{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:YK4LW2TFHG7VFL63MOYIRIHJGM","short_pith_number":"pith:YK4LW2TF","canonical_record":{"source":{"id":"2402.17892","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:12:31Z","cross_cats_sorted":[],"title_canon_sha256":"3743ba16a6937770d4dadbfc9ec250e84f8777fa00833c37ee391e486051439c","abstract_canon_sha256":"5fbf685726ab97d07f7312d0390c28faed0c8d26adf76a39ad9562e75b3e048f"},"schema_version":"1.0"},"canonical_sha256":"c2b8bb6a6539bf52afdb63b088a0e933165164b7bf2651a181dadb282a893820","source":{"kind":"arxiv","id":"2402.17892","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.17892","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"arxiv_version","alias_value":"2402.17892v2","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.17892","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"pith_short_12","alias_value":"YK4LW2TFHG7V","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"pith_short_16","alias_value":"YK4LW2TFHG7VFL63","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"pith_short_8","alias_value":"YK4LW2TF","created_at":"2026-07-05T07:57:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:YK4LW2TFHG7VFL63MOYIRIHJGM","target":"record","payload":{"canonical_record":{"source":{"id":"2402.17892","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:12:31Z","cross_cats_sorted":[],"title_canon_sha256":"3743ba16a6937770d4dadbfc9ec250e84f8777fa00833c37ee391e486051439c","abstract_canon_sha256":"5fbf685726ab97d07f7312d0390c28faed0c8d26adf76a39ad9562e75b3e048f"},"schema_version":"1.0"},"canonical_sha256":"c2b8bb6a6539bf52afdb63b088a0e933165164b7bf2651a181dadb282a893820","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:57:00.134092Z","signature_b64":"q/b6S2s02l6Xnt0qyXcJccEyRxXkNEtSZS3Cb923ksE0/8J975z2pYcicowjs3jpXq/1FkxUlIrANjtT6bs9Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c2b8bb6a6539bf52afdb63b088a0e933165164b7bf2651a181dadb282a893820","last_reissued_at":"2026-07-05T07:57:00.133555Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:57:00.133555Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.17892","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":"2026-07-05T07:57:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lIyQQS4Bl3HsV4oOd37+UiEGgMArdc3LkSXjv2S3wh/FKDciCVmdxq8J3xlT0xjhkEO86xF1Anfta9p8f6wMCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T21:28:49.038968Z"},"content_sha256":"62557731f84bac701f7e9d9ff912902e3ed8c3bde872ca8a6c3081b2f90db54d","schema_version":"1.0","event_id":"sha256:62557731f84bac701f7e9d9ff912902e3ed8c3bde872ca8a6c3081b2f90db54d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:YK4LW2TFHG7VFL63MOYIRIHJGM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SWTrack: Multiple Hypothesis Sliding Window 3D Multi-Object Tracking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Robert Ren, Sandro Papais, Steven Waslander","submitted_at":"2024-02-27T21:12:31Z","abstract_excerpt":"Modern robotic systems are required to operate in dense dynamic environments, requiring highly accurate real-time track identification and estimation. For 3D multi-object tracking, recent approaches process a single measurement frame recursively with greedy association and are prone to errors in ambiguous association decisions. Our method, Sliding Window Tracker (SWTrack), yields more accurate association and state estimation by batch processing many frames of sensor data while being capable of running online in real-time. The most probable track associations are identified by evaluating all p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.17892","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2402.17892/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":"2026-07-05T07:57:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hz00Cn4bjk2W2gbFCfrfYNrGka15gMmBo48Vzkn9/N2Irm3BX89SizB//iODYJ62vg1YCu0QgPTIHOlkrpz7Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T21:28:49.039485Z"},"content_sha256":"1ddaa5c3175043d95075ab1e18a24d7858c30585954d19f60f3f8a969fd481bf","schema_version":"1.0","event_id":"sha256:1ddaa5c3175043d95075ab1e18a24d7858c30585954d19f60f3f8a969fd481bf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YK4LW2TFHG7VFL63MOYIRIHJGM/bundle.json","state_url":"https://pith.science/pith/YK4LW2TFHG7VFL63MOYIRIHJGM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YK4LW2TFHG7VFL63MOYIRIHJGM/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":"2026-08-21T21:28:49Z","links":{"resolver":"https://pith.science/pith/YK4LW2TFHG7VFL63MOYIRIHJGM","bundle":"https://pith.science/pith/YK4LW2TFHG7VFL63MOYIRIHJGM/bundle.json","state":"https://pith.science/pith/YK4LW2TFHG7VFL63MOYIRIHJGM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YK4LW2TFHG7VFL63MOYIRIHJGM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:YK4LW2TFHG7VFL63MOYIRIHJGM","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":"5fbf685726ab97d07f7312d0390c28faed0c8d26adf76a39ad9562e75b3e048f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:12:31Z","title_canon_sha256":"3743ba16a6937770d4dadbfc9ec250e84f8777fa00833c37ee391e486051439c"},"schema_version":"1.0","source":{"id":"2402.17892","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.17892","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"arxiv_version","alias_value":"2402.17892v2","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.17892","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"pith_short_12","alias_value":"YK4LW2TFHG7V","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"pith_short_16","alias_value":"YK4LW2TFHG7VFL63","created_at":"2026-07-05T07:57:00Z"},{"alias_kind":"pith_short_8","alias_value":"YK4LW2TF","created_at":"2026-07-05T07:57:00Z"}],"graph_snapshots":[{"event_id":"sha256:1ddaa5c3175043d95075ab1e18a24d7858c30585954d19f60f3f8a969fd481bf","target":"graph","created_at":"2026-07-05T07:57:00Z","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/2402.17892/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Modern robotic systems are required to operate in dense dynamic environments, requiring highly accurate real-time track identification and estimation. For 3D multi-object tracking, recent approaches process a single measurement frame recursively with greedy association and are prone to errors in ambiguous association decisions. Our method, Sliding Window Tracker (SWTrack), yields more accurate association and state estimation by batch processing many frames of sensor data while being capable of running online in real-time. The most probable track associations are identified by evaluating all p","authors_text":"Robert Ren, Sandro Papais, Steven Waslander","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:12:31Z","title":"SWTrack: Multiple Hypothesis Sliding Window 3D Multi-Object Tracking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.17892","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":"sha256:62557731f84bac701f7e9d9ff912902e3ed8c3bde872ca8a6c3081b2f90db54d","target":"record","created_at":"2026-07-05T07:57:00Z","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":"5fbf685726ab97d07f7312d0390c28faed0c8d26adf76a39ad9562e75b3e048f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:12:31Z","title_canon_sha256":"3743ba16a6937770d4dadbfc9ec250e84f8777fa00833c37ee391e486051439c"},"schema_version":"1.0","source":{"id":"2402.17892","kind":"arxiv","version":2}},"canonical_sha256":"c2b8bb6a6539bf52afdb63b088a0e933165164b7bf2651a181dadb282a893820","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c2b8bb6a6539bf52afdb63b088a0e933165164b7bf2651a181dadb282a893820","first_computed_at":"2026-07-05T07:57:00.133555Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:57:00.133555Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"q/b6S2s02l6Xnt0qyXcJccEyRxXkNEtSZS3Cb923ksE0/8J975z2pYcicowjs3jpXq/1FkxUlIrANjtT6bs9Dw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:57:00.134092Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.17892","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:62557731f84bac701f7e9d9ff912902e3ed8c3bde872ca8a6c3081b2f90db54d","sha256:1ddaa5c3175043d95075ab1e18a24d7858c30585954d19f60f3f8a969fd481bf"],"state_sha256":"d74982f8245ab5d50ff323bf340e93f438d771b79704399b8e6a0788c9ac133f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fu4AcsaAQH3UGvndJDaeQwCFCL0A7+IYZhv3jG6gJXjn2t6tHcCuhA4a422dwKPRnsNaoYijgDy5yEzpjC2YDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T21:28:49.044451Z","bundle_sha256":"c905bf5cfa07c04e5e70b3ac97da216a1e0b4c1657e62c446ad2990c779c910c"}}