{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:54VTXPCVSGI4N2YZZVLO5ATPKM","short_pith_number":"pith:54VTXPCV","canonical_record":{"source":{"id":"2506.21420","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2025-06-26T16:06:46Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"dabe8158aeb61136a0e23828b54b5abb5c79a2bf772927bacb0da8f66c949c44","abstract_canon_sha256":"b8f78163e5129fa6f441dd45d5665dceb04785911ba3d71361cb432ec7ac509b"},"schema_version":"1.0"},"canonical_sha256":"ef2b3bbc559191c6eb19cd56ee826f5303d20f6a976ecc3151a4cc32dbdea175","source":{"kind":"arxiv","id":"2506.21420","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.21420","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"arxiv_version","alias_value":"2506.21420v2","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.21420","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"pith_short_12","alias_value":"54VTXPCVSGI4","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"pith_short_16","alias_value":"54VTXPCVSGI4N2YZ","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"pith_short_8","alias_value":"54VTXPCV","created_at":"2026-07-05T11:32:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:54VTXPCVSGI4N2YZZVLO5ATPKM","target":"record","payload":{"canonical_record":{"source":{"id":"2506.21420","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2025-06-26T16:06:46Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"dabe8158aeb61136a0e23828b54b5abb5c79a2bf772927bacb0da8f66c949c44","abstract_canon_sha256":"b8f78163e5129fa6f441dd45d5665dceb04785911ba3d71361cb432ec7ac509b"},"schema_version":"1.0"},"canonical_sha256":"ef2b3bbc559191c6eb19cd56ee826f5303d20f6a976ecc3151a4cc32dbdea175","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:32:32.396990Z","signature_b64":"H+V09Afrr/hUHoLtvd2FU7aQvigJ+fPTnINjgylV6HfZqsesFceHCR2m5Az1SQ3Rro9ICo7FhSMCVwQ4roAOCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ef2b3bbc559191c6eb19cd56ee826f5303d20f6a976ecc3151a4cc32dbdea175","last_reissued_at":"2026-07-05T11:32:32.396453Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:32:32.396453Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.21420","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":"2026-07-05T11:32:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xcdumjBE54v+ypncvfSk4PI85jA0GyIEdXvP4ANU2hPbVLodS22FE+XV6SsuK7KnqpJJcyOjAOYGqjty9O1CCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T08:43:32.700195Z"},"content_sha256":"92443f55abfdc852b52c267d37e05361d25db2ef725a6f3405243c7d72ef71b5","schema_version":"1.0","event_id":"sha256:92443f55abfdc852b52c267d37e05361d25db2ef725a6f3405243c7d72ef71b5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:54VTXPCVSGI4N2YZZVLO5ATPKM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"EndoFlow-SLAM: Real-Time Endoscopic SLAM with Flow-Constrained Gaussian Splatting","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Haoang Li, Haocheng Zhao, Jionglong Su, Kang Dang, Limin Yu, Taoyu Wu, Yiyi Miao, Zhuoxiao Li","submitted_at":"2025-06-26T16:06:46Z","abstract_excerpt":"Efficient three-dimensional reconstruction and real-time visualization are critical in surgical scenarios such as endoscopy. In recent years, 3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in efficient 3D reconstruction and rendering. Most 3DGS-based Simultaneous Localization and Mapping (SLAM) methods only rely on the appearance constraints for optimizing both 3DGS and camera poses. However, in endoscopic scenarios, the challenges include photometric inconsistencies caused by non-Lambertian surfaces and dynamic motion from breathing affects the performance of SLAM system"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.21420","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/2506.21420/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":"2026-07-05T11:32:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5jLCJ2umrL6sqNqWGZwJnktmTiAyzLawNBCAWxjmLrBiKS0ICftq8ovv14UQWd4S3R9qBP6H4pjZgOjkxSxxCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T08:43:32.700584Z"},"content_sha256":"1d845413d983225c8711c5c3526eb2036932f125b6bf6065ea044979da852683","schema_version":"1.0","event_id":"sha256:1d845413d983225c8711c5c3526eb2036932f125b6bf6065ea044979da852683"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/54VTXPCVSGI4N2YZZVLO5ATPKM/bundle.json","state_url":"https://pith.science/pith/54VTXPCVSGI4N2YZZVLO5ATPKM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/54VTXPCVSGI4N2YZZVLO5ATPKM/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":"2026-07-06T08:43:32Z","links":{"resolver":"https://pith.science/pith/54VTXPCVSGI4N2YZZVLO5ATPKM","bundle":"https://pith.science/pith/54VTXPCVSGI4N2YZZVLO5ATPKM/bundle.json","state":"https://pith.science/pith/54VTXPCVSGI4N2YZZVLO5ATPKM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/54VTXPCVSGI4N2YZZVLO5ATPKM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:54VTXPCVSGI4N2YZZVLO5ATPKM","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":"b8f78163e5129fa6f441dd45d5665dceb04785911ba3d71361cb432ec7ac509b","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2025-06-26T16:06:46Z","title_canon_sha256":"dabe8158aeb61136a0e23828b54b5abb5c79a2bf772927bacb0da8f66c949c44"},"schema_version":"1.0","source":{"id":"2506.21420","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.21420","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"arxiv_version","alias_value":"2506.21420v2","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.21420","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"pith_short_12","alias_value":"54VTXPCVSGI4","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"pith_short_16","alias_value":"54VTXPCVSGI4N2YZ","created_at":"2026-07-05T11:32:32Z"},{"alias_kind":"pith_short_8","alias_value":"54VTXPCV","created_at":"2026-07-05T11:32:32Z"}],"graph_snapshots":[{"event_id":"sha256:1d845413d983225c8711c5c3526eb2036932f125b6bf6065ea044979da852683","target":"graph","created_at":"2026-07-05T11:32:32Z","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/2506.21420/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Efficient three-dimensional reconstruction and real-time visualization are critical in surgical scenarios such as endoscopy. In recent years, 3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in efficient 3D reconstruction and rendering. Most 3DGS-based Simultaneous Localization and Mapping (SLAM) methods only rely on the appearance constraints for optimizing both 3DGS and camera poses. However, in endoscopic scenarios, the challenges include photometric inconsistencies caused by non-Lambertian surfaces and dynamic motion from breathing affects the performance of SLAM system","authors_text":"Haoang Li, Haocheng Zhao, Jionglong Su, Kang Dang, Limin Yu, Taoyu Wu, Yiyi Miao, Zhuoxiao Li","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2025-06-26T16:06:46Z","title":"EndoFlow-SLAM: Real-Time Endoscopic SLAM with Flow-Constrained Gaussian Splatting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.21420","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":"sha256:92443f55abfdc852b52c267d37e05361d25db2ef725a6f3405243c7d72ef71b5","target":"record","created_at":"2026-07-05T11:32:32Z","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":"b8f78163e5129fa6f441dd45d5665dceb04785911ba3d71361cb432ec7ac509b","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2025-06-26T16:06:46Z","title_canon_sha256":"dabe8158aeb61136a0e23828b54b5abb5c79a2bf772927bacb0da8f66c949c44"},"schema_version":"1.0","source":{"id":"2506.21420","kind":"arxiv","version":2}},"canonical_sha256":"ef2b3bbc559191c6eb19cd56ee826f5303d20f6a976ecc3151a4cc32dbdea175","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ef2b3bbc559191c6eb19cd56ee826f5303d20f6a976ecc3151a4cc32dbdea175","first_computed_at":"2026-07-05T11:32:32.396453Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:32:32.396453Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"H+V09Afrr/hUHoLtvd2FU7aQvigJ+fPTnINjgylV6HfZqsesFceHCR2m5Az1SQ3Rro9ICo7FhSMCVwQ4roAOCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:32:32.396990Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.21420","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:92443f55abfdc852b52c267d37e05361d25db2ef725a6f3405243c7d72ef71b5","sha256:1d845413d983225c8711c5c3526eb2036932f125b6bf6065ea044979da852683"],"state_sha256":"be356281a979de5e9064b39a39830a4f6e10b6e9b8055fc1ac728a5b349e3741"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8T/vfyME70M98wUs9O+8L1b6eFUjNRrlsTV93T+oPERmCoUUjLZp5xebj7T0F/YupI31kVHzIHxvjV2llzmmAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T08:43:32.702680Z","bundle_sha256":"badfdca7cf9548baf0f5b319101e9b8d91e532656d1e9251e349877ff5c7061e"}}