{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:4UIVUYSHJE5B5J7L4OYLLG45RL","short_pith_number":"pith:4UIVUYSH","schema_version":"1.0","canonical_sha256":"e5115a6247493a1ea7ebe3b0b59b9d8ac24662f5dcdcbfc11271e5b9dd31de78","source":{"kind":"arxiv","id":"1707.00381","version":2},"attestation_state":"computed","paper":{"title":"Joint Pose and Principal Curvature Refinement Using Quadrics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Andrew Spek, Tom Drummond","submitted_at":"2017-07-03T02:35:59Z","abstract_excerpt":"In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline multi-frame approach. We demonstrate an order of magnitude improvement in simulation over state of the art dense relative point-to-plane Iterative Closest Point (ICP) pose alignment using our dense joint frame-to-frame approach and show comparable pose drift to dense point-to-plane ICP bundle adjustment using low-cost depth sensors. Additionally our improved jo"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1707.00381","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-07-03T02:35:59Z","cross_cats_sorted":[],"title_canon_sha256":"ce8f42495ef8313d16cd2cb80861ecfbe2fc86cd5b500dae0eefcc79385523d7","abstract_canon_sha256":"a9c12fb12afbda1dea3008603a8b906b5f63b5f5718a773ec241110280c4317b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:40:18.914467Z","signature_b64":"DgCwQGwdBzcou+zu5bFD7UreUVoQCfLcgc56b1jwum4g7BMYo+TvKFl5NC3iwPYwSLAP6r1SrHrKQVLZvwj5Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e5115a6247493a1ea7ebe3b0b59b9d8ac24662f5dcdcbfc11271e5b9dd31de78","last_reissued_at":"2026-05-18T00:40:18.913614Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:40:18.913614Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Joint Pose and Principal Curvature Refinement Using Quadrics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Andrew Spek, Tom Drummond","submitted_at":"2017-07-03T02:35:59Z","abstract_excerpt":"In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline multi-frame approach. We demonstrate an order of magnitude improvement in simulation over state of the art dense relative point-to-plane Iterative Closest Point (ICP) pose alignment using our dense joint frame-to-frame approach and show comparable pose drift to dense point-to-plane ICP bundle adjustment using low-cost depth sensors. Additionally our improved jo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.00381","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1707.00381","created_at":"2026-05-18T00:40:18.913718+00:00"},{"alias_kind":"arxiv_version","alias_value":"1707.00381v2","created_at":"2026-05-18T00:40:18.913718+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1707.00381","created_at":"2026-05-18T00:40:18.913718+00:00"},{"alias_kind":"pith_short_12","alias_value":"4UIVUYSHJE5B","created_at":"2026-05-18T12:31:00.734936+00:00"},{"alias_kind":"pith_short_16","alias_value":"4UIVUYSHJE5B5J7L","created_at":"2026-05-18T12:31:00.734936+00:00"},{"alias_kind":"pith_short_8","alias_value":"4UIVUYSH","created_at":"2026-05-18T12:31:00.734936+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL","json":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL.json","graph_json":"https://pith.science/api/pith-number/4UIVUYSHJE5B5J7L4OYLLG45RL/graph.json","events_json":"https://pith.science/api/pith-number/4UIVUYSHJE5B5J7L4OYLLG45RL/events.json","paper":"https://pith.science/paper/4UIVUYSH"},"agent_actions":{"view_html":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL","download_json":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL.json","view_paper":"https://pith.science/paper/4UIVUYSH","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1707.00381&json=true","fetch_graph":"https://pith.science/api/pith-number/4UIVUYSHJE5B5J7L4OYLLG45RL/graph.json","fetch_events":"https://pith.science/api/pith-number/4UIVUYSHJE5B5J7L4OYLLG45RL/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL/action/timestamp_anchor","attest_storage":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL/action/storage_attestation","attest_author":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL/action/author_attestation","sign_citation":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL/action/citation_signature","submit_replication":"https://pith.science/pith/4UIVUYSHJE5B5J7L4OYLLG45RL/action/replication_record"}},"created_at":"2026-05-18T00:40:18.913718+00:00","updated_at":"2026-05-18T00:40:18.913718+00:00"}