a person in a configurable bed from a single pressure image. The first netwo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.07873","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:06:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N9ylbocwQoI5mUDg2xvmYXFRYzid0bxoGyL8SxKDj+t2LbNvVSonNTcXgn2UBerC8ZiwqMep6TAu2xr9R5Q3Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T16:06:17.487972Z"},"content_sha256":"1e72ab8e2a6d44f1a02f2db02ea4fa60d365123f55ddb28256bc65f77dfce678","schema_version":"1.0","event_id":"sha256:1e72ab8e2a6d44f1a02f2db02ea4fa60d365123f55ddb28256bc65f77dfce678"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TQBVBOKS5AVHGSR3EG4VSZ23RP/bundle.json","state_url":"https://pith.science/pith/TQBVBOKS5AVHGSR3EG4VSZ23RP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TQBVBOKS5AVHGSR3EG4VSZ23RP/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":"2026-05-28T16:06:17Z","links":{"resolver":"https://pith.science/pith/TQBVBOKS5AVHGSR3EG4VSZ23RP","bundle":"https://pith.science/pith/TQBVBOKS5AVHGSR3EG4VSZ23RP/bundle.json","state":"https://pith.science/pith/TQBVBOKS5AVHGSR3EG4VSZ23RP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TQBVBOKS5AVHGSR3EG4VSZ23RP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:TQBVBOKS5AVHGSR3EG4VSZ23RP","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":"a7df6fbc25bc49952121aeb225c93c2a482994c86166f0b78d3e1dc572c4a7df","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-21T01:15:44Z","title_canon_sha256":"dd5185b49e73fbc7d2b2a7ba10d130fcbd27435c4052cce576e64e052b18e63c"},"schema_version":"1.0","source":{"id":"1804.07873","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.07873","created_at":"2026-05-18T00:06:50Z"},{"alias_kind":"arxiv_version","alias_value":"1804.07873v2","created_at":"2026-05-18T00:06:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.07873","created_at":"2026-05-18T00:06:50Z"},{"alias_kind":"pith_short_12","alias_value":"TQBVBOKS5AVH","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"TQBVBOKS5AVHGSR3","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"TQBVBOKS","created_at":"2026-05-18T12:32:56Z"}],"graph_snapshots":[{"event_id":"sha256:1e72ab8e2a6d44f1a02f2db02ea4fa60d365123f55ddb28256bc65f77dfce678","target":"graph","created_at":"2026-05-18T00:06:50Z","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":"Robots have the potential to assist people in bed, such as in healthcare settings, yet bedding materials like sheets and blankets can make observation of the human body difficult for robots. A pressure-sensing mat on a bed can provide pressure images that are relatively insensitive to bedding materials. However, prior work on estimating human pose from pressure images has been restricted to 2D pose estimates and flat beds. In this work, we present two convolutional neural networks to estimate the 3D joint positions of a person in a configurable bed from a single pressure image. The first netwo","authors_text":"Ariel Kapusta, Charles C. Kemp, Daehyung Park, Henry M. Clever, Yash Chitalia, Zackory Erickson","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-21T01:15:44Z","title":"3D Human Pose Estimation on a Configurable Bed from a Pressure Image"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.07873","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":"sha256:606edb9f696c61e0251e299f8c9b375e0cb7a9cde7b8e54b3d4de065a633b9e0","target":"record","created_at":"2026-05-18T00:06:50Z","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":"a7df6fbc25bc49952121aeb225c93c2a482994c86166f0b78d3e1dc572c4a7df","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-21T01:15:44Z","title_canon_sha256":"dd5185b49e73fbc7d2b2a7ba10d130fcbd27435c4052cce576e64e052b18e63c"},"schema_version":"1.0","source":{"id":"1804.07873","kind":"arxiv","version":2}},"canonical_sha256":"9c0350b952e82a734a3b21b959675b8bec308873a964efd20d5e889d10c3a890","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c0350b952e82a734a3b21b959675b8bec308873a964efd20d5e889d10c3a890","first_computed_at":"2026-05-18T00:06:50.748298Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:06:50.748298Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"v1FhQQRT6aa0elQc7+Y39iOgCQd928gRniAqjZwT+mX8ZmBcPXcgxEFFqHJ8Phhf26Yj8IYpdzY7JX50cEK3Bw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:06:50.748888Z","signed_message":"canonical_sha256_bytes"},"source_id":"1804.07873","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:606edb9f696c61e0251e299f8c9b375e0cb7a9cde7b8e54b3d4de065a633b9e0","sha256:1e72ab8e2a6d44f1a02f2db02ea4fa60d365123f55ddb28256bc65f77dfce678"],"state_sha256":"625bd37ffcbdc9842d8c8d6eeecb2ceaf0d29409182c3ee57e8696230b6e53aa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xr2tmtDj5nLu9H0BlEUyZ9QUUleFjfUb/grb2bbAQAA0kmWDtLnSl3aU1kmhd4qt4vpbGw0oFobngcfKBh1fAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T16:06:17.490814Z","bundle_sha256":"b8d05e28347f3f33a3b29ce3513ebd0ad21fcef519c92059d48d1a5c9564cd5c"}}