{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:2ZDUGZRQYJZPQJROTKTTUWUAWX","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":"9134ca0df1ee40a6741663d4545775a52778146ed24d71ef451df663ef2fa501","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-12-12T05:59:49Z","title_canon_sha256":"d759125200e1227a52aa14a6a38fa52e7724161da7dd39b67bb3baa5ede6fe53"},"schema_version":"1.0","source":{"id":"1712.04138","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.04138","created_at":"2026-05-18T00:28:09Z"},{"alias_kind":"arxiv_version","alias_value":"1712.04138v1","created_at":"2026-05-18T00:28:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.04138","created_at":"2026-05-18T00:28:09Z"},{"alias_kind":"pith_short_12","alias_value":"2ZDUGZRQYJZP","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_16","alias_value":"2ZDUGZRQYJZPQJRO","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_8","alias_value":"2ZDUGZRQ","created_at":"2026-05-18T12:30:55Z"}],"graph_snapshots":[{"event_id":"sha256:6b148f6d57775c90385a84eba5f0a86dc4e4252d9a36b9f9203f6c811487edb6","target":"graph","created_at":"2026-05-18T00:28:09Z","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"},"paper":{"abstract_excerpt":"Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems by underwater recharging and data transfer for AUVs. In this work, we propose a vision based framework for underwater docking following these systems. The proposed framework comprises two modules; (i) a detection module which provides location information on underwater docking stations in 2D images captured by an on-board camera, and (ii) a pose estimation m","authors_text":"Hongli Xu, Kai Sun, Mete Ozay, Shuang Liu, Takayuki Okatani, Yang Lin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-12-12T05:59:49Z","title":"A vision based system for underwater docking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.04138","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:d009ec15426c9be836124ce7411f9db8e69cfd4deff2622b67b5a3c7fb3091b2","target":"record","created_at":"2026-05-18T00:28:09Z","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":"9134ca0df1ee40a6741663d4545775a52778146ed24d71ef451df663ef2fa501","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-12-12T05:59:49Z","title_canon_sha256":"d759125200e1227a52aa14a6a38fa52e7724161da7dd39b67bb3baa5ede6fe53"},"schema_version":"1.0","source":{"id":"1712.04138","kind":"arxiv","version":1}},"canonical_sha256":"d647436630c272f8262e9aa73a5a80b5dc3ce1a486e2ecec5b0c6b5f6fd75a07","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d647436630c272f8262e9aa73a5a80b5dc3ce1a486e2ecec5b0c6b5f6fd75a07","first_computed_at":"2026-05-18T00:28:09.011404Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:28:09.011404Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0n6qA9sZ+54AONkQ2K2jSH/TvIoQ6BckE5+e5tourBMHmbnIN/wpsP/GOzy0+n7yp3ygsJoyjFPLnnjGaGvgCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:28:09.012153Z","signed_message":"canonical_sha256_bytes"},"source_id":"1712.04138","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d009ec15426c9be836124ce7411f9db8e69cfd4deff2622b67b5a3c7fb3091b2","sha256:6b148f6d57775c90385a84eba5f0a86dc4e4252d9a36b9f9203f6c811487edb6"],"state_sha256":"32fce25b67597151ba7e423e4eacac18abfc5b465d344c786b91c1fa2c67073e"}