{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:WXCVDKC3HZK267M73PAQFVMVIN","short_pith_number":"pith:WXCVDKC3","canonical_record":{"source":{"id":"2105.08837","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-18T21:26:45Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"28bb2311122f65075e57c13a960a52cbe57bfff06a6dcadcfc483a201eef7693","abstract_canon_sha256":"10edf0774d0e86244efa6a6efb0c0ccfb37604f5802af346d80abcdce12e0acd"},"schema_version":"1.0"},"canonical_sha256":"b5c551a85b3e55af7d9fdbc102d595434ee4db316512c3cd7735e321c74a806e","source":{"kind":"arxiv","id":"2105.08837","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.08837","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"arxiv_version","alias_value":"2105.08837v1","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.08837","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"pith_short_12","alias_value":"WXCVDKC3HZK2","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"pith_short_16","alias_value":"WXCVDKC3HZK267M7","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"pith_short_8","alias_value":"WXCVDKC3","created_at":"2026-07-05T02:41:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:WXCVDKC3HZK267M73PAQFVMVIN","target":"record","payload":{"canonical_record":{"source":{"id":"2105.08837","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-18T21:26:45Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"28bb2311122f65075e57c13a960a52cbe57bfff06a6dcadcfc483a201eef7693","abstract_canon_sha256":"10edf0774d0e86244efa6a6efb0c0ccfb37604f5802af346d80abcdce12e0acd"},"schema_version":"1.0"},"canonical_sha256":"b5c551a85b3e55af7d9fdbc102d595434ee4db316512c3cd7735e321c74a806e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:41:34.328491Z","signature_b64":"nhDQZsvIqAe/BzqDW2p9+u6DSDpsUrbiPUXJYuzHc2dVJ9ibJISDu7uG//nZOIX0MVvHZZRgI9Vi5Am79kHXCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b5c551a85b3e55af7d9fdbc102d595434ee4db316512c3cd7735e321c74a806e","last_reissued_at":"2026-07-05T02:41:34.328090Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:41:34.328090Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.08837","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":"2026-07-05T02:41:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lA478odFZrhLFd42CE+RJnyR3KrB8z4ZfSEJP2kBKY/g/3GPVL129oaNklbDG5e17kQJ5VIZjybViYnFUzBtAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:43:03.963891Z"},"content_sha256":"7c14aad6ac69940f8a752c5be10aa971fdfece8e761d43dd4e1d8e3dfb9c3955","schema_version":"1.0","event_id":"sha256:7c14aad6ac69940f8a752c5be10aa971fdfece8e761d43dd4e1d8e3dfb9c3955"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:WXCVDKC3HZK267M73PAQFVMVIN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Bowen Chen, Pyojin Kim, Sachini Herath, Saghar Irandoust, Yasutaka Furukawa, Yiming Qian","submitted_at":"2021-05-18T21:26:45Z","abstract_excerpt":"The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to estimate a relative motion trajectory from IMU sensor data; 2) a WiFi-based localization API in industry to obtain positional constraints and geo-localize the trajectory; and 3) a convolutional neural network to refine the location history to be consistent with the floorplan.\n  We have developed a data acquisition app to build a new dataset with WiFi, IMU, and fl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.08837","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/2105.08837/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":"2026-07-05T02:41:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k8q54AcMUJRGF6LuKjkJDUZ5mMrhOyzvcyMlyyrzI1tYf5ZD1zp6zlSfw3ylh9CjUxx60ofWhELCU9T/rjO/CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:43:03.964255Z"},"content_sha256":"ce7939bc7838bda37fd6fe9bf19440d17d10566dfc63939c53a5a65a98f8319b","schema_version":"1.0","event_id":"sha256:ce7939bc7838bda37fd6fe9bf19440d17d10566dfc63939c53a5a65a98f8319b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WXCVDKC3HZK267M73PAQFVMVIN/bundle.json","state_url":"https://pith.science/pith/WXCVDKC3HZK267M73PAQFVMVIN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WXCVDKC3HZK267M73PAQFVMVIN/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":"2026-07-06T18:43:03Z","links":{"resolver":"https://pith.science/pith/WXCVDKC3HZK267M73PAQFVMVIN","bundle":"https://pith.science/pith/WXCVDKC3HZK267M73PAQFVMVIN/bundle.json","state":"https://pith.science/pith/WXCVDKC3HZK267M73PAQFVMVIN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WXCVDKC3HZK267M73PAQFVMVIN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:WXCVDKC3HZK267M73PAQFVMVIN","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":"10edf0774d0e86244efa6a6efb0c0ccfb37604f5802af346d80abcdce12e0acd","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-18T21:26:45Z","title_canon_sha256":"28bb2311122f65075e57c13a960a52cbe57bfff06a6dcadcfc483a201eef7693"},"schema_version":"1.0","source":{"id":"2105.08837","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.08837","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"arxiv_version","alias_value":"2105.08837v1","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.08837","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"pith_short_12","alias_value":"WXCVDKC3HZK2","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"pith_short_16","alias_value":"WXCVDKC3HZK267M7","created_at":"2026-07-05T02:41:34Z"},{"alias_kind":"pith_short_8","alias_value":"WXCVDKC3","created_at":"2026-07-05T02:41:34Z"}],"graph_snapshots":[{"event_id":"sha256:ce7939bc7838bda37fd6fe9bf19440d17d10566dfc63939c53a5a65a98f8319b","target":"graph","created_at":"2026-07-05T02:41:34Z","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/2105.08837/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to estimate a relative motion trajectory from IMU sensor data; 2) a WiFi-based localization API in industry to obtain positional constraints and geo-localize the trajectory; and 3) a convolutional neural network to refine the location history to be consistent with the floorplan.\n  We have developed a data acquisition app to build a new dataset with WiFi, IMU, and fl","authors_text":"Bowen Chen, Pyojin Kim, Sachini Herath, Saghar Irandoust, Yasutaka Furukawa, Yiming Qian","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-18T21:26:45Z","title":"Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.08837","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":"sha256:7c14aad6ac69940f8a752c5be10aa971fdfece8e761d43dd4e1d8e3dfb9c3955","target":"record","created_at":"2026-07-05T02:41:34Z","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":"10edf0774d0e86244efa6a6efb0c0ccfb37604f5802af346d80abcdce12e0acd","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-18T21:26:45Z","title_canon_sha256":"28bb2311122f65075e57c13a960a52cbe57bfff06a6dcadcfc483a201eef7693"},"schema_version":"1.0","source":{"id":"2105.08837","kind":"arxiv","version":1}},"canonical_sha256":"b5c551a85b3e55af7d9fdbc102d595434ee4db316512c3cd7735e321c74a806e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b5c551a85b3e55af7d9fdbc102d595434ee4db316512c3cd7735e321c74a806e","first_computed_at":"2026-07-05T02:41:34.328090Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:41:34.328090Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nhDQZsvIqAe/BzqDW2p9+u6DSDpsUrbiPUXJYuzHc2dVJ9ibJISDu7uG//nZOIX0MVvHZZRgI9Vi5Am79kHXCw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:41:34.328491Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.08837","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7c14aad6ac69940f8a752c5be10aa971fdfece8e761d43dd4e1d8e3dfb9c3955","sha256:ce7939bc7838bda37fd6fe9bf19440d17d10566dfc63939c53a5a65a98f8319b"],"state_sha256":"06663a4bd6dbc75973432bba97d3a3c9a950ccf84171a60a5fad744c7def60ac"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"775fftGMP+PiFR5i1zIRP4w656o5D4ZdUm3v47dnArQBajWG29yGJT7DtGPnc1gPcHq7YyD7Rq9vhyXGuizsBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T18:43:03.966203Z","bundle_sha256":"6cb6c8bcbb73194fd81d70bef14edd2ad2b9dad2216234f6f2f6c72aaeb60eed"}}