{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:ZTGU5TS2FBN6UMI6EBVYS5R4FR","short_pith_number":"pith:ZTGU5TS2","schema_version":"1.0","canonical_sha256":"cccd4ece5a285bea311e206b89763c2c5d6e144c4738fd203bec5a8e103ff695","source":{"kind":"arxiv","id":"2409.16847","version":2},"attestation_state":"computed","paper":{"title":"CREVE: An Acceleration-based Constraint Approach for Robust Radar Ego-Velocity Estimation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bo Sung Ko, Hoang Viet Do, Jin Woo Song, Yong Hun Kim","submitted_at":"2024-09-25T11:54:24Z","abstract_excerpt":"Ego-velocity estimation from point cloud measurements of a millimeter-wave frequency-modulated continuous wave (mmWave FMCW) radar has become a crucial component of radar-inertial odometry (RIO) systems. Conventional approaches often exhibit poor performance when the number of outliers in the point cloud exceeds that of inliers, which can lead to degraded navigation performance, especially in RIO systems that rely on radar ego-velocity for dead reckoning. In this paper, we propose CREVE, an acceleration-based inequality constraints filter that leverages additional measurements from an inertial"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2409.16847","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T11:54:24Z","cross_cats_sorted":[],"title_canon_sha256":"5a4f736689f1c4e5a2a051d6e8da42a9ce1d3f32f9eabe4c4c7d05302fd745c7","abstract_canon_sha256":"f7ea3627cc987cfeff2a192dd10abb2e21629e009aec378a3e737c1958a7cfc6"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:52:14.603696Z","signature_b64":"AcvdKEj9z/QGQOqgIxGDX10o8DfOjWTpozhiGDO2NndRvluVwYwr5+N2AlwzlvkNN8dqMivty4+du391yAbMDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cccd4ece5a285bea311e206b89763c2c5d6e144c4738fd203bec5a8e103ff695","last_reissued_at":"2026-07-05T10:52:14.603173Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:52:14.603173Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"CREVE: An Acceleration-based Constraint Approach for Robust Radar Ego-Velocity Estimation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bo Sung Ko, Hoang Viet Do, Jin Woo Song, Yong Hun Kim","submitted_at":"2024-09-25T11:54:24Z","abstract_excerpt":"Ego-velocity estimation from point cloud measurements of a millimeter-wave frequency-modulated continuous wave (mmWave FMCW) radar has become a crucial component of radar-inertial odometry (RIO) systems. Conventional approaches often exhibit poor performance when the number of outliers in the point cloud exceeds that of inliers, which can lead to degraded navigation performance, especially in RIO systems that rely on radar ego-velocity for dead reckoning. In this paper, we propose CREVE, an acceleration-based inequality constraints filter that leverages additional measurements from an inertial"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.16847","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/2409.16847/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2409.16847","created_at":"2026-07-05T10:52:14.603232+00:00"},{"alias_kind":"arxiv_version","alias_value":"2409.16847v2","created_at":"2026-07-05T10:52:14.603232+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.16847","created_at":"2026-07-05T10:52:14.603232+00:00"},{"alias_kind":"pith_short_12","alias_value":"ZTGU5TS2FBN6","created_at":"2026-07-05T10:52:14.603232+00:00"},{"alias_kind":"pith_short_16","alias_value":"ZTGU5TS2FBN6UMI6","created_at":"2026-07-05T10:52:14.603232+00:00"},{"alias_kind":"pith_short_8","alias_value":"ZTGU5TS2","created_at":"2026-07-05T10:52:14.603232+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR","json":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR.json","graph_json":"https://pith.science/api/pith-number/ZTGU5TS2FBN6UMI6EBVYS5R4FR/graph.json","events_json":"https://pith.science/api/pith-number/ZTGU5TS2FBN6UMI6EBVYS5R4FR/events.json","paper":"https://pith.science/paper/ZTGU5TS2"},"agent_actions":{"view_html":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR","download_json":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR.json","view_paper":"https://pith.science/paper/ZTGU5TS2","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2409.16847&json=true","fetch_graph":"https://pith.science/api/pith-number/ZTGU5TS2FBN6UMI6EBVYS5R4FR/graph.json","fetch_events":"https://pith.science/api/pith-number/ZTGU5TS2FBN6UMI6EBVYS5R4FR/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR/action/storage_attestation","attest_author":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR/action/author_attestation","sign_citation":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR/action/citation_signature","submit_replication":"https://pith.science/pith/ZTGU5TS2FBN6UMI6EBVYS5R4FR/action/replication_record"}},"created_at":"2026-07-05T10:52:14.603232+00:00","updated_at":"2026-07-05T10:52:14.603232+00:00"}