{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:XLTZGEIATGQJYE3RTNBSZLKBKY","short_pith_number":"pith:XLTZGEIA","canonical_record":{"source":{"id":"2006.11729","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-21T07:35:57Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"de8d8fe20d731c7c25a43290889176f48d7fc9c577ba0d1b33ce0d6ce64fb26d","abstract_canon_sha256":"9dc7d63f0aa24b8e352a75fbc4097f2a59da8e3b83d16d5439b71fb525c37a97"},"schema_version":"1.0"},"canonical_sha256":"bae793110099a09c13719b432cad415614330df1d4ad62eca4e9ca0d497f1c0e","source":{"kind":"arxiv","id":"2006.11729","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.11729","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"arxiv_version","alias_value":"2006.11729v1","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.11729","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"pith_short_12","alias_value":"XLTZGEIATGQJ","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"pith_short_16","alias_value":"XLTZGEIATGQJYE3R","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"pith_short_8","alias_value":"XLTZGEIA","created_at":"2026-07-05T01:11:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:XLTZGEIATGQJYE3RTNBSZLKBKY","target":"record","payload":{"canonical_record":{"source":{"id":"2006.11729","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-21T07:35:57Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"de8d8fe20d731c7c25a43290889176f48d7fc9c577ba0d1b33ce0d6ce64fb26d","abstract_canon_sha256":"9dc7d63f0aa24b8e352a75fbc4097f2a59da8e3b83d16d5439b71fb525c37a97"},"schema_version":"1.0"},"canonical_sha256":"bae793110099a09c13719b432cad415614330df1d4ad62eca4e9ca0d497f1c0e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:11:53.214575Z","signature_b64":"a4hPXZrvK4plAKljnAud1l5HUL9T0hgiiqbSDmNzjrGg5SSstZi972i6xZD5A+Q/or3JP0lBzJDV/0jCWlLlCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bae793110099a09c13719b432cad415614330df1d4ad62eca4e9ca0d497f1c0e","last_reissued_at":"2026-07-05T01:11:53.214112Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:11:53.214112Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2006.11729","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":"2026-07-05T01:11:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QTBlxmycwTOSC8O9ce0Yh9E3RAG9ysPE2QM7iPbKgNLg+FoPJeh6JYkOLTMt9b2voqjz1h5q/4ATRm446oVeAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T15:55:34.669433Z"},"content_sha256":"b10428e798bd8dab0f92c14c27914896627aa49103e8236e076a7b32f14fc43e","schema_version":"1.0","event_id":"sha256:b10428e798bd8dab0f92c14c27914896627aa49103e8236e076a7b32f14fc43e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:XLTZGEIATGQJYE3RTNBSZLKBKY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Kiwifruit detection in challenging conditions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Bruce MacDonald, Henry Williams, Ho Seok Ahn, Jamie Bell, JongYoon Lim, Mahla Nejati, Nicky Penhall","submitted_at":"2020-06-21T07:35:57Z","abstract_excerpt":"Accurate and reliable kiwifruit detection is one of the biggest challenges in developing a selective fruit harvesting robot. The vision system of an orchard robot faces difficulties such as dynamic lighting conditions and fruit occlusions. This paper presents a semantic segmentation approach with two novel image prepossessing techniques designed to detect kiwifruit under the harsh lighting conditions found in the canopy. The performance of the presented system is evaluated on a 3D real-world image set of kiwifruit under different lighting conditions (typical, glare, and overexposed). Alone the"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.11729","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/2006.11729/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":"2026-07-05T01:11:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9DkZGo4dunWymy0VOea1FI+47Ul3RXrFukIrSqe7BtamuUv6jnihhTwFcdF7/ep7TaYvQRCOg3U7SIzACdAIBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T15:55:34.669936Z"},"content_sha256":"1fc4cff906831171b72e12c21edcc818cd097508fabf6562e2b90a1f28de53c4","schema_version":"1.0","event_id":"sha256:1fc4cff906831171b72e12c21edcc818cd097508fabf6562e2b90a1f28de53c4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XLTZGEIATGQJYE3RTNBSZLKBKY/bundle.json","state_url":"https://pith.science/pith/XLTZGEIATGQJYE3RTNBSZLKBKY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XLTZGEIATGQJYE3RTNBSZLKBKY/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":"2026-08-06T15:55:34Z","links":{"resolver":"https://pith.science/pith/XLTZGEIATGQJYE3RTNBSZLKBKY","bundle":"https://pith.science/pith/XLTZGEIATGQJYE3RTNBSZLKBKY/bundle.json","state":"https://pith.science/pith/XLTZGEIATGQJYE3RTNBSZLKBKY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XLTZGEIATGQJYE3RTNBSZLKBKY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:XLTZGEIATGQJYE3RTNBSZLKBKY","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":"9dc7d63f0aa24b8e352a75fbc4097f2a59da8e3b83d16d5439b71fb525c37a97","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-21T07:35:57Z","title_canon_sha256":"de8d8fe20d731c7c25a43290889176f48d7fc9c577ba0d1b33ce0d6ce64fb26d"},"schema_version":"1.0","source":{"id":"2006.11729","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.11729","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"arxiv_version","alias_value":"2006.11729v1","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.11729","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"pith_short_12","alias_value":"XLTZGEIATGQJ","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"pith_short_16","alias_value":"XLTZGEIATGQJYE3R","created_at":"2026-07-05T01:11:53Z"},{"alias_kind":"pith_short_8","alias_value":"XLTZGEIA","created_at":"2026-07-05T01:11:53Z"}],"graph_snapshots":[{"event_id":"sha256:1fc4cff906831171b72e12c21edcc818cd097508fabf6562e2b90a1f28de53c4","target":"graph","created_at":"2026-07-05T01:11:53Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2006.11729/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurate and reliable kiwifruit detection is one of the biggest challenges in developing a selective fruit harvesting robot. The vision system of an orchard robot faces difficulties such as dynamic lighting conditions and fruit occlusions. This paper presents a semantic segmentation approach with two novel image prepossessing techniques designed to detect kiwifruit under the harsh lighting conditions found in the canopy. The performance of the presented system is evaluated on a 3D real-world image set of kiwifruit under different lighting conditions (typical, glare, and overexposed). Alone the","authors_text":"Bruce MacDonald, Henry Williams, Ho Seok Ahn, Jamie Bell, JongYoon Lim, Mahla Nejati, Nicky Penhall","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-21T07:35:57Z","title":"Kiwifruit detection in challenging conditions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.11729","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:b10428e798bd8dab0f92c14c27914896627aa49103e8236e076a7b32f14fc43e","target":"record","created_at":"2026-07-05T01:11:53Z","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":"9dc7d63f0aa24b8e352a75fbc4097f2a59da8e3b83d16d5439b71fb525c37a97","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-21T07:35:57Z","title_canon_sha256":"de8d8fe20d731c7c25a43290889176f48d7fc9c577ba0d1b33ce0d6ce64fb26d"},"schema_version":"1.0","source":{"id":"2006.11729","kind":"arxiv","version":1}},"canonical_sha256":"bae793110099a09c13719b432cad415614330df1d4ad62eca4e9ca0d497f1c0e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bae793110099a09c13719b432cad415614330df1d4ad62eca4e9ca0d497f1c0e","first_computed_at":"2026-07-05T01:11:53.214112Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:11:53.214112Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"a4hPXZrvK4plAKljnAud1l5HUL9T0hgiiqbSDmNzjrGg5SSstZi972i6xZD5A+Q/or3JP0lBzJDV/0jCWlLlCg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:11:53.214575Z","signed_message":"canonical_sha256_bytes"},"source_id":"2006.11729","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b10428e798bd8dab0f92c14c27914896627aa49103e8236e076a7b32f14fc43e","sha256:1fc4cff906831171b72e12c21edcc818cd097508fabf6562e2b90a1f28de53c4"],"state_sha256":"dbb0b86b4f2edd5b4fe23f45de488b6ca75ff1a5d95adf33984649fb21c0cef4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JYfVk2JbdenGaPX+YvDUHGln5tNmNKKO4S4s4pXd/bIXQVlBWm5l3oApyWed6dLYJmLd0JIodlnTKdpD/A1XBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T15:55:34.673760Z","bundle_sha256":"51d14c7a4bc6880914678430e1e2ce8362fdaaa22aeb0a2cac852c999248827b"}}