{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:2ZAABH5EXI2DAWBDP47E7AHCQU","short_pith_number":"pith:2ZAABH5E","canonical_record":{"source":{"id":"1911.10249","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-11-22T21:02:24Z","cross_cats_sorted":[],"title_canon_sha256":"7cfbd11b8643249556f535b16434d819b18470f2763c3c8b0da225efd5cf47df","abstract_canon_sha256":"1f1a1066427eb9ffffa1965b4802d11d46c7ceed772d27032bbfddff40fb9c70"},"schema_version":"1.0"},"canonical_sha256":"d640009fa4ba343058237f3e4f80e2850e3359546a73217d4576aa0ffe7c8e13","source":{"kind":"arxiv","id":"1911.10249","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.10249","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"arxiv_version","alias_value":"1911.10249v1","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.10249","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"pith_short_12","alias_value":"2ZAABH5EXI2D","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"pith_short_16","alias_value":"2ZAABH5EXI2DAWBD","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"pith_short_8","alias_value":"2ZAABH5E","created_at":"2026-07-05T00:21:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:2ZAABH5EXI2DAWBDP47E7AHCQU","target":"record","payload":{"canonical_record":{"source":{"id":"1911.10249","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-11-22T21:02:24Z","cross_cats_sorted":[],"title_canon_sha256":"7cfbd11b8643249556f535b16434d819b18470f2763c3c8b0da225efd5cf47df","abstract_canon_sha256":"1f1a1066427eb9ffffa1965b4802d11d46c7ceed772d27032bbfddff40fb9c70"},"schema_version":"1.0"},"canonical_sha256":"d640009fa4ba343058237f3e4f80e2850e3359546a73217d4576aa0ffe7c8e13","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:21:23.709274Z","signature_b64":"vGiimCpW+UJz62lakhy85HazxODSH4cYwcmtC3sW7008Dmc0JMANgMa7FZuHRDak8IO6PcA41ZvpplDP7iO3CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d640009fa4ba343058237f3e4f80e2850e3359546a73217d4576aa0ffe7c8e13","last_reissued_at":"2026-07-05T00:21:23.708795Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:21:23.708795Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1911.10249","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":"2026-07-05T00:21:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MoUN8rDdgPnzSEhqGDNyfZP5hBP1sP/axhS7E8cHgH06xD4dlsbw7oiVucF5wMDR1tKnhMUxd+fbH16mfpitCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T04:33:55.603272Z"},"content_sha256":"1546ad5e95054972e91462204f2afb95832aec2f243aad2e6d5e03732e20c06a","schema_version":"1.0","event_id":"sha256:1546ad5e95054972e91462204f2afb95832aec2f243aad2e6d5e03732e20c06a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:2ZAABH5EXI2DAWBDP47E7AHCQU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Federico Tombari, Nassir Navab, Slobodan Ilic, Wadim Kehl","submitted_at":"2019-11-22T21:02:24Z","abstract_excerpt":"We present a novel method to track 3D models in color and depth data. To this end, we introduce approximations that accelerate the state-of-the-art in region-based tracking by an order of magnitude while retaining similar accuracy. Furthermore, we show how the method can be made more robust in the presence of depth data and consequently formulate a new joint contour and ICP tracking energy. We present better results than the state-of-the-art while being much faster then most other methods and achieving all of the above on a single CPU core."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.10249","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/1911.10249/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":"2026-07-05T00:21:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9EambEFOIVexDV2f72ocTJWATWB63wFLWaF8A01aza4ljt7olPIgd2IELJ7lFCdZJw8leFzEF2MSA8D0X2sACw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T04:33:55.603663Z"},"content_sha256":"7eb7058846529120102173c426ec67210870a6695355adc7f82b2e30cd2c8a71","schema_version":"1.0","event_id":"sha256:7eb7058846529120102173c426ec67210870a6695355adc7f82b2e30cd2c8a71"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2ZAABH5EXI2DAWBDP47E7AHCQU/bundle.json","state_url":"https://pith.science/pith/2ZAABH5EXI2DAWBDP47E7AHCQU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2ZAABH5EXI2DAWBDP47E7AHCQU/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":"2026-07-07T04:33:55Z","links":{"resolver":"https://pith.science/pith/2ZAABH5EXI2DAWBDP47E7AHCQU","bundle":"https://pith.science/pith/2ZAABH5EXI2DAWBDP47E7AHCQU/bundle.json","state":"https://pith.science/pith/2ZAABH5EXI2DAWBDP47E7AHCQU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2ZAABH5EXI2DAWBDP47E7AHCQU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:2ZAABH5EXI2DAWBDP47E7AHCQU","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":"1f1a1066427eb9ffffa1965b4802d11d46c7ceed772d27032bbfddff40fb9c70","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-11-22T21:02:24Z","title_canon_sha256":"7cfbd11b8643249556f535b16434d819b18470f2763c3c8b0da225efd5cf47df"},"schema_version":"1.0","source":{"id":"1911.10249","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.10249","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"arxiv_version","alias_value":"1911.10249v1","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.10249","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"pith_short_12","alias_value":"2ZAABH5EXI2D","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"pith_short_16","alias_value":"2ZAABH5EXI2DAWBD","created_at":"2026-07-05T00:21:23Z"},{"alias_kind":"pith_short_8","alias_value":"2ZAABH5E","created_at":"2026-07-05T00:21:23Z"}],"graph_snapshots":[{"event_id":"sha256:7eb7058846529120102173c426ec67210870a6695355adc7f82b2e30cd2c8a71","target":"graph","created_at":"2026-07-05T00:21:23Z","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/1911.10249/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a novel method to track 3D models in color and depth data. To this end, we introduce approximations that accelerate the state-of-the-art in region-based tracking by an order of magnitude while retaining similar accuracy. Furthermore, we show how the method can be made more robust in the presence of depth data and consequently formulate a new joint contour and ICP tracking energy. We present better results than the state-of-the-art while being much faster then most other methods and achieving all of the above on a single CPU core.","authors_text":"Federico Tombari, Nassir Navab, Slobodan Ilic, Wadim Kehl","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-11-22T21:02:24Z","title":"Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.10249","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":"sha256:1546ad5e95054972e91462204f2afb95832aec2f243aad2e6d5e03732e20c06a","target":"record","created_at":"2026-07-05T00:21:23Z","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":"1f1a1066427eb9ffffa1965b4802d11d46c7ceed772d27032bbfddff40fb9c70","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-11-22T21:02:24Z","title_canon_sha256":"7cfbd11b8643249556f535b16434d819b18470f2763c3c8b0da225efd5cf47df"},"schema_version":"1.0","source":{"id":"1911.10249","kind":"arxiv","version":1}},"canonical_sha256":"d640009fa4ba343058237f3e4f80e2850e3359546a73217d4576aa0ffe7c8e13","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d640009fa4ba343058237f3e4f80e2850e3359546a73217d4576aa0ffe7c8e13","first_computed_at":"2026-07-05T00:21:23.708795Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:21:23.708795Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vGiimCpW+UJz62lakhy85HazxODSH4cYwcmtC3sW7008Dmc0JMANgMa7FZuHRDak8IO6PcA41ZvpplDP7iO3CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:21:23.709274Z","signed_message":"canonical_sha256_bytes"},"source_id":"1911.10249","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1546ad5e95054972e91462204f2afb95832aec2f243aad2e6d5e03732e20c06a","sha256:7eb7058846529120102173c426ec67210870a6695355adc7f82b2e30cd2c8a71"],"state_sha256":"36076554579fb6fb61fd540705d6691e68f178449199fb339c8132dc117793c5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IK2ITmQRDbf6dBP/fCRk1GW2owP1ju0Vc4/Dy8qJk20Yg27WSN5c8NqXT93mIlrBhjT4PCN5xoBc/RDvSkS9AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T04:33:55.605808Z","bundle_sha256":"d9fca67b43fe6c8561e84b67947f1887dbfcafbd12df9775095afcab983ea13b"}}