{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:U2DLFSI2MGULA4ATRCQUPDF62B","short_pith_number":"pith:U2DLFSI2","canonical_record":{"source":{"id":"2606.09143","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-08T07:40:17Z","cross_cats_sorted":[],"title_canon_sha256":"2886fe542471c604c2aa9b5295d2b89be186ae7f35c4ffdc65262984688ed12c","abstract_canon_sha256":"80410c1eb24146dc804d9ae227af878c1bdc5f190ca5dcacc98263ae540e45d5"},"schema_version":"1.0"},"canonical_sha256":"a686b2c91a61a8b0701388a1478cbed0743950fb933f76b6faaa36a5ea5ff707","source":{"kind":"arxiv","id":"2606.09143","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09143","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09143v1","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09143","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"pith_short_12","alias_value":"U2DLFSI2MGUL","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"pith_short_16","alias_value":"U2DLFSI2MGULA4AT","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"pith_short_8","alias_value":"U2DLFSI2","created_at":"2026-06-09T02:08:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:U2DLFSI2MGULA4ATRCQUPDF62B","target":"record","payload":{"canonical_record":{"source":{"id":"2606.09143","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-08T07:40:17Z","cross_cats_sorted":[],"title_canon_sha256":"2886fe542471c604c2aa9b5295d2b89be186ae7f35c4ffdc65262984688ed12c","abstract_canon_sha256":"80410c1eb24146dc804d9ae227af878c1bdc5f190ca5dcacc98263ae540e45d5"},"schema_version":"1.0"},"canonical_sha256":"a686b2c91a61a8b0701388a1478cbed0743950fb933f76b6faaa36a5ea5ff707","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-09T02:08:02.345260Z","signature_b64":"DSyeNgUu/atfIckaq81Pyl3iJ+INMLgTrQxi1J8zhD7g2NDKejVsWRlKmk24cunBlGFRE4p1XJ+2lDCIbkZ3AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a686b2c91a61a8b0701388a1478cbed0743950fb933f76b6faaa36a5ea5ff707","last_reissued_at":"2026-06-09T02:08:02.344266Z","signature_status":"signed_v1","first_computed_at":"2026-06-09T02:08:02.344266Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.09143","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-09T02:08:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VvCppkbLIPQI8ZXh+ZMeeinG9tABWcS8bGFU64WevRoCGqpf1SNZGeRpudsV62AvhOukmjWqNf33nNfJz6KEDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T15:48:58.578566Z"},"content_sha256":"7877fa45387ace2e864e15568df286777174ccc9155f9418ede539486a575ced","schema_version":"1.0","event_id":"sha256:7877fa45387ace2e864e15568df286777174ccc9155f9418ede539486a575ced"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:U2DLFSI2MGULA4ATRCQUPDF62B","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CAMF-Det: Closure-Aware Multimodal Fusion for LiDAR-Camera 3D Object Detection on UAV Platforms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Xian Li, Yanfeng Gu, Yanze Jiang","submitted_at":"2026-06-08T07:40:17Z","abstract_excerpt":"Multimodal 3D object detection based on LiDAR and cameras has demonstrated excellent performance in ground-vehicle scenarios, but has not been explored for Unmanned Aerial Vehicle (UAV) platforms. In UAV top-down scenes, frequent groundobject occlusion dominated by tree canopies causes spatially varying and modality-dependent information degradation. Existing multimodal fusion frameworks neither explicitly model such ground-object occlusion nor embed occlusion awareness into the detection pipeline, limiting their performance in occluded UAV scenes. To address these challenges, we propose CAMF-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09143","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/2606.09143/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-09T02:08:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wCqGoa5wIbAOoxijbTN42/tP3qtYSdRXN/c7CWOzQxT0ETI8AwJReC/dZWO4E04nGd46MvwlBQ+avGs4ICcRBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T15:48:58.578944Z"},"content_sha256":"3d476d4db5987ff75c3f0eaa108c5d4f8534ffdcd8957d16620e227d597fa3db","schema_version":"1.0","event_id":"sha256:3d476d4db5987ff75c3f0eaa108c5d4f8534ffdcd8957d16620e227d597fa3db"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/U2DLFSI2MGULA4ATRCQUPDF62B/bundle.json","state_url":"https://pith.science/pith/U2DLFSI2MGULA4ATRCQUPDF62B/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/U2DLFSI2MGULA4ATRCQUPDF62B/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":"2026-06-27T15:48:58Z","links":{"resolver":"https://pith.science/pith/U2DLFSI2MGULA4ATRCQUPDF62B","bundle":"https://pith.science/pith/U2DLFSI2MGULA4ATRCQUPDF62B/bundle.json","state":"https://pith.science/pith/U2DLFSI2MGULA4ATRCQUPDF62B/state.json","well_known_bundle":"https://pith.science/.well-known/pith/U2DLFSI2MGULA4ATRCQUPDF62B/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:U2DLFSI2MGULA4ATRCQUPDF62B","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":"80410c1eb24146dc804d9ae227af878c1bdc5f190ca5dcacc98263ae540e45d5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-08T07:40:17Z","title_canon_sha256":"2886fe542471c604c2aa9b5295d2b89be186ae7f35c4ffdc65262984688ed12c"},"schema_version":"1.0","source":{"id":"2606.09143","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09143","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09143v1","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09143","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"pith_short_12","alias_value":"U2DLFSI2MGUL","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"pith_short_16","alias_value":"U2DLFSI2MGULA4AT","created_at":"2026-06-09T02:08:02Z"},{"alias_kind":"pith_short_8","alias_value":"U2DLFSI2","created_at":"2026-06-09T02:08:02Z"}],"graph_snapshots":[{"event_id":"sha256:3d476d4db5987ff75c3f0eaa108c5d4f8534ffdcd8957d16620e227d597fa3db","target":"graph","created_at":"2026-06-09T02:08:02Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2606.09143/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multimodal 3D object detection based on LiDAR and cameras has demonstrated excellent performance in ground-vehicle scenarios, but has not been explored for Unmanned Aerial Vehicle (UAV) platforms. In UAV top-down scenes, frequent groundobject occlusion dominated by tree canopies causes spatially varying and modality-dependent information degradation. Existing multimodal fusion frameworks neither explicitly model such ground-object occlusion nor embed occlusion awareness into the detection pipeline, limiting their performance in occluded UAV scenes. To address these challenges, we propose CAMF-","authors_text":"Xian Li, Yanfeng Gu, Yanze Jiang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-08T07:40:17Z","title":"CAMF-Det: Closure-Aware Multimodal Fusion for LiDAR-Camera 3D Object Detection on UAV Platforms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09143","kind":"arxiv","version":1},"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":"sha256:7877fa45387ace2e864e15568df286777174ccc9155f9418ede539486a575ced","target":"record","created_at":"2026-06-09T02:08:02Z","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":"80410c1eb24146dc804d9ae227af878c1bdc5f190ca5dcacc98263ae540e45d5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-08T07:40:17Z","title_canon_sha256":"2886fe542471c604c2aa9b5295d2b89be186ae7f35c4ffdc65262984688ed12c"},"schema_version":"1.0","source":{"id":"2606.09143","kind":"arxiv","version":1}},"canonical_sha256":"a686b2c91a61a8b0701388a1478cbed0743950fb933f76b6faaa36a5ea5ff707","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a686b2c91a61a8b0701388a1478cbed0743950fb933f76b6faaa36a5ea5ff707","first_computed_at":"2026-06-09T02:08:02.344266Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:08:02.344266Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DSyeNgUu/atfIckaq81Pyl3iJ+INMLgTrQxi1J8zhD7g2NDKejVsWRlKmk24cunBlGFRE4p1XJ+2lDCIbkZ3AA==","signature_status":"signed_v1","signed_at":"2026-06-09T02:08:02.345260Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.09143","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7877fa45387ace2e864e15568df286777174ccc9155f9418ede539486a575ced","sha256:3d476d4db5987ff75c3f0eaa108c5d4f8534ffdcd8957d16620e227d597fa3db"],"state_sha256":"eea76e1ba4869f09b140fe8c208c7de0f79ed06c84019e5332a17b3136204414"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vTDGJBPxVtWoJZv5G2z4lFn1C6j4OewGWTGHREBovOiWeZ9WHk8QrqLHqokRhmU6GXyxwI9iYwx4fhhnMAQbAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T15:48:58.581061Z","bundle_sha256":"24858b6dbcd97c90433497220f82743ffa9b7ce136c46d724943be6c95c49d77"}}