{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:YLHEEJJLKMDV3QNBNCMJINGTKI","short_pith_number":"pith:YLHEEJJL","canonical_record":{"source":{"id":"2407.05017","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-06T09:21:25Z","cross_cats_sorted":[],"title_canon_sha256":"b6fc03041a7aedd93cab1da9318b28882e91afa7d505b908e11a4455e64bf20c","abstract_canon_sha256":"739cdfc7eabbc26602143aa9d7388b7a2956d09ee9e74767da74be0afacee4b8"},"schema_version":"1.0"},"canonical_sha256":"c2ce42252b53075dc1a168989434d3520e36c5b81118c41222ac3978edf02efb","source":{"kind":"arxiv","id":"2407.05017","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.05017","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"arxiv_version","alias_value":"2407.05017v1","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.05017","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"pith_short_12","alias_value":"YLHEEJJLKMDV","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"pith_short_16","alias_value":"YLHEEJJLKMDV3QNB","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"pith_short_8","alias_value":"YLHEEJJL","created_at":"2026-07-05T08:41:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:YLHEEJJLKMDV3QNBNCMJINGTKI","target":"record","payload":{"canonical_record":{"source":{"id":"2407.05017","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-06T09:21:25Z","cross_cats_sorted":[],"title_canon_sha256":"b6fc03041a7aedd93cab1da9318b28882e91afa7d505b908e11a4455e64bf20c","abstract_canon_sha256":"739cdfc7eabbc26602143aa9d7388b7a2956d09ee9e74767da74be0afacee4b8"},"schema_version":"1.0"},"canonical_sha256":"c2ce42252b53075dc1a168989434d3520e36c5b81118c41222ac3978edf02efb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:41:06.807901Z","signature_b64":"WM7hJwE2UnJYGix1oMvXxGBavztdFpuEfftGHK0PRIzcZK1UMcPUEI4dldFkpcalm5AxfkwCs78d5tXGwa7TAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c2ce42252b53075dc1a168989434d3520e36c5b81118c41222ac3978edf02efb","last_reissued_at":"2026-07-05T08:41:06.807444Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:41:06.807444Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.05017","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":"2026-07-05T08:41:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T3Puv4nP/ymZ5ITwVE+xz8m/BB22nvzUQlGBEHRd7x81EjvwZ513KOmM5iEZlC78s89+3t/IbYU3qi0TTG3iDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:46:34.122377Z"},"content_sha256":"bc4019a2b1913b6fb894f3209fc174def3bc5fbacef12fba521a7431b7a5ea10","schema_version":"1.0","event_id":"sha256:bc4019a2b1913b6fb894f3209fc174def3bc5fbacef12fba521a7431b7a5ea10"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:YLHEEJJLKMDV3QNBNCMJINGTKI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"VIPS-Odom: Visual-Inertial Odometry Tightly-coupled with Parking Slots for Autonomous Parking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Emad Barsoum, Fangyuan Wang, Han Liu, Jinzhang Peng, Lu Tian, Rongzhang Zheng, Xuefeng Jiang, Yixiong Huo","submitted_at":"2024-07-06T09:21:25Z","abstract_excerpt":"Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting, sparse textures, and the instability of global positioning system (GPS) signals pose challenges for most traditional localization methods. To address these difficulties, we propose VIPS-Odom, a novel semantic visual-inertial odometry framework for underground autonomous parking, which adopts tightly-coupled optimization to fuse measurements from multi-modal "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.05017","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/2407.05017/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":"2026-07-05T08:41:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"13Z0EZcShmaYOU9rsc2ES9sqluPSibxhv+f+vLD+554fo0W6HyoIxqP52P/CXNBKal3rPGwuITHeBVvLv4JSBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:46:34.122917Z"},"content_sha256":"83cd523dabcf6f0cdc0fff6d3d5c65010a8cbfefea7b18b777d972eb3e201e5d","schema_version":"1.0","event_id":"sha256:83cd523dabcf6f0cdc0fff6d3d5c65010a8cbfefea7b18b777d972eb3e201e5d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YLHEEJJLKMDV3QNBNCMJINGTKI/bundle.json","state_url":"https://pith.science/pith/YLHEEJJLKMDV3QNBNCMJINGTKI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YLHEEJJLKMDV3QNBNCMJINGTKI/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":"2026-08-03T15:46:34Z","links":{"resolver":"https://pith.science/pith/YLHEEJJLKMDV3QNBNCMJINGTKI","bundle":"https://pith.science/pith/YLHEEJJLKMDV3QNBNCMJINGTKI/bundle.json","state":"https://pith.science/pith/YLHEEJJLKMDV3QNBNCMJINGTKI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YLHEEJJLKMDV3QNBNCMJINGTKI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:YLHEEJJLKMDV3QNBNCMJINGTKI","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":"739cdfc7eabbc26602143aa9d7388b7a2956d09ee9e74767da74be0afacee4b8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-06T09:21:25Z","title_canon_sha256":"b6fc03041a7aedd93cab1da9318b28882e91afa7d505b908e11a4455e64bf20c"},"schema_version":"1.0","source":{"id":"2407.05017","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.05017","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"arxiv_version","alias_value":"2407.05017v1","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.05017","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"pith_short_12","alias_value":"YLHEEJJLKMDV","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"pith_short_16","alias_value":"YLHEEJJLKMDV3QNB","created_at":"2026-07-05T08:41:06Z"},{"alias_kind":"pith_short_8","alias_value":"YLHEEJJL","created_at":"2026-07-05T08:41:06Z"}],"graph_snapshots":[{"event_id":"sha256:83cd523dabcf6f0cdc0fff6d3d5c65010a8cbfefea7b18b777d972eb3e201e5d","target":"graph","created_at":"2026-07-05T08:41:06Z","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/2407.05017/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting, sparse textures, and the instability of global positioning system (GPS) signals pose challenges for most traditional localization methods. To address these difficulties, we propose VIPS-Odom, a novel semantic visual-inertial odometry framework for underground autonomous parking, which adopts tightly-coupled optimization to fuse measurements from multi-modal ","authors_text":"Emad Barsoum, Fangyuan Wang, Han Liu, Jinzhang Peng, Lu Tian, Rongzhang Zheng, Xuefeng Jiang, Yixiong Huo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-06T09:21:25Z","title":"VIPS-Odom: Visual-Inertial Odometry Tightly-coupled with Parking Slots for Autonomous Parking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.05017","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:bc4019a2b1913b6fb894f3209fc174def3bc5fbacef12fba521a7431b7a5ea10","target":"record","created_at":"2026-07-05T08:41:06Z","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":"739cdfc7eabbc26602143aa9d7388b7a2956d09ee9e74767da74be0afacee4b8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-06T09:21:25Z","title_canon_sha256":"b6fc03041a7aedd93cab1da9318b28882e91afa7d505b908e11a4455e64bf20c"},"schema_version":"1.0","source":{"id":"2407.05017","kind":"arxiv","version":1}},"canonical_sha256":"c2ce42252b53075dc1a168989434d3520e36c5b81118c41222ac3978edf02efb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c2ce42252b53075dc1a168989434d3520e36c5b81118c41222ac3978edf02efb","first_computed_at":"2026-07-05T08:41:06.807444Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:41:06.807444Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WM7hJwE2UnJYGix1oMvXxGBavztdFpuEfftGHK0PRIzcZK1UMcPUEI4dldFkpcalm5AxfkwCs78d5tXGwa7TAw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:41:06.807901Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.05017","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bc4019a2b1913b6fb894f3209fc174def3bc5fbacef12fba521a7431b7a5ea10","sha256:83cd523dabcf6f0cdc0fff6d3d5c65010a8cbfefea7b18b777d972eb3e201e5d"],"state_sha256":"2a401c3eb31222d21e1e6f5efe7c2dde2f103c9cdd3d04bf6905d49ef9443255"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ix7ZDRKkKoxs0XMWTCTCpSRkl+ExKGwS0vd6tBPxfE8ExID15va6bjE4g48woBVmAyVpWqD1xLwz60pT+rHICg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T15:46:34.127945Z","bundle_sha256":"b5e13432a0a32436dc5685ba72255d9c06cc8c8345c357c4b4a15f2e70b86302"}}