{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:YO2ZRTEYE6ZV34MIQJRKKS5CQH","short_pith_number":"pith:YO2ZRTEY","canonical_record":{"source":{"id":"2003.11192","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-25T02:52:05Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"70a28138ef461d5d9532020f76955d7bc88553861bd6d781c6efb87ca9f8fd00","abstract_canon_sha256":"158ef16910fbe998b5a61dc55b11743e5d965c23a0ead90ef857b343bcf48f7a"},"schema_version":"1.0"},"canonical_sha256":"c3b598cc9827b35df1888262a54ba281d68e67df602aca321f3ee4e8666bfe36","source":{"kind":"arxiv","id":"2003.11192","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.11192","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"arxiv_version","alias_value":"2003.11192v1","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.11192","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"pith_short_12","alias_value":"YO2ZRTEYE6ZV","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"pith_short_16","alias_value":"YO2ZRTEYE6ZV34MI","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"pith_short_8","alias_value":"YO2ZRTEY","created_at":"2026-07-05T00:50:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:YO2ZRTEYE6ZV34MIQJRKKS5CQH","target":"record","payload":{"canonical_record":{"source":{"id":"2003.11192","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-25T02:52:05Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"70a28138ef461d5d9532020f76955d7bc88553861bd6d781c6efb87ca9f8fd00","abstract_canon_sha256":"158ef16910fbe998b5a61dc55b11743e5d965c23a0ead90ef857b343bcf48f7a"},"schema_version":"1.0"},"canonical_sha256":"c3b598cc9827b35df1888262a54ba281d68e67df602aca321f3ee4e8666bfe36","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:50:32.045540Z","signature_b64":"dDP+sUB+u0lAexHfKaFt5sUskebGa4z6vbLvUz/vqccEG+PkIGKMlg0rjHhmqKJgA2pYFXzHYs8ZBlQi89C/BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c3b598cc9827b35df1888262a54ba281d68e67df602aca321f3ee4e8666bfe36","last_reissued_at":"2026-07-05T00:50:32.044945Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:50:32.044945Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2003.11192","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":"2026-07-05T00:50:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/sTrGUHjiGvzP3ojm9vTTKxMlmFKNAVAXAu8aK7zFeRp9H7/Kh26DAmwwfoKkHb4gv1DH5mvRSYLL071uKHeAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T00:37:50.809353Z"},"content_sha256":"f99b766d77ef13a4a47336c555216a7fe839a0e4fef7cc9d69a476c13c334b24","schema_version":"1.0","event_id":"sha256:f99b766d77ef13a4a47336c555216a7fe839a0e4fef7cc9d69a476c13c334b24"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:YO2ZRTEYE6ZV34MIQJRKKS5CQH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Aerial Imagery based LIDAR Localization for Autonomous Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ankit Vora, Gaurav Pandey, James McBride, Siddharth Agarwal","submitted_at":"2020-03-25T02:52:05Z","abstract_excerpt":"This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition reflectivity maps generated from a mapping vehicle. The cost and effort required to maintain such prior maps are generally very high because it requires a fleet of expensive mapping vehicles. In this work we propose a localization technique where the vehicle localizes using aerial/satellite imagery, eradicating the need to develop and maintain complex high-de"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.11192","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/2003.11192/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":"2026-07-05T00:50:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FwBCdCWJlm28k8luPcNQxL3pfZ7RKx7KSet8QyoafTFaoYu3iRDv8MKMcEJe+pW6dnJT6wh3kVremU5P688YCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T00:37:50.810010Z"},"content_sha256":"fdef7ed3a1892a66e492a546454d15f48902dd00f0799af17de647353b55e75e","schema_version":"1.0","event_id":"sha256:fdef7ed3a1892a66e492a546454d15f48902dd00f0799af17de647353b55e75e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YO2ZRTEYE6ZV34MIQJRKKS5CQH/bundle.json","state_url":"https://pith.science/pith/YO2ZRTEYE6ZV34MIQJRKKS5CQH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YO2ZRTEYE6ZV34MIQJRKKS5CQH/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":"2026-07-13T00:37:50Z","links":{"resolver":"https://pith.science/pith/YO2ZRTEYE6ZV34MIQJRKKS5CQH","bundle":"https://pith.science/pith/YO2ZRTEYE6ZV34MIQJRKKS5CQH/bundle.json","state":"https://pith.science/pith/YO2ZRTEYE6ZV34MIQJRKKS5CQH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YO2ZRTEYE6ZV34MIQJRKKS5CQH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:YO2ZRTEYE6ZV34MIQJRKKS5CQH","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":"158ef16910fbe998b5a61dc55b11743e5d965c23a0ead90ef857b343bcf48f7a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-25T02:52:05Z","title_canon_sha256":"70a28138ef461d5d9532020f76955d7bc88553861bd6d781c6efb87ca9f8fd00"},"schema_version":"1.0","source":{"id":"2003.11192","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.11192","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"arxiv_version","alias_value":"2003.11192v1","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.11192","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"pith_short_12","alias_value":"YO2ZRTEYE6ZV","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"pith_short_16","alias_value":"YO2ZRTEYE6ZV34MI","created_at":"2026-07-05T00:50:32Z"},{"alias_kind":"pith_short_8","alias_value":"YO2ZRTEY","created_at":"2026-07-05T00:50:32Z"}],"graph_snapshots":[{"event_id":"sha256:fdef7ed3a1892a66e492a546454d15f48902dd00f0799af17de647353b55e75e","target":"graph","created_at":"2026-07-05T00:50:32Z","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/2003.11192/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition reflectivity maps generated from a mapping vehicle. The cost and effort required to maintain such prior maps are generally very high because it requires a fleet of expensive mapping vehicles. In this work we propose a localization technique where the vehicle localizes using aerial/satellite imagery, eradicating the need to develop and maintain complex high-de","authors_text":"Ankit Vora, Gaurav Pandey, James McBride, Siddharth Agarwal","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-25T02:52:05Z","title":"Aerial Imagery based LIDAR Localization for Autonomous Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.11192","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:f99b766d77ef13a4a47336c555216a7fe839a0e4fef7cc9d69a476c13c334b24","target":"record","created_at":"2026-07-05T00:50:32Z","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":"158ef16910fbe998b5a61dc55b11743e5d965c23a0ead90ef857b343bcf48f7a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-25T02:52:05Z","title_canon_sha256":"70a28138ef461d5d9532020f76955d7bc88553861bd6d781c6efb87ca9f8fd00"},"schema_version":"1.0","source":{"id":"2003.11192","kind":"arxiv","version":1}},"canonical_sha256":"c3b598cc9827b35df1888262a54ba281d68e67df602aca321f3ee4e8666bfe36","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c3b598cc9827b35df1888262a54ba281d68e67df602aca321f3ee4e8666bfe36","first_computed_at":"2026-07-05T00:50:32.044945Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:50:32.044945Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dDP+sUB+u0lAexHfKaFt5sUskebGa4z6vbLvUz/vqccEG+PkIGKMlg0rjHhmqKJgA2pYFXzHYs8ZBlQi89C/BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:50:32.045540Z","signed_message":"canonical_sha256_bytes"},"source_id":"2003.11192","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f99b766d77ef13a4a47336c555216a7fe839a0e4fef7cc9d69a476c13c334b24","sha256:fdef7ed3a1892a66e492a546454d15f48902dd00f0799af17de647353b55e75e"],"state_sha256":"77764d510933b8b6a2c928d56e24322277651f373fa772bebb353ae832316384"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DL3A7dOYt8fTjOnaoDmtaUtyySPE2ylaoDNTZi8/bq362lEpaPxRVIC9HZ4dWZHF1vdBLF754r+STfAjSb8xCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-13T00:37:50.813898Z","bundle_sha256":"2f504b8d875ecc2270efa3b8e31399b433b9b85fcf998f09923046ab7963eea8"}}