{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:YETKABEBBWW5ALLSJX55PSIGRD","short_pith_number":"pith:YETKABEB","canonical_record":{"source":{"id":"2103.14381","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T10:32:33Z","cross_cats_sorted":[],"title_canon_sha256":"962f7eda5e5129baaadb4b521a4ea0cddc51eb20985a35751496d1b0658b87cf","abstract_canon_sha256":"0278be361060af948efc57a6fa877226b1f260c50612a5e82d69f27107db907c"},"schema_version":"1.0"},"canonical_sha256":"c126a004810dadd02d724dfbd7c90688d0b50efff80211057530ed243afabe4d","source":{"kind":"arxiv","id":"2103.14381","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.14381","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"arxiv_version","alias_value":"2103.14381v2","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14381","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"pith_short_12","alias_value":"YETKABEBBWW5","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"pith_short_16","alias_value":"YETKABEBBWW5ALLS","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"pith_short_8","alias_value":"YETKABEB","created_at":"2026-07-05T09:58:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:YETKABEBBWW5ALLSJX55PSIGRD","target":"record","payload":{"canonical_record":{"source":{"id":"2103.14381","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T10:32:33Z","cross_cats_sorted":[],"title_canon_sha256":"962f7eda5e5129baaadb4b521a4ea0cddc51eb20985a35751496d1b0658b87cf","abstract_canon_sha256":"0278be361060af948efc57a6fa877226b1f260c50612a5e82d69f27107db907c"},"schema_version":"1.0"},"canonical_sha256":"c126a004810dadd02d724dfbd7c90688d0b50efff80211057530ed243afabe4d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:58:14.843046Z","signature_b64":"X6FkttUFhM7NHdm7ct6Blwv2sP4O6ZGt3uxGMvN/isqyoROZdIG/1IAGkPvHfP2+ZRfOW1hXYQpR17Ki8TJAAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c126a004810dadd02d724dfbd7c90688d0b50efff80211057530ed243afabe4d","last_reissued_at":"2026-07-05T09:58:14.842668Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:58:14.842668Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.14381","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:58:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6hc7IKPsgkKmr9++SebqfS3dOojVto2vnxVg3Ky1+nl36Q7Pgh9k6l2/xXI7NysHfw63jdcHlUNRF933e5rQCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T10:11:34.225498Z"},"content_sha256":"4bfa35bb9088908da19225094de1887896bda5cb837c6408705b087790218772","schema_version":"1.0","event_id":"sha256:4bfa35bb9088908da19225094de1887896bda5cb837c6408705b087790218772"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:YETKABEBBWW5ALLSJX55PSIGRD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GNSS-denied geolocalization of UAVs by visual matching of onboard camera images with orthophotos","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Francesco Verdoja, Jouko Kinnari, Ville Kyrki","submitted_at":"2021-03-26T10:32:33Z","abstract_excerpt":"Localization of low-cost Unmanned Aerial Vehicles (UAVs) often relies on Global Navigation Satellite Systems (GNSS). GNSS are susceptible to both natural disruptions to radio signal and intentional jamming and spoofing by an adversary. A typical way to provide georeferenced localization without GNSS for small UAVs is to have a downward-facing camera and match camera images to a map. The downward-facing camera adds cost, size, and weight to the UAV platform and the orientation limits its usability for other purposes. In this work, we propose a Monte-Carlo localization method for georeferenced l"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14381","kind":"arxiv","version":2},"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/2103.14381/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":"2026-07-05T09:58:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KCPhNTUKjCLTnnmZTiwpAyFsgQUaz070a/ySO1qLCKJitavE+jl1toAan61vHFcyMStM9vFUYmZXXzGWZ58kDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T10:11:34.226061Z"},"content_sha256":"a0c21fd67acf39c5c884664b588d55228b66a963c828a5d0c0ca83dbaadc0faa","schema_version":"1.0","event_id":"sha256:a0c21fd67acf39c5c884664b588d55228b66a963c828a5d0c0ca83dbaadc0faa"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YETKABEBBWW5ALLSJX55PSIGRD/bundle.json","state_url":"https://pith.science/pith/YETKABEBBWW5ALLSJX55PSIGRD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YETKABEBBWW5ALLSJX55PSIGRD/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":"2026-08-06T10:11:34Z","links":{"resolver":"https://pith.science/pith/YETKABEBBWW5ALLSJX55PSIGRD","bundle":"https://pith.science/pith/YETKABEBBWW5ALLSJX55PSIGRD/bundle.json","state":"https://pith.science/pith/YETKABEBBWW5ALLSJX55PSIGRD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YETKABEBBWW5ALLSJX55PSIGRD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:YETKABEBBWW5ALLSJX55PSIGRD","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":"0278be361060af948efc57a6fa877226b1f260c50612a5e82d69f27107db907c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T10:32:33Z","title_canon_sha256":"962f7eda5e5129baaadb4b521a4ea0cddc51eb20985a35751496d1b0658b87cf"},"schema_version":"1.0","source":{"id":"2103.14381","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.14381","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"arxiv_version","alias_value":"2103.14381v2","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14381","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"pith_short_12","alias_value":"YETKABEBBWW5","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"pith_short_16","alias_value":"YETKABEBBWW5ALLS","created_at":"2026-07-05T09:58:14Z"},{"alias_kind":"pith_short_8","alias_value":"YETKABEB","created_at":"2026-07-05T09:58:14Z"}],"graph_snapshots":[{"event_id":"sha256:a0c21fd67acf39c5c884664b588d55228b66a963c828a5d0c0ca83dbaadc0faa","target":"graph","created_at":"2026-07-05T09:58:14Z","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/2103.14381/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Localization of low-cost Unmanned Aerial Vehicles (UAVs) often relies on Global Navigation Satellite Systems (GNSS). GNSS are susceptible to both natural disruptions to radio signal and intentional jamming and spoofing by an adversary. A typical way to provide georeferenced localization without GNSS for small UAVs is to have a downward-facing camera and match camera images to a map. The downward-facing camera adds cost, size, and weight to the UAV platform and the orientation limits its usability for other purposes. In this work, we propose a Monte-Carlo localization method for georeferenced l","authors_text":"Francesco Verdoja, Jouko Kinnari, Ville Kyrki","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T10:32:33Z","title":"GNSS-denied geolocalization of UAVs by visual matching of onboard camera images with orthophotos"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14381","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":"sha256:4bfa35bb9088908da19225094de1887896bda5cb837c6408705b087790218772","target":"record","created_at":"2026-07-05T09:58:14Z","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":"0278be361060af948efc57a6fa877226b1f260c50612a5e82d69f27107db907c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T10:32:33Z","title_canon_sha256":"962f7eda5e5129baaadb4b521a4ea0cddc51eb20985a35751496d1b0658b87cf"},"schema_version":"1.0","source":{"id":"2103.14381","kind":"arxiv","version":2}},"canonical_sha256":"c126a004810dadd02d724dfbd7c90688d0b50efff80211057530ed243afabe4d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c126a004810dadd02d724dfbd7c90688d0b50efff80211057530ed243afabe4d","first_computed_at":"2026-07-05T09:58:14.842668Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:58:14.842668Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"X6FkttUFhM7NHdm7ct6Blwv2sP4O6ZGt3uxGMvN/isqyoROZdIG/1IAGkPvHfP2+ZRfOW1hXYQpR17Ki8TJAAw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:58:14.843046Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.14381","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4bfa35bb9088908da19225094de1887896bda5cb837c6408705b087790218772","sha256:a0c21fd67acf39c5c884664b588d55228b66a963c828a5d0c0ca83dbaadc0faa"],"state_sha256":"4af296538062b0f42770f0fc1db370fadc8350e36087c6d4bced00dd81a6f1bc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"efiovv8LfDA1RyVbBDpaRmiX9hhGQczowSjDZ4YS3jS4PT+rbh4fl1W0JYmxBJdGQzO4Ckgwy4c5LO1myOK/Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T10:11:34.230302Z","bundle_sha256":"bf63806b713e9893b87b3442c6d7a8fdbdc09d9c95455883002c0c985ddd3a86"}}