{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:7HTH4TNDFZKESJSG5OFDNKNBC6","short_pith_number":"pith:7HTH4TND","canonical_record":{"source":{"id":"2108.01246","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-03T02:10:26Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"cb960e365ee7a277a1a5a3f333d1bd8eac5229b80cc51e9e9a4bb533ccca3584","abstract_canon_sha256":"db4fbd228fdc6fa17b03020fd042c4733f82b4ec28a4a2be7319bf0a74826082"},"schema_version":"1.0"},"canonical_sha256":"f9e67e4da32e54492646eb8a36a9a117872341f7496603c707c6e6000bce8c35","source":{"kind":"arxiv","id":"2108.01246","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.01246","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"arxiv_version","alias_value":"2108.01246v1","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.01246","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"pith_short_12","alias_value":"7HTH4TNDFZKE","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"pith_short_16","alias_value":"7HTH4TNDFZKESJSG","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"pith_short_8","alias_value":"7HTH4TND","created_at":"2026-07-05T03:03:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:7HTH4TNDFZKESJSG5OFDNKNBC6","target":"record","payload":{"canonical_record":{"source":{"id":"2108.01246","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-03T02:10:26Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"cb960e365ee7a277a1a5a3f333d1bd8eac5229b80cc51e9e9a4bb533ccca3584","abstract_canon_sha256":"db4fbd228fdc6fa17b03020fd042c4733f82b4ec28a4a2be7319bf0a74826082"},"schema_version":"1.0"},"canonical_sha256":"f9e67e4da32e54492646eb8a36a9a117872341f7496603c707c6e6000bce8c35","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:03:00.715963Z","signature_b64":"hTvIj6rhcVROhc972ftOCOQXo7x3bwTxeIQvgzS5BaBY1Xhd/wMOveGNQnzoEFFi2qNZwL1K4K7KjNp5wJnZBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f9e67e4da32e54492646eb8a36a9a117872341f7496603c707c6e6000bce8c35","last_reissued_at":"2026-07-05T03:03:00.715489Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:03:00.715489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.01246","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":"2026-07-05T03:03:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2Nht5V97ROJqWKg6ZWsrBCryx1hLXB5QovVDw+Tij5+66vact9zKk66obUU674AMvFBINJ0GR4XmUNYly0hbCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:43:05.191877Z"},"content_sha256":"00e643141ac6e617a7955b32fd8b7c87328bdc4675b13e88cd110ed54f0fda70","schema_version":"1.0","event_id":"sha256:00e643141ac6e617a7955b32fd8b7c87328bdc4675b13e88cd110ed54f0fda70"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:7HTH4TNDFZKESJSG5OFDNKNBC6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Huayan Zhang, Junfeng Chen, Sethu Vijayakumar, Tianwei Zhang, Tin Lun Lam, Xiaofei Li","submitted_at":"2021-08-03T02:10:26Z","abstract_excerpt":"Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some learning-based object detectors to remove these dynamic objects. However, these object detectors are computationally too expensive for mobile robot on-board processing. In practical applications, these objects output noisy sounds that can be effectively detected by on-board sound source localization. The directional information of the sound source object can"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.01246","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/2108.01246/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":"2026-07-05T03:03:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nojn6UvgeF6/qT7cliHKK4BuFM4E94ceQ1xLtK55gwKDowhRukRGebEsl/qJqRx42egw+R1tYCzGr9JRiuOICA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:43:05.192258Z"},"content_sha256":"ec0de1fd761576e3e8f8981bfe39a3ecd503fcb16099d23635cf9a996d7a7f40","schema_version":"1.0","event_id":"sha256:ec0de1fd761576e3e8f8981bfe39a3ecd503fcb16099d23635cf9a996d7a7f40"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7HTH4TNDFZKESJSG5OFDNKNBC6/bundle.json","state_url":"https://pith.science/pith/7HTH4TNDFZKESJSG5OFDNKNBC6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7HTH4TNDFZKESJSG5OFDNKNBC6/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":"2026-07-06T16:43:05Z","links":{"resolver":"https://pith.science/pith/7HTH4TNDFZKESJSG5OFDNKNBC6","bundle":"https://pith.science/pith/7HTH4TNDFZKESJSG5OFDNKNBC6/bundle.json","state":"https://pith.science/pith/7HTH4TNDFZKESJSG5OFDNKNBC6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7HTH4TNDFZKESJSG5OFDNKNBC6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:7HTH4TNDFZKESJSG5OFDNKNBC6","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":"db4fbd228fdc6fa17b03020fd042c4733f82b4ec28a4a2be7319bf0a74826082","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-03T02:10:26Z","title_canon_sha256":"cb960e365ee7a277a1a5a3f333d1bd8eac5229b80cc51e9e9a4bb533ccca3584"},"schema_version":"1.0","source":{"id":"2108.01246","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.01246","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"arxiv_version","alias_value":"2108.01246v1","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.01246","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"pith_short_12","alias_value":"7HTH4TNDFZKE","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"pith_short_16","alias_value":"7HTH4TNDFZKESJSG","created_at":"2026-07-05T03:03:00Z"},{"alias_kind":"pith_short_8","alias_value":"7HTH4TND","created_at":"2026-07-05T03:03:00Z"}],"graph_snapshots":[{"event_id":"sha256:ec0de1fd761576e3e8f8981bfe39a3ecd503fcb16099d23635cf9a996d7a7f40","target":"graph","created_at":"2026-07-05T03:03:00Z","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/2108.01246/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some learning-based object detectors to remove these dynamic objects. However, these object detectors are computationally too expensive for mobile robot on-board processing. In practical applications, these objects output noisy sounds that can be effectively detected by on-board sound source localization. The directional information of the sound source object can","authors_text":"Huayan Zhang, Junfeng Chen, Sethu Vijayakumar, Tianwei Zhang, Tin Lun Lam, Xiaofei Li","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-03T02:10:26Z","title":"AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.01246","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":"sha256:00e643141ac6e617a7955b32fd8b7c87328bdc4675b13e88cd110ed54f0fda70","target":"record","created_at":"2026-07-05T03:03:00Z","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":"db4fbd228fdc6fa17b03020fd042c4733f82b4ec28a4a2be7319bf0a74826082","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-03T02:10:26Z","title_canon_sha256":"cb960e365ee7a277a1a5a3f333d1bd8eac5229b80cc51e9e9a4bb533ccca3584"},"schema_version":"1.0","source":{"id":"2108.01246","kind":"arxiv","version":1}},"canonical_sha256":"f9e67e4da32e54492646eb8a36a9a117872341f7496603c707c6e6000bce8c35","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f9e67e4da32e54492646eb8a36a9a117872341f7496603c707c6e6000bce8c35","first_computed_at":"2026-07-05T03:03:00.715489Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:03:00.715489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hTvIj6rhcVROhc972ftOCOQXo7x3bwTxeIQvgzS5BaBY1Xhd/wMOveGNQnzoEFFi2qNZwL1K4K7KjNp5wJnZBw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:03:00.715963Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.01246","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:00e643141ac6e617a7955b32fd8b7c87328bdc4675b13e88cd110ed54f0fda70","sha256:ec0de1fd761576e3e8f8981bfe39a3ecd503fcb16099d23635cf9a996d7a7f40"],"state_sha256":"9ac8751fa1ae304f4747acc4d456c61c0150c8e1e143705f9eda8ba7fed5c501"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"P9xUM8Htj2RVcr3jFnYLbApk3zaI0JOz7Qmq+jBkcHTkhbWCL7DOM8S6R0pkmgAQBlDufrQlR0451GDi6q5rAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T16:43:05.194167Z","bundle_sha256":"e7bffa4e056b3a386dfb226fe0472bd258f4df3ed574722208e2d7abcb301545"}}