{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ZXRVF237F53ZA32RMPJTGOEEII","short_pith_number":"pith:ZXRVF237","canonical_record":{"source":{"id":"2602.22243","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T12:38:45Z","cross_cats_sorted":[],"title_canon_sha256":"57d0c77df7696d8eba2947e04508d5678c7c626e31a8061f36a0ec8afd63266c","abstract_canon_sha256":"b7dbfc0cb041f6f5b95fb41467d414ab39761173d33d0b7dd150b465881ef5eb"},"schema_version":"1.0"},"canonical_sha256":"cde352eb7f2f77906f5163d333388442345914b1c8be78f12cad9fe51d1b6d35","source":{"kind":"arxiv","id":"2602.22243","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.22243","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"arxiv_version","alias_value":"2602.22243v3","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.22243","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"pith_short_12","alias_value":"ZXRVF237F53Z","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"pith_short_16","alias_value":"ZXRVF237F53ZA32R","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"pith_short_8","alias_value":"ZXRVF237","created_at":"2026-06-09T02:07:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ZXRVF237F53ZA32RMPJTGOEEII","target":"record","payload":{"canonical_record":{"source":{"id":"2602.22243","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T12:38:45Z","cross_cats_sorted":[],"title_canon_sha256":"57d0c77df7696d8eba2947e04508d5678c7c626e31a8061f36a0ec8afd63266c","abstract_canon_sha256":"b7dbfc0cb041f6f5b95fb41467d414ab39761173d33d0b7dd150b465881ef5eb"},"schema_version":"1.0"},"canonical_sha256":"cde352eb7f2f77906f5163d333388442345914b1c8be78f12cad9fe51d1b6d35","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-09T02:07:22.059167Z","signature_b64":"eLwWPlmOijel6ok4QDw9AMejqpwljTRtoTPMmid3CuOa9IZV+8sFnEX53lMEP4Jhda6BLDSUTCgN0+RXfdruDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cde352eb7f2f77906f5163d333388442345914b1c8be78f12cad9fe51d1b6d35","last_reissued_at":"2026-06-09T02:07:22.058181Z","signature_status":"signed_v1","first_computed_at":"2026-06-09T02:07:22.058181Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2602.22243","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-09T02:07:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eiHeyHdjUEmENn54Zmf6Z8xQVq6R4GGhkDO4E3Ceaj2SQlW54Vonqmv+RMJb3lQaRmkftZO4+PNZJDCht8V5AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-09T22:46:32.884491Z"},"content_sha256":"38e00ee6901b1263c2e792091056f7065c7aa2a5ce9cc998edd441e04835d7a3","schema_version":"1.0","event_id":"sha256:38e00ee6901b1263c2e792091056f7065c7aa2a5ce9cc998edd441e04835d7a3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ZXRVF237F53ZA32RMPJTGOEEII","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SODA-CitrON: Static Object Data Association by Clustering Multi-Modal Sensor Detections Online","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"SODA-CitrON clusters multi-modal detections online to associate and track static objects without motion models or known counts.","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jan Nausner, Kilian Wohlleben, Michael Hubner","submitted_at":"2026-02-24T12:38:45Z","abstract_excerpt":"The online fusion and tracking of static objects from heterogeneous sensor detections is a fundamental problem in robotics, autonomous systems, and environmental mapping. Although classical data association approaches such as JPDA are well suited for dynamic targets, they are less effective for static objects observed intermittently and with heterogeneous uncertainties, where motion models provide minimal discriminative power with respect to clutter. In this paper, we propose a novel method for static object data association by clustering multi-modal sensor detections online (SODA-CitrON), whi"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"The results demonstrate that SODA-CitrON consistently outperforms the compared methods in terms of F1 score, position RMSE, MOTP, and MOTA in the static object mapping scenarios studied.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"The Monte Carlo simulation scenarios used for evaluation are representative of real-world conditions involving temporally uncorrelated, multi-sensor measurements with heterogeneous uncertainties.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"SODA-CitrON performs online clustering of heterogeneous sensor detections to associate and track static objects, outperforming JPDA, DBSTREAM, and POM-based methods on F1 score, position RMSE, MOTP, and MOTA in Monte Carlo simulations.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"SODA-CitrON clusters multi-modal detections online to associate and track static objects without motion models or known counts.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"911285e4d238ae713fcdc6e2baf3c779d881dce290a1e5e3262ab1c80eae2ad3"},"source":{"id":"2602.22243","kind":"arxiv","version":3},"verdict":{"id":"6bb80e39-3b58-49d8-891a-bdef1c76ba3d","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-15T19:55:51.178716Z","strongest_claim":"The results demonstrate that SODA-CitrON consistently outperforms the compared methods in terms of F1 score, position RMSE, MOTP, and MOTA in the static object mapping scenarios studied.","one_line_summary":"SODA-CitrON performs online clustering of heterogeneous sensor detections to associate and track static objects, outperforming JPDA, DBSTREAM, and POM-based methods on F1 score, position RMSE, MOTP, and MOTA in Monte Carlo simulations.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"The Monte Carlo simulation scenarios used for evaluation are representative of real-world conditions involving temporally uncorrelated, multi-sensor measurements with heterogeneous uncertainties.","pith_extraction_headline":"SODA-CitrON clusters multi-modal detections online to associate and track static objects without motion models or known counts."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2602.22243/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":1,"snapshot_sha256":"00e966523bbb5a171493c159989a09c2eeebec8194b1cb4dfd7fcc1de11a099e"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":"6bb80e39-3b58-49d8-891a-bdef1c76ba3d"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-09T02:07:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XPO57Q15stXKkiGpCOjg1XP8C2r+6SERW1oC5AKgfps9a4OZjtqKPh4poYvBajFWidruWq0bqBorTSd6YchtAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-09T22:46:32.885617Z"},"content_sha256":"fb2d1e50288b7f235c3f79c15512abb7ae514eeead38fc1f904326c11d8c45d4","schema_version":"1.0","event_id":"sha256:fb2d1e50288b7f235c3f79c15512abb7ae514eeead38fc1f904326c11d8c45d4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZXRVF237F53ZA32RMPJTGOEEII/bundle.json","state_url":"https://pith.science/pith/ZXRVF237F53ZA32RMPJTGOEEII/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZXRVF237F53ZA32RMPJTGOEEII/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":"2026-06-09T22:46:32Z","links":{"resolver":"https://pith.science/pith/ZXRVF237F53ZA32RMPJTGOEEII","bundle":"https://pith.science/pith/ZXRVF237F53ZA32RMPJTGOEEII/bundle.json","state":"https://pith.science/pith/ZXRVF237F53ZA32RMPJTGOEEII/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZXRVF237F53ZA32RMPJTGOEEII/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZXRVF237F53ZA32RMPJTGOEEII","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":"b7dbfc0cb041f6f5b95fb41467d414ab39761173d33d0b7dd150b465881ef5eb","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T12:38:45Z","title_canon_sha256":"57d0c77df7696d8eba2947e04508d5678c7c626e31a8061f36a0ec8afd63266c"},"schema_version":"1.0","source":{"id":"2602.22243","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.22243","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"arxiv_version","alias_value":"2602.22243v3","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.22243","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"pith_short_12","alias_value":"ZXRVF237F53Z","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"pith_short_16","alias_value":"ZXRVF237F53ZA32R","created_at":"2026-06-09T02:07:22Z"},{"alias_kind":"pith_short_8","alias_value":"ZXRVF237","created_at":"2026-06-09T02:07:22Z"}],"graph_snapshots":[{"event_id":"sha256:fb2d1e50288b7f235c3f79c15512abb7ae514eeead38fc1f904326c11d8c45d4","target":"graph","created_at":"2026-06-09T02:07:22Z","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":4,"items":[{"attestation":"unclaimed","claim_id":"C1","kind":"strongest_claim","source":"verdict.strongest_claim","status":"machine_extracted","text":"The results demonstrate that SODA-CitrON consistently outperforms the compared methods in terms of F1 score, position RMSE, MOTP, and MOTA in the static object mapping scenarios studied."},{"attestation":"unclaimed","claim_id":"C2","kind":"weakest_assumption","source":"verdict.weakest_assumption","status":"machine_extracted","text":"The Monte Carlo simulation scenarios used for evaluation are representative of real-world conditions involving temporally uncorrelated, multi-sensor measurements with heterogeneous uncertainties."},{"attestation":"unclaimed","claim_id":"C3","kind":"one_line_summary","source":"verdict.one_line_summary","status":"machine_extracted","text":"SODA-CitrON performs online clustering of heterogeneous sensor detections to associate and track static objects, outperforming JPDA, DBSTREAM, and POM-based methods on F1 score, position RMSE, MOTP, and MOTA in Monte Carlo simulations."},{"attestation":"unclaimed","claim_id":"C4","kind":"headline","source":"verdict.pith_extraction.headline","status":"machine_extracted","text":"SODA-CitrON clusters multi-modal detections online to associate and track static objects without motion models or known counts."}],"snapshot_sha256":"911285e4d238ae713fcdc6e2baf3c779d881dce290a1e5e3262ab1c80eae2ad3"},"formal_canon":{"evidence_count":1,"snapshot_sha256":"00e966523bbb5a171493c159989a09c2eeebec8194b1cb4dfd7fcc1de11a099e"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2602.22243/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The online fusion and tracking of static objects from heterogeneous sensor detections is a fundamental problem in robotics, autonomous systems, and environmental mapping. Although classical data association approaches such as JPDA are well suited for dynamic targets, they are less effective for static objects observed intermittently and with heterogeneous uncertainties, where motion models provide minimal discriminative power with respect to clutter. In this paper, we propose a novel method for static object data association by clustering multi-modal sensor detections online (SODA-CitrON), whi","authors_text":"Jan Nausner, Kilian Wohlleben, Michael Hubner","cross_cats":[],"headline":"SODA-CitrON clusters multi-modal detections online to associate and track static objects without motion models or known counts.","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T12:38:45Z","title":"SODA-CitrON: Static Object Data Association by Clustering Multi-Modal Sensor Detections Online"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.22243","kind":"arxiv","version":3},"verdict":{"created_at":"2026-05-15T19:55:51.178716Z","id":"6bb80e39-3b58-49d8-891a-bdef1c76ba3d","model_set":{"reader":"grok-4.3"},"one_line_summary":"SODA-CitrON performs online clustering of heterogeneous sensor detections to associate and track static objects, outperforming JPDA, DBSTREAM, and POM-based methods on F1 score, position RMSE, MOTP, and MOTA in Monte Carlo simulations.","pipeline_version":"pith-pipeline@v0.9.0","pith_extraction_headline":"SODA-CitrON clusters multi-modal detections online to associate and track static objects without motion models or known counts.","strongest_claim":"The results demonstrate that SODA-CitrON consistently outperforms the compared methods in terms of F1 score, position RMSE, MOTP, and MOTA in the static object mapping scenarios studied.","weakest_assumption":"The Monte Carlo simulation scenarios used for evaluation are representative of real-world conditions involving temporally uncorrelated, multi-sensor measurements with heterogeneous uncertainties."}},"verdict_id":"6bb80e39-3b58-49d8-891a-bdef1c76ba3d"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:38e00ee6901b1263c2e792091056f7065c7aa2a5ce9cc998edd441e04835d7a3","target":"record","created_at":"2026-06-09T02:07:22Z","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":"b7dbfc0cb041f6f5b95fb41467d414ab39761173d33d0b7dd150b465881ef5eb","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T12:38:45Z","title_canon_sha256":"57d0c77df7696d8eba2947e04508d5678c7c626e31a8061f36a0ec8afd63266c"},"schema_version":"1.0","source":{"id":"2602.22243","kind":"arxiv","version":3}},"canonical_sha256":"cde352eb7f2f77906f5163d333388442345914b1c8be78f12cad9fe51d1b6d35","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cde352eb7f2f77906f5163d333388442345914b1c8be78f12cad9fe51d1b6d35","first_computed_at":"2026-06-09T02:07:22.058181Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:07:22.058181Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eLwWPlmOijel6ok4QDw9AMejqpwljTRtoTPMmid3CuOa9IZV+8sFnEX53lMEP4Jhda6BLDSUTCgN0+RXfdruDg==","signature_status":"signed_v1","signed_at":"2026-06-09T02:07:22.059167Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.22243","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:38e00ee6901b1263c2e792091056f7065c7aa2a5ce9cc998edd441e04835d7a3","sha256:fb2d1e50288b7f235c3f79c15512abb7ae514eeead38fc1f904326c11d8c45d4"],"state_sha256":"a11f51959b3c92f9c53d3141512caee038fb4cb2bf8bb6bdef18c1f136ae292e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EjGC6uFxj9qDy2Dtpfa4hEJtLCoabR/XuRbrtb9FOxWykDwAHg28LtQJAtXOqDTmtMJQhyB+x2OhR69jpaMwDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-09T22:46:32.890293Z","bundle_sha256":"62be638c8f52e2bc87f135c88a43aee2ec70d7a82b411b254359cc8d5652aac3"}}