{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:3NMA7VBVIT5M4HTYHDJMVQ7JKO","short_pith_number":"pith:3NMA7VBV","canonical_record":{"source":{"id":"2306.07363","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T18:39:03Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"8a01a135348be65feccde253a3c1fbf97a1bc6a90c9288518ba2f9f713c0c10f","abstract_canon_sha256":"9b36f6471563182ef4abd6698e0eecfbc3ff9066d626b2ccc1e0b47565e50a19"},"schema_version":"1.0"},"canonical_sha256":"db580fd43544face1e7838d2cac3e953bd2a8b88726e761726c64a6366aaee26","source":{"kind":"arxiv","id":"2306.07363","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.07363","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"arxiv_version","alias_value":"2306.07363v1","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.07363","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"pith_short_12","alias_value":"3NMA7VBVIT5M","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"pith_short_16","alias_value":"3NMA7VBVIT5M4HTY","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"pith_short_8","alias_value":"3NMA7VBV","created_at":"2026-07-05T06:20:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:3NMA7VBVIT5M4HTYHDJMVQ7JKO","target":"record","payload":{"canonical_record":{"source":{"id":"2306.07363","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T18:39:03Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"8a01a135348be65feccde253a3c1fbf97a1bc6a90c9288518ba2f9f713c0c10f","abstract_canon_sha256":"9b36f6471563182ef4abd6698e0eecfbc3ff9066d626b2ccc1e0b47565e50a19"},"schema_version":"1.0"},"canonical_sha256":"db580fd43544face1e7838d2cac3e953bd2a8b88726e761726c64a6366aaee26","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:20:02.985457Z","signature_b64":"g2tWfXbr4C+M4BgSNmIVUMqO7sKzhfrNLsT6S5DzmYxKpvAIWtEXi8jRbLMInaOKGpZYvEwyzTjbwOF6HhkXAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"db580fd43544face1e7838d2cac3e953bd2a8b88726e761726c64a6366aaee26","last_reissued_at":"2026-07-05T06:20:02.984993Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:20:02.984993Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.07363","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":"2026-07-05T06:20:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ltSk9J4K47XqbZ+SnqLwYFtLLNrVC3ieEyoeWOp2hHXksJ8NyxJ7SrULTJbOCtJVC5RhXOO0IjTA3QUWrVYeAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T00:00:56.746293Z"},"content_sha256":"9a54054700f7288446fa71c7de988520bb0c09013ccfc0c141cd8913dc389957","schema_version":"1.0","event_id":"sha256:9a54054700f7288446fa71c7de988520bb0c09013ccfc0c141cd8913dc389957"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:3NMA7VBVIT5M4HTYHDJMVQ7JKO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"H-SLAM: Hybrid Direct-Indirect Visual SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Daniel Asmar, Douaa Khalil, Georges Younes, John Zelek","submitted_at":"2023-06-12T18:39:03Z","abstract_excerpt":"The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the need for two different map representations (local and global maps), with each requiring different, computationally expensive, and often redundant processes to maintain. Moreover, these maps tend to drift with respect to each other, resulting in contradicting pose and scene estimates, and leading to catastrophic failure. In this paper, we propose a novel app"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.07363","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/2306.07363/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":"2026-07-05T06:20:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rhAT3x8L1Tw2h+8q6VSAemltPyuu6cisbTfq/UumuMO/i+J8z4vgE5MO9Lo29vI5SeqPOGIUgOkOcrKXZmJPDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T00:00:56.746624Z"},"content_sha256":"1b0937709f0bf3d19a3ab4506e2c5a14ad68785dd4269615c22135eaa0fd6dcb","schema_version":"1.0","event_id":"sha256:1b0937709f0bf3d19a3ab4506e2c5a14ad68785dd4269615c22135eaa0fd6dcb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3NMA7VBVIT5M4HTYHDJMVQ7JKO/bundle.json","state_url":"https://pith.science/pith/3NMA7VBVIT5M4HTYHDJMVQ7JKO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3NMA7VBVIT5M4HTYHDJMVQ7JKO/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":"2026-08-07T00:00:56Z","links":{"resolver":"https://pith.science/pith/3NMA7VBVIT5M4HTYHDJMVQ7JKO","bundle":"https://pith.science/pith/3NMA7VBVIT5M4HTYHDJMVQ7JKO/bundle.json","state":"https://pith.science/pith/3NMA7VBVIT5M4HTYHDJMVQ7JKO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3NMA7VBVIT5M4HTYHDJMVQ7JKO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:3NMA7VBVIT5M4HTYHDJMVQ7JKO","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":"9b36f6471563182ef4abd6698e0eecfbc3ff9066d626b2ccc1e0b47565e50a19","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T18:39:03Z","title_canon_sha256":"8a01a135348be65feccde253a3c1fbf97a1bc6a90c9288518ba2f9f713c0c10f"},"schema_version":"1.0","source":{"id":"2306.07363","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.07363","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"arxiv_version","alias_value":"2306.07363v1","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.07363","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"pith_short_12","alias_value":"3NMA7VBVIT5M","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"pith_short_16","alias_value":"3NMA7VBVIT5M4HTY","created_at":"2026-07-05T06:20:02Z"},{"alias_kind":"pith_short_8","alias_value":"3NMA7VBV","created_at":"2026-07-05T06:20:02Z"}],"graph_snapshots":[{"event_id":"sha256:1b0937709f0bf3d19a3ab4506e2c5a14ad68785dd4269615c22135eaa0fd6dcb","target":"graph","created_at":"2026-07-05T06:20:02Z","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/2306.07363/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the need for two different map representations (local and global maps), with each requiring different, computationally expensive, and often redundant processes to maintain. Moreover, these maps tend to drift with respect to each other, resulting in contradicting pose and scene estimates, and leading to catastrophic failure. In this paper, we propose a novel app","authors_text":"Daniel Asmar, Douaa Khalil, Georges Younes, John Zelek","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T18:39:03Z","title":"H-SLAM: Hybrid Direct-Indirect Visual SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.07363","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":"sha256:9a54054700f7288446fa71c7de988520bb0c09013ccfc0c141cd8913dc389957","target":"record","created_at":"2026-07-05T06:20:02Z","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":"9b36f6471563182ef4abd6698e0eecfbc3ff9066d626b2ccc1e0b47565e50a19","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T18:39:03Z","title_canon_sha256":"8a01a135348be65feccde253a3c1fbf97a1bc6a90c9288518ba2f9f713c0c10f"},"schema_version":"1.0","source":{"id":"2306.07363","kind":"arxiv","version":1}},"canonical_sha256":"db580fd43544face1e7838d2cac3e953bd2a8b88726e761726c64a6366aaee26","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"db580fd43544face1e7838d2cac3e953bd2a8b88726e761726c64a6366aaee26","first_computed_at":"2026-07-05T06:20:02.984993Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:20:02.984993Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"g2tWfXbr4C+M4BgSNmIVUMqO7sKzhfrNLsT6S5DzmYxKpvAIWtEXi8jRbLMInaOKGpZYvEwyzTjbwOF6HhkXAA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:20:02.985457Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.07363","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9a54054700f7288446fa71c7de988520bb0c09013ccfc0c141cd8913dc389957","sha256:1b0937709f0bf3d19a3ab4506e2c5a14ad68785dd4269615c22135eaa0fd6dcb"],"state_sha256":"f87345c397c03a36f6ec6a85d6119bc29ed766dbaf7e2038386a00cffe615a12"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aBek7086n+Ol0OhV3rHXxEZz+85GRRQlZwiz+5bLpP2j7iYRhy0cWjfcSTI0ax2y5bXJ4UTKoyv7vPQnR2KIDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T00:00:56.777150Z","bundle_sha256":"45effd214620cbe7036899df7f6ad991b571cdf5d5a598662ae5163a83dbe2f7"}}