{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:UPIDLRFLFVARZQHPTMDU6SYTYM","short_pith_number":"pith:UPIDLRFL","canonical_record":{"source":{"id":"1807.11264","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-30T09:58:48Z","cross_cats_sorted":["cs.PF"],"title_canon_sha256":"ef27e28bec9bb0b32b41640b0d6044c4a9886f2a97ad9635dc99c5194049c6e1","abstract_canon_sha256":"040e3a12e46723844cab0856f089b03b6b8ef1e3fe3f0d2007d358c56ba451fb"},"schema_version":"1.0"},"canonical_sha256":"a3d035c4ab2d411cc0ef9b074f4b13c339402b7568aaaeb1e295da32e3bd8b4e","source":{"kind":"arxiv","id":"1807.11264","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.11264","created_at":"2026-05-17T23:41:53Z"},{"alias_kind":"arxiv_version","alias_value":"1807.11264v2","created_at":"2026-05-17T23:41:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.11264","created_at":"2026-05-17T23:41:53Z"},{"alias_kind":"pith_short_12","alias_value":"UPIDLRFLFVAR","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"UPIDLRFLFVARZQHP","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"UPIDLRFL","created_at":"2026-05-18T12:32:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:UPIDLRFLFVARZQHPTMDU6SYTYM","target":"record","payload":{"canonical_record":{"source":{"id":"1807.11264","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-30T09:58:48Z","cross_cats_sorted":["cs.PF"],"title_canon_sha256":"ef27e28bec9bb0b32b41640b0d6044c4a9886f2a97ad9635dc99c5194049c6e1","abstract_canon_sha256":"040e3a12e46723844cab0856f089b03b6b8ef1e3fe3f0d2007d358c56ba451fb"},"schema_version":"1.0"},"canonical_sha256":"a3d035c4ab2d411cc0ef9b074f4b13c339402b7568aaaeb1e295da32e3bd8b4e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:41:53.924103Z","signature_b64":"N+F7h6DN+TBhYdACMXIC2MUEDZoPy9GsVAIEF6E+M3fqXr+uZbp6CJMP3K/yDtUE2LlNJhjzH487++TJWnvJCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a3d035c4ab2d411cc0ef9b074f4b13c339402b7568aaaeb1e295da32e3bd8b4e","last_reissued_at":"2026-05-17T23:41:53.923685Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:41:53.923685Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.11264","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":"2026-05-17T23:41:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7o4w5MpKNzD8V1723fJS8uWM/Qri0r/szCzL5VCyRsrYFkoozZRHimNxapkeucmxjjJwG8Rw7TofujXdZPlqAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T21:13:29.377978Z"},"content_sha256":"229257c500f2feaf1b47ad23234c7bcd2006cb73bd5a011f579139241f23dd2f","schema_version":"1.0","event_id":"sha256:229257c500f2feaf1b47ad23234c7bcd2006cb73bd5a011f579139241f23dd2f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:UPIDLRFLFVARZQHPTMDU6SYTYM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real Time Lidar and Radar High-Level Fusion for Obstacle Detection and Tracking with evaluation on a ground truth","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.PF"],"primary_cat":"cs.RO","authors_text":"Hatem Hajri, Mohamed-Cherif Rahal","submitted_at":"2018-07-30T09:58:48Z","abstract_excerpt":"- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions. Sensor fusion between Lidar and Radar aims at improving obstacle detection using advantages of the two sensors. The present paper proposes a real-time Lidar/Radar data fusion algorithm for obstacle detection and tracking based on the global nearest neighbour standard filter (GNN). This algorithm is implemented and embedded in an automative vehicle as a compon"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.11264","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":"2026-05-17T23:41:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rIIfbpIIZDPcpOYg034KiLTm80ZJIMVJA4luslUum/RvC/Fv1COj+qO2+2ToBmw9xpzd6pRF8RYsclW1TzvICw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T21:13:29.378699Z"},"content_sha256":"63997a3574950621cf027fda354a019cbdefb42d932bb380a4a5b7bc67027a71","schema_version":"1.0","event_id":"sha256:63997a3574950621cf027fda354a019cbdefb42d932bb380a4a5b7bc67027a71"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UPIDLRFLFVARZQHPTMDU6SYTYM/bundle.json","state_url":"https://pith.science/pith/UPIDLRFLFVARZQHPTMDU6SYTYM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UPIDLRFLFVARZQHPTMDU6SYTYM/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":"2026-05-28T21:13:29Z","links":{"resolver":"https://pith.science/pith/UPIDLRFLFVARZQHPTMDU6SYTYM","bundle":"https://pith.science/pith/UPIDLRFLFVARZQHPTMDU6SYTYM/bundle.json","state":"https://pith.science/pith/UPIDLRFLFVARZQHPTMDU6SYTYM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UPIDLRFLFVARZQHPTMDU6SYTYM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:UPIDLRFLFVARZQHPTMDU6SYTYM","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":"040e3a12e46723844cab0856f089b03b6b8ef1e3fe3f0d2007d358c56ba451fb","cross_cats_sorted":["cs.PF"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-30T09:58:48Z","title_canon_sha256":"ef27e28bec9bb0b32b41640b0d6044c4a9886f2a97ad9635dc99c5194049c6e1"},"schema_version":"1.0","source":{"id":"1807.11264","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.11264","created_at":"2026-05-17T23:41:53Z"},{"alias_kind":"arxiv_version","alias_value":"1807.11264v2","created_at":"2026-05-17T23:41:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.11264","created_at":"2026-05-17T23:41:53Z"},{"alias_kind":"pith_short_12","alias_value":"UPIDLRFLFVAR","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"UPIDLRFLFVARZQHP","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"UPIDLRFL","created_at":"2026-05-18T12:32:56Z"}],"graph_snapshots":[{"event_id":"sha256:63997a3574950621cf027fda354a019cbdefb42d932bb380a4a5b7bc67027a71","target":"graph","created_at":"2026-05-17T23:41:53Z","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":"- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions. Sensor fusion between Lidar and Radar aims at improving obstacle detection using advantages of the two sensors. The present paper proposes a real-time Lidar/Radar data fusion algorithm for obstacle detection and tracking based on the global nearest neighbour standard filter (GNN). This algorithm is implemented and embedded in an automative vehicle as a compon","authors_text":"Hatem Hajri, Mohamed-Cherif Rahal","cross_cats":["cs.PF"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-30T09:58:48Z","title":"Real Time Lidar and Radar High-Level Fusion for Obstacle Detection and Tracking with evaluation on a ground truth"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.11264","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":"sha256:229257c500f2feaf1b47ad23234c7bcd2006cb73bd5a011f579139241f23dd2f","target":"record","created_at":"2026-05-17T23:41:53Z","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":"040e3a12e46723844cab0856f089b03b6b8ef1e3fe3f0d2007d358c56ba451fb","cross_cats_sorted":["cs.PF"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-30T09:58:48Z","title_canon_sha256":"ef27e28bec9bb0b32b41640b0d6044c4a9886f2a97ad9635dc99c5194049c6e1"},"schema_version":"1.0","source":{"id":"1807.11264","kind":"arxiv","version":2}},"canonical_sha256":"a3d035c4ab2d411cc0ef9b074f4b13c339402b7568aaaeb1e295da32e3bd8b4e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a3d035c4ab2d411cc0ef9b074f4b13c339402b7568aaaeb1e295da32e3bd8b4e","first_computed_at":"2026-05-17T23:41:53.923685Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:41:53.923685Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"N+F7h6DN+TBhYdACMXIC2MUEDZoPy9GsVAIEF6E+M3fqXr+uZbp6CJMP3K/yDtUE2LlNJhjzH487++TJWnvJCQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:41:53.924103Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.11264","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:229257c500f2feaf1b47ad23234c7bcd2006cb73bd5a011f579139241f23dd2f","sha256:63997a3574950621cf027fda354a019cbdefb42d932bb380a4a5b7bc67027a71"],"state_sha256":"a664cbbbd67240c2d7a29326813442c53e2fc9459ac7dc7559388231428e17ea"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5Bc9VDnvQBeI+x7o0bk7WB6mCVBNzTGXG4dRjZ007FIcn6P689+06sacsXYohj0wAioU4t83HPPpWqNLu1nCAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T21:13:29.382580Z","bundle_sha256":"58bfe7358ae67cf828a940711bb4fabfddfc2d5105e834b643428d6dc38b8765"}}