{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:PYBHPLSJWKGQXRP4XHWI57OK6U","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":"30f75bea1c69cf86079375607e637bde1fafccb410938eb3009397f3c271573c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-03-31T00:07:04Z","title_canon_sha256":"89a037c267057d69b324e68c98954fd5673b72e2264a0bbfb31f56641a6aaa2e"},"schema_version":"1.0","source":{"id":"1603.09422","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1603.09422","created_at":"2026-05-18T01:17:49Z"},{"alias_kind":"arxiv_version","alias_value":"1603.09422v2","created_at":"2026-05-18T01:17:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1603.09422","created_at":"2026-05-18T01:17:49Z"},{"alias_kind":"pith_short_12","alias_value":"PYBHPLSJWKGQ","created_at":"2026-05-18T12:30:39Z"},{"alias_kind":"pith_short_16","alias_value":"PYBHPLSJWKGQXRP4","created_at":"2026-05-18T12:30:39Z"},{"alias_kind":"pith_short_8","alias_value":"PYBHPLSJ","created_at":"2026-05-18T12:30:39Z"}],"graph_snapshots":[{"event_id":"sha256:83566cf894854f60663e180124ccd8c3a7e4f1973a3602cf72fdce0e75960906","target":"graph","created_at":"2026-05-18T01:17:49Z","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":"In literature, several approaches are trying to make the UAVs fly autonomously i.e., by extracting perspective cues such as straight lines. However, it is only available in well-defined human made environments, in addition to many other cues which require enough texture information. Our main target is to detect and avoid frontal obstacles from a monocular camera using a quad rotor Ar.Drone 2 by exploiting optical flow as a motion parallax, the drone is permitted to fly at a speed of 1 m/s and an altitude ranging from 1 to 4 meters above the ground level. In general, detecting and avoiding fron","authors_text":"Hiliwi Kidane, Ibrahim Sadek, Mohamed Elawady","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-03-31T00:07:04Z","title":"Detecting and avoiding frontal obstacles from monocular camera for micro unmanned aerial vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1603.09422","kind":"arxiv","version":2},"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":"sha256:73aff2f0ff53c1a4e171196ac6bcbea1acb4ef65b95dac81eeda6498fdb7baa2","target":"record","created_at":"2026-05-18T01:17:49Z","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":"30f75bea1c69cf86079375607e637bde1fafccb410938eb3009397f3c271573c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-03-31T00:07:04Z","title_canon_sha256":"89a037c267057d69b324e68c98954fd5673b72e2264a0bbfb31f56641a6aaa2e"},"schema_version":"1.0","source":{"id":"1603.09422","kind":"arxiv","version":2}},"canonical_sha256":"7e0277ae49b28d0bc5fcb9ec8efdcaf50cd2dcb804f8bbd081b8969b58212194","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7e0277ae49b28d0bc5fcb9ec8efdcaf50cd2dcb804f8bbd081b8969b58212194","first_computed_at":"2026-05-18T01:17:49.802389Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:17:49.802389Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZFaX/GQd7+/8V8Yu37baiu41UqX12e0x2OP55mfDYk5nKLcjProfD+9x7foe4XBaJTPpSTA+T5SHzaKug1bkAA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:17:49.803058Z","signed_message":"canonical_sha256_bytes"},"source_id":"1603.09422","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:73aff2f0ff53c1a4e171196ac6bcbea1acb4ef65b95dac81eeda6498fdb7baa2","sha256:83566cf894854f60663e180124ccd8c3a7e4f1973a3602cf72fdce0e75960906"],"state_sha256":"7739cff58783daf0b6e5de4c7a1d2516bea6e3d29945d2a87da25343684ffc13"}