{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:USN5U7UHX5BK2VZJ2DZ7D5J7TZ","short_pith_number":"pith:USN5U7UH","canonical_record":{"source":{"id":"2011.07008","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-13T16:41:55Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"ca9c4ef786a894946533928715b8ee409ff1eb86be0139bcee7ab2fee57911ad","abstract_canon_sha256":"65725d433f683749e3b3aa159a0790e52d529d9414a62bd7ffd2468babe42cc0"},"schema_version":"1.0"},"canonical_sha256":"a49bda7e87bf42ad5729d0f3f1f53f9e42d382106f8a1d129ba80f6e7ce02040","source":{"kind":"arxiv","id":"2011.07008","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.07008","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"arxiv_version","alias_value":"2011.07008v3","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07008","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"pith_short_12","alias_value":"USN5U7UHX5BK","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"pith_short_16","alias_value":"USN5U7UHX5BK2VZJ","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"pith_short_8","alias_value":"USN5U7UH","created_at":"2026-07-05T01:52:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:USN5U7UHX5BK2VZJ2DZ7D5J7TZ","target":"record","payload":{"canonical_record":{"source":{"id":"2011.07008","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-13T16:41:55Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"ca9c4ef786a894946533928715b8ee409ff1eb86be0139bcee7ab2fee57911ad","abstract_canon_sha256":"65725d433f683749e3b3aa159a0790e52d529d9414a62bd7ffd2468babe42cc0"},"schema_version":"1.0"},"canonical_sha256":"a49bda7e87bf42ad5729d0f3f1f53f9e42d382106f8a1d129ba80f6e7ce02040","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:52:03.221368Z","signature_b64":"x9yu/hfSdvIj/U0tVdkhoKuWOSxPobU/DqBelqX2Srknz1vamULUf4Tp1ccU4vac8svnfmG7ZCNZ2Qn89LyWBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a49bda7e87bf42ad5729d0f3f1f53f9e42d382106f8a1d129ba80f6e7ce02040","last_reissued_at":"2026-07-05T01:52:03.220961Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:52:03.220961Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2011.07008","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:52:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Gr+aCbROUXs2GAfj1i8vTPph6WdspKJN0LnNbJIw/lrYGMksNYK0OpdzUl7v2zh7pBpJACXv0N8DQZwhf+f7BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T08:27:36.968584Z"},"content_sha256":"32260feffc793a39225ce0ee3cfde2501fa16caf0e4ba5d61f14efe3f150656b","schema_version":"1.0","event_id":"sha256:32260feffc793a39225ce0ee3cfde2501fa16caf0e4ba5d61f14efe3f150656b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:USN5U7UHX5BK2VZJ2DZ7D5J7TZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Relative Drone-Ground Vehicle Localization using LiDAR and Fisheye Cameras through Direct and Indirect Observations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Jan Hausberg, Menandro Roxas, Ryoichi Ishikawa, Takeshi Oishi","submitted_at":"2020-11-13T16:41:55Z","abstract_excerpt":"Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a LiDAR-camera-based relative pose estimation method between a drone and a ground vehicle, using a LiDAR sensor and a fisheye camera on the vehicle's roof and another fisheye camera mounted under the drone. The LiDAR sensor directly observes the drone and measures its position, and the two cameras estimate the relative orientation using indirect observation of "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07008","kind":"arxiv","version":3},"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/2011.07008/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":"2026-07-05T01:52:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OpDaXz4G/MECSlwevr8xGSxXl+xDKmIQDXwU4Gh8t34QVIw8DtQeRaa7rkDQQa1hko3AGmsl7YGdfoXP/uuZDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T08:27:36.969089Z"},"content_sha256":"56c92ec23322c701963278e9e3056867c93b3680ba6c93d731946773338dfb42","schema_version":"1.0","event_id":"sha256:56c92ec23322c701963278e9e3056867c93b3680ba6c93d731946773338dfb42"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/USN5U7UHX5BK2VZJ2DZ7D5J7TZ/bundle.json","state_url":"https://pith.science/pith/USN5U7UHX5BK2VZJ2DZ7D5J7TZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/USN5U7UHX5BK2VZJ2DZ7D5J7TZ/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":"2026-08-14T08:27:36Z","links":{"resolver":"https://pith.science/pith/USN5U7UHX5BK2VZJ2DZ7D5J7TZ","bundle":"https://pith.science/pith/USN5U7UHX5BK2VZJ2DZ7D5J7TZ/bundle.json","state":"https://pith.science/pith/USN5U7UHX5BK2VZJ2DZ7D5J7TZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/USN5U7UHX5BK2VZJ2DZ7D5J7TZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:USN5U7UHX5BK2VZJ2DZ7D5J7TZ","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":"65725d433f683749e3b3aa159a0790e52d529d9414a62bd7ffd2468babe42cc0","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-13T16:41:55Z","title_canon_sha256":"ca9c4ef786a894946533928715b8ee409ff1eb86be0139bcee7ab2fee57911ad"},"schema_version":"1.0","source":{"id":"2011.07008","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.07008","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"arxiv_version","alias_value":"2011.07008v3","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07008","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"pith_short_12","alias_value":"USN5U7UHX5BK","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"pith_short_16","alias_value":"USN5U7UHX5BK2VZJ","created_at":"2026-07-05T01:52:03Z"},{"alias_kind":"pith_short_8","alias_value":"USN5U7UH","created_at":"2026-07-05T01:52:03Z"}],"graph_snapshots":[{"event_id":"sha256:56c92ec23322c701963278e9e3056867c93b3680ba6c93d731946773338dfb42","target":"graph","created_at":"2026-07-05T01:52:03Z","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/2011.07008/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a LiDAR-camera-based relative pose estimation method between a drone and a ground vehicle, using a LiDAR sensor and a fisheye camera on the vehicle's roof and another fisheye camera mounted under the drone. The LiDAR sensor directly observes the drone and measures its position, and the two cameras estimate the relative orientation using indirect observation of ","authors_text":"Jan Hausberg, Menandro Roxas, Ryoichi Ishikawa, Takeshi Oishi","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-13T16:41:55Z","title":"Relative Drone-Ground Vehicle Localization using LiDAR and Fisheye Cameras through Direct and Indirect Observations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07008","kind":"arxiv","version":3},"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":"sha256:32260feffc793a39225ce0ee3cfde2501fa16caf0e4ba5d61f14efe3f150656b","target":"record","created_at":"2026-07-05T01:52:03Z","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":"65725d433f683749e3b3aa159a0790e52d529d9414a62bd7ffd2468babe42cc0","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-13T16:41:55Z","title_canon_sha256":"ca9c4ef786a894946533928715b8ee409ff1eb86be0139bcee7ab2fee57911ad"},"schema_version":"1.0","source":{"id":"2011.07008","kind":"arxiv","version":3}},"canonical_sha256":"a49bda7e87bf42ad5729d0f3f1f53f9e42d382106f8a1d129ba80f6e7ce02040","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a49bda7e87bf42ad5729d0f3f1f53f9e42d382106f8a1d129ba80f6e7ce02040","first_computed_at":"2026-07-05T01:52:03.220961Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:52:03.220961Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"x9yu/hfSdvIj/U0tVdkhoKuWOSxPobU/DqBelqX2Srknz1vamULUf4Tp1ccU4vac8svnfmG7ZCNZ2Qn89LyWBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:52:03.221368Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.07008","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:32260feffc793a39225ce0ee3cfde2501fa16caf0e4ba5d61f14efe3f150656b","sha256:56c92ec23322c701963278e9e3056867c93b3680ba6c93d731946773338dfb42"],"state_sha256":"b03f70c1c62920d844a2d43be3e4d0d76ce995dcb640c9654a15c1dede4180de"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jMroyoWQRa42bBYsAjuKACbMv3CSrVlWt1TfGhvYoj6bciKVGw1/Q1zNhO6IbLbZd4I3UFqZmRym1fOfYqi8Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T08:27:36.976179Z","bundle_sha256":"e15b4048183c0fc4afc28b3e976531543cc5915eb1722673c409217731ccc84c"}}