{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:35DRG4HTUUPV7H3X4VW3TYC3L5","short_pith_number":"pith:35DRG4HT","canonical_record":{"source":{"id":"1702.06813","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-21T00:12:32Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"f83ed3ed213c5f5980984783736a04f90a47cf7c3587ef0b22b676ae46897342","abstract_canon_sha256":"8408938197b1bb2702cd729758d28c19bbbaf4c88bb03d442949e3120ed89cc8"},"schema_version":"1.0"},"canonical_sha256":"df471370f3a51f5f9f77e56db9e05b5f5866292dbc7fc973c70dc4515f6178dc","source":{"kind":"arxiv","id":"1702.06813","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.06813","created_at":"2026-05-18T00:50:10Z"},{"alias_kind":"arxiv_version","alias_value":"1702.06813v1","created_at":"2026-05-18T00:50:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.06813","created_at":"2026-05-18T00:50:10Z"},{"alias_kind":"pith_short_12","alias_value":"35DRG4HTUUPV","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_16","alias_value":"35DRG4HTUUPV7H3X","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_8","alias_value":"35DRG4HT","created_at":"2026-05-18T12:30:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:35DRG4HTUUPV7H3X4VW3TYC3L5","target":"record","payload":{"canonical_record":{"source":{"id":"1702.06813","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-21T00:12:32Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"f83ed3ed213c5f5980984783736a04f90a47cf7c3587ef0b22b676ae46897342","abstract_canon_sha256":"8408938197b1bb2702cd729758d28c19bbbaf4c88bb03d442949e3120ed89cc8"},"schema_version":"1.0"},"canonical_sha256":"df471370f3a51f5f9f77e56db9e05b5f5866292dbc7fc973c70dc4515f6178dc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:50:10.380804Z","signature_b64":"LZaneLkXcXULe+2SXPN9MCbiQyQrBnlmXqRsWGPjR/3/XZjwkimOKLyWmtdF7VYkM9c4zduQpa5ggRP4kwsaBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"df471370f3a51f5f9f77e56db9e05b5f5866292dbc7fc973c70dc4515f6178dc","last_reissued_at":"2026-05-18T00:50:10.380165Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:50:10.380165Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1702.06813","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":"2026-05-18T00:50:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ioqsdmcDfdVi6lfC86C6q9q5YyPCvcZFxBwA2DabGqjXWAsws3Es/ewJBR7BZefqcAuaNw5uUYFWFX2SobtcCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-19T07:22:55.118349Z"},"content_sha256":"8e1aa8915c1ae7d19dca0157dd8be6974435bd2e9b3b77604150bca59aae2ed5","schema_version":"1.0","event_id":"sha256:8e1aa8915c1ae7d19dca0157dd8be6974435bd2e9b3b77604150bca59aae2ed5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:35DRG4HTUUPV7H3X4VW3TYC3L5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RenderMap: Exploiting the Link Between Perception and Rendering for Dense Mapping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Julian Ryde, Xuchu (Dennis) Ding","submitted_at":"2017-02-21T00:12:32Z","abstract_excerpt":"We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the dense mapping process as a rendering task. Alignment errors are computed from rendering the scene, comparing with range data from the sensors, and minimized by an optimizer. The proposed approach takes advantage of the advances in rendering techniques for computer graphics and GPU hardware to accelerate the algorithm. Moreover, it allows one to exploit inform"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.06813","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":""},"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":"2026-05-18T00:50:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iplALSrJO+wlLHxzkSKNCh3tGx6fJmT/lXgyhq/Zl8x28HnetVo7c5bpUWe7O8fI2naoO4LapX3t4GvL1gW+Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-19T07:22:55.118713Z"},"content_sha256":"9112fb12661a4afa42b4088b5fbc469dfee66d9d69062b0d7a6f07534b94f736","schema_version":"1.0","event_id":"sha256:9112fb12661a4afa42b4088b5fbc469dfee66d9d69062b0d7a6f07534b94f736"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/35DRG4HTUUPV7H3X4VW3TYC3L5/bundle.json","state_url":"https://pith.science/pith/35DRG4HTUUPV7H3X4VW3TYC3L5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/35DRG4HTUUPV7H3X4VW3TYC3L5/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":"2026-05-19T07:22:55Z","links":{"resolver":"https://pith.science/pith/35DRG4HTUUPV7H3X4VW3TYC3L5","bundle":"https://pith.science/pith/35DRG4HTUUPV7H3X4VW3TYC3L5/bundle.json","state":"https://pith.science/pith/35DRG4HTUUPV7H3X4VW3TYC3L5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/35DRG4HTUUPV7H3X4VW3TYC3L5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:35DRG4HTUUPV7H3X4VW3TYC3L5","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":"8408938197b1bb2702cd729758d28c19bbbaf4c88bb03d442949e3120ed89cc8","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-21T00:12:32Z","title_canon_sha256":"f83ed3ed213c5f5980984783736a04f90a47cf7c3587ef0b22b676ae46897342"},"schema_version":"1.0","source":{"id":"1702.06813","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.06813","created_at":"2026-05-18T00:50:10Z"},{"alias_kind":"arxiv_version","alias_value":"1702.06813v1","created_at":"2026-05-18T00:50:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.06813","created_at":"2026-05-18T00:50:10Z"},{"alias_kind":"pith_short_12","alias_value":"35DRG4HTUUPV","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_16","alias_value":"35DRG4HTUUPV7H3X","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_8","alias_value":"35DRG4HT","created_at":"2026-05-18T12:30:58Z"}],"graph_snapshots":[{"event_id":"sha256:9112fb12661a4afa42b4088b5fbc469dfee66d9d69062b0d7a6f07534b94f736","target":"graph","created_at":"2026-05-18T00:50:10Z","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":"We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the dense mapping process as a rendering task. Alignment errors are computed from rendering the scene, comparing with range data from the sensors, and minimized by an optimizer. The proposed approach takes advantage of the advances in rendering techniques for computer graphics and GPU hardware to accelerate the algorithm. Moreover, it allows one to exploit inform","authors_text":"Julian Ryde, Xuchu (Dennis) Ding","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-21T00:12:32Z","title":"RenderMap: Exploiting the Link Between Perception and Rendering for Dense Mapping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.06813","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":"sha256:8e1aa8915c1ae7d19dca0157dd8be6974435bd2e9b3b77604150bca59aae2ed5","target":"record","created_at":"2026-05-18T00:50:10Z","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":"8408938197b1bb2702cd729758d28c19bbbaf4c88bb03d442949e3120ed89cc8","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-21T00:12:32Z","title_canon_sha256":"f83ed3ed213c5f5980984783736a04f90a47cf7c3587ef0b22b676ae46897342"},"schema_version":"1.0","source":{"id":"1702.06813","kind":"arxiv","version":1}},"canonical_sha256":"df471370f3a51f5f9f77e56db9e05b5f5866292dbc7fc973c70dc4515f6178dc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"df471370f3a51f5f9f77e56db9e05b5f5866292dbc7fc973c70dc4515f6178dc","first_computed_at":"2026-05-18T00:50:10.380165Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:50:10.380165Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LZaneLkXcXULe+2SXPN9MCbiQyQrBnlmXqRsWGPjR/3/XZjwkimOKLyWmtdF7VYkM9c4zduQpa5ggRP4kwsaBA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:50:10.380804Z","signed_message":"canonical_sha256_bytes"},"source_id":"1702.06813","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8e1aa8915c1ae7d19dca0157dd8be6974435bd2e9b3b77604150bca59aae2ed5","sha256:9112fb12661a4afa42b4088b5fbc469dfee66d9d69062b0d7a6f07534b94f736"],"state_sha256":"235eb568341f4cca6e9b0432563b7a6e74fdaa6b1d81ed5878c589a244e153c6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fmpEaOzoHsLRvrYrKXp8ryvRS3lmTCJ/L+5nEufEfFYdbFSxAue931YHfSCS4WWaJGLDCZLTQs4iMiI/veXtBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-19T07:22:55.120534Z","bundle_sha256":"f4a68ece22c7c05b40f2e17bd2ef05dee36ef6d93cc1ddb99e475db5cd208eb2"}}