{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:AKJDSIT26OC3NLMJFIVVGJXDIM","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":"db6f028a77a1153c2b407aaa262457ee1307e36b9eb04d7997846e7fbf59e20a","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-09-01T05:22:33Z","title_canon_sha256":"3bdfd9f0c6226f685672b121e6ce71290af1164c96829c7e17b2382b105b8873"},"schema_version":"1.0","source":{"id":"2409.00620","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.00620","created_at":"2026-07-05T09:01:50Z"},{"alias_kind":"arxiv_version","alias_value":"2409.00620v1","created_at":"2026-07-05T09:01:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.00620","created_at":"2026-07-05T09:01:50Z"},{"alias_kind":"pith_short_12","alias_value":"AKJDSIT26OC3","created_at":"2026-07-05T09:01:50Z"},{"alias_kind":"pith_short_16","alias_value":"AKJDSIT26OC3NLMJ","created_at":"2026-07-05T09:01:50Z"},{"alias_kind":"pith_short_8","alias_value":"AKJDSIT2","created_at":"2026-07-05T09:01:50Z"}],"graph_snapshots":[{"event_id":"sha256:cbb328d4f2cc31b552236e74e73277aa39599375a4d099422c8699849fbf0134","target":"graph","created_at":"2026-07-05T09:01:50Z","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/2409.00620/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In autonomous driving, there is growing interest in end-to-end online vectorized map perception in bird's-eye-view (BEV) space, with an expectation that it could replace traditional high-cost offline high-definition (HD) maps. However, the accuracy and robustness of these methods can be easily compromised in challenging conditions, such as occlusion or adverse weather, when relying only on onboard sensors. In this paper, we propose HRMapNet, leveraging a low-cost Historical Rasterized Map to enhance online vectorized map perception. The historical rasterized map can be easily constructed from ","authors_text":"Guangwei Liu, Ji Zhao, Ningyi Xu, Xiaoyu Zhang, Yunhui Liu, Zihao Liu","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-09-01T05:22:33Z","title":"Enhancing Vectorized Map Perception with Historical Rasterized Maps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.00620","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":"sha256:0966248eed1271b08a351f1b6b81edcab4374e7e96ec7eb0c8b8185c7b6125ff","target":"record","created_at":"2026-07-05T09:01:50Z","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":"db6f028a77a1153c2b407aaa262457ee1307e36b9eb04d7997846e7fbf59e20a","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-09-01T05:22:33Z","title_canon_sha256":"3bdfd9f0c6226f685672b121e6ce71290af1164c96829c7e17b2382b105b8873"},"schema_version":"1.0","source":{"id":"2409.00620","kind":"arxiv","version":1}},"canonical_sha256":"029239227af385b6ad892a2b5326e34304f5273af01563ce1c3c3a3fe5e2ff8b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"029239227af385b6ad892a2b5326e34304f5273af01563ce1c3c3a3fe5e2ff8b","first_computed_at":"2026-07-05T09:01:50.204293Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:01:50.204293Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"C0PeL6NbrgJmuA2ifypPFnof4z7MrXpW4Ihn/F9h8GIahcpos94SbpVt5cMGioIJHgutwiiaNWgmin9bbZY1Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:01:50.204690Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.00620","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0966248eed1271b08a351f1b6b81edcab4374e7e96ec7eb0c8b8185c7b6125ff","sha256:cbb328d4f2cc31b552236e74e73277aa39599375a4d099422c8699849fbf0134"],"state_sha256":"a2a71585020e7d82715d890cb1e78b73b02d97dc49f81db4e01e27e8ef49ce5d"}