{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:YIUFOJ6QUDPM6JTR3A3DA3MP4O","short_pith_number":"pith:YIUFOJ6Q","canonical_record":{"source":{"id":"2109.10270","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-09-21T15:51:24Z","cross_cats_sorted":[],"title_canon_sha256":"10c59ce605af190069ce8365b983a71f744e519ab5557130c676409c46c67782","abstract_canon_sha256":"16f26e3bbe6e330644221b3686dc7f6b27b1998f519d9463d8600e0b1858f5eb"},"schema_version":"1.0"},"canonical_sha256":"c2285727d0a0decf2671d836306d8fe3a106fc2ecc973b3a332f8cf3b6c56ac8","source":{"kind":"arxiv","id":"2109.10270","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.10270","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"arxiv_version","alias_value":"2109.10270v1","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.10270","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"pith_short_12","alias_value":"YIUFOJ6QUDPM","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"pith_short_16","alias_value":"YIUFOJ6QUDPM6JTR","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"pith_short_8","alias_value":"YIUFOJ6Q","created_at":"2026-07-05T03:16:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:YIUFOJ6QUDPM6JTR3A3DA3MP4O","target":"record","payload":{"canonical_record":{"source":{"id":"2109.10270","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-09-21T15:51:24Z","cross_cats_sorted":[],"title_canon_sha256":"10c59ce605af190069ce8365b983a71f744e519ab5557130c676409c46c67782","abstract_canon_sha256":"16f26e3bbe6e330644221b3686dc7f6b27b1998f519d9463d8600e0b1858f5eb"},"schema_version":"1.0"},"canonical_sha256":"c2285727d0a0decf2671d836306d8fe3a106fc2ecc973b3a332f8cf3b6c56ac8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:16:27.488164Z","signature_b64":"Q1c3KF42vzX/dSQR1F+kGAyXQMQPyAcHihjxm0TsSHEoql45JbRM8p6ds0CUV/KPGOSrq+8zxlwbCWIvqTJpBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c2285727d0a0decf2671d836306d8fe3a106fc2ecc973b3a332f8cf3b6c56ac8","last_reissued_at":"2026-07-05T03:16:27.487671Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:16:27.487671Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.10270","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":"2026-07-05T03:16:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JXHvS6lNxfhO+XnSq+U9GEL5uZXGxnouTYZtQQvCJj0fsfqgVXKbFI/7Zc1YRODVYMHcuS0WaJsVKYkS6znIAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:46:32.393543Z"},"content_sha256":"5a9d6524409f375cca825e1dd8c40b9d0e095eb45e210f0d39e36bf12527ebdb","schema_version":"1.0","event_id":"sha256:5a9d6524409f375cca825e1dd8c40b9d0e095eb45e210f0d39e36bf12527ebdb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:YIUFOJ6QUDPM6JTR3A3DA3MP4O","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SemCal: Semantic LiDAR-Camera Calibration using Neural MutualInformation Estimator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Peng Jiang, Philip Osteen, Srikanth Saripalli","submitted_at":"2021-09-21T15:51:24Z","abstract_excerpt":"This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information estimator to estimate the mutual information (MI) of semantic information extracted from each sensor measurement, facilitating semantic-level data association. By using a matrix exponential formulation of the $se(3)$ transformation and a kernel-based sampling method to sample from camera measurement based on LiDAR projected points, we can formulate the LiDAR-Camera calibration problem as a novel differentiable objective"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.10270","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/2109.10270/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":"2026-07-05T03:16:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4i9oGPiVW8s0lMi2MCnzPzCy2Fb/QpNoYxseWjdo0f5+Oa+HpxLI39iIMVY47FV4n7lQ3l+bbps+ZQ5n7gHhCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:46:32.394080Z"},"content_sha256":"88a489ca620dea8bd3ed2ac4c794315e04bd390ffce1e4f173839f074cdc95a7","schema_version":"1.0","event_id":"sha256:88a489ca620dea8bd3ed2ac4c794315e04bd390ffce1e4f173839f074cdc95a7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YIUFOJ6QUDPM6JTR3A3DA3MP4O/bundle.json","state_url":"https://pith.science/pith/YIUFOJ6QUDPM6JTR3A3DA3MP4O/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YIUFOJ6QUDPM6JTR3A3DA3MP4O/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":"2026-08-07T04:46:32Z","links":{"resolver":"https://pith.science/pith/YIUFOJ6QUDPM6JTR3A3DA3MP4O","bundle":"https://pith.science/pith/YIUFOJ6QUDPM6JTR3A3DA3MP4O/bundle.json","state":"https://pith.science/pith/YIUFOJ6QUDPM6JTR3A3DA3MP4O/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YIUFOJ6QUDPM6JTR3A3DA3MP4O/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:YIUFOJ6QUDPM6JTR3A3DA3MP4O","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":"16f26e3bbe6e330644221b3686dc7f6b27b1998f519d9463d8600e0b1858f5eb","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-09-21T15:51:24Z","title_canon_sha256":"10c59ce605af190069ce8365b983a71f744e519ab5557130c676409c46c67782"},"schema_version":"1.0","source":{"id":"2109.10270","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.10270","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"arxiv_version","alias_value":"2109.10270v1","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.10270","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"pith_short_12","alias_value":"YIUFOJ6QUDPM","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"pith_short_16","alias_value":"YIUFOJ6QUDPM6JTR","created_at":"2026-07-05T03:16:27Z"},{"alias_kind":"pith_short_8","alias_value":"YIUFOJ6Q","created_at":"2026-07-05T03:16:27Z"}],"graph_snapshots":[{"event_id":"sha256:88a489ca620dea8bd3ed2ac4c794315e04bd390ffce1e4f173839f074cdc95a7","target":"graph","created_at":"2026-07-05T03:16:27Z","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/2109.10270/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information estimator to estimate the mutual information (MI) of semantic information extracted from each sensor measurement, facilitating semantic-level data association. By using a matrix exponential formulation of the $se(3)$ transformation and a kernel-based sampling method to sample from camera measurement based on LiDAR projected points, we can formulate the LiDAR-Camera calibration problem as a novel differentiable objective","authors_text":"Peng Jiang, Philip Osteen, Srikanth Saripalli","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-09-21T15:51:24Z","title":"SemCal: Semantic LiDAR-Camera Calibration using Neural MutualInformation Estimator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.10270","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":"sha256:5a9d6524409f375cca825e1dd8c40b9d0e095eb45e210f0d39e36bf12527ebdb","target":"record","created_at":"2026-07-05T03:16:27Z","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":"16f26e3bbe6e330644221b3686dc7f6b27b1998f519d9463d8600e0b1858f5eb","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-09-21T15:51:24Z","title_canon_sha256":"10c59ce605af190069ce8365b983a71f744e519ab5557130c676409c46c67782"},"schema_version":"1.0","source":{"id":"2109.10270","kind":"arxiv","version":1}},"canonical_sha256":"c2285727d0a0decf2671d836306d8fe3a106fc2ecc973b3a332f8cf3b6c56ac8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c2285727d0a0decf2671d836306d8fe3a106fc2ecc973b3a332f8cf3b6c56ac8","first_computed_at":"2026-07-05T03:16:27.487671Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:16:27.487671Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Q1c3KF42vzX/dSQR1F+kGAyXQMQPyAcHihjxm0TsSHEoql45JbRM8p6ds0CUV/KPGOSrq+8zxlwbCWIvqTJpBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:16:27.488164Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.10270","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5a9d6524409f375cca825e1dd8c40b9d0e095eb45e210f0d39e36bf12527ebdb","sha256:88a489ca620dea8bd3ed2ac4c794315e04bd390ffce1e4f173839f074cdc95a7"],"state_sha256":"be2a0771dffd917ca0aeb3cfa7ab0255eb0239ad85689e51755377add7f09ade"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nbf6nsyIU+f452E67DrLQYCf7lhtlLPfG5As75547X+lMUSgiQ/AFwIz6oEkOU+xdnRWz/oQGyTd8iwo1EvvDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T04:46:32.397969Z","bundle_sha256":"5a925ff32f08f7d8df84e42bdce6995a6c6424d91d2103e3880dfb36d97a5b89"}}