{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:5YTV67LRPJRHOP4TT4HVRHYNLT","short_pith_number":"pith:5YTV67LR","canonical_record":{"source":{"id":"2004.12611","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-27T07:13:33Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"e4b8b198e70daaad1d772727e03e70f3f2a25119943646ce2e0f3da2f9d073f6","abstract_canon_sha256":"4e8edd6efe0c0bee292579131364fc9eb9f9a33abe4fcbadb024b87d3304b9e8"},"schema_version":"1.0"},"canonical_sha256":"ee275f7d717a62773f939f0f589f0d5cfcf67f008a3c9b40564cd7306742d7bd","source":{"kind":"arxiv","id":"2004.12611","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.12611","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"arxiv_version","alias_value":"2004.12611v1","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.12611","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"pith_short_12","alias_value":"5YTV67LRPJRH","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"pith_short_16","alias_value":"5YTV67LRPJRHOP4T","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"pith_short_8","alias_value":"5YTV67LR","created_at":"2026-07-05T00:58:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:5YTV67LRPJRHOP4TT4HVRHYNLT","target":"record","payload":{"canonical_record":{"source":{"id":"2004.12611","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-27T07:13:33Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"e4b8b198e70daaad1d772727e03e70f3f2a25119943646ce2e0f3da2f9d073f6","abstract_canon_sha256":"4e8edd6efe0c0bee292579131364fc9eb9f9a33abe4fcbadb024b87d3304b9e8"},"schema_version":"1.0"},"canonical_sha256":"ee275f7d717a62773f939f0f589f0d5cfcf67f008a3c9b40564cd7306742d7bd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:58:16.962154Z","signature_b64":"YJO0JrPB3sFBjzZV/MrzAv1XGfxwSt2+WCep1FUrS2X56I1lAuL5r35ENG2WLKiRSHqkIcsLobtY41VZOglvAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ee275f7d717a62773f939f0f589f0d5cfcf67f008a3c9b40564cd7306742d7bd","last_reissued_at":"2026-07-05T00:58:16.961764Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:58:16.961764Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2004.12611","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":"2026-07-05T00:58:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qec1lWcgLRLbMfcRG+AfT1WfVI6xqLybx0UIS7WJ8JQ4MadyM4hHv17Ay0IGP6FZXW3Ll4b1E12+Gl057g/sCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:15:18.773149Z"},"content_sha256":"7e9c4d2160459948e386836f2f89abba6044a6b10131735bc8e15f58e55e7b98","schema_version":"1.0","event_id":"sha256:7e9c4d2160459948e386836f2f89abba6044a6b10131735bc8e15f58e55e7b98"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:5YTV67LRPJRHOP4TT4HVRHYNLT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Continuous hand-eye calibration using 3D points","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Bjarne Grossmann, Volker Krueger","submitted_at":"2020-04-27T07:13:33Z","abstract_excerpt":"The recent development of calibration algorithms has been driven into two major directions: (1) an increasing accuracy of mathematical approaches and (2) an increasing flexibility in usage by reducing the dependency on calibration objects. These two trends, however, seem to be contradictory since the overall accuracy is directly related to the accuracy of the pose estimation of the calibration object and therefore demanding large objects, while an increased flexibility leads to smaller objects or noisier estimation methods.\n  The method presented in this paper aims to resolves this problem in "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.12611","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/2004.12611/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":"2026-07-05T00:58:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"W/E7/dK4vsjathLajc8YJfPVE/vmDdCR3RR5/2lMhp4be9BmMiZhQ+ytp2uxw+hw5sZpxwAjFrg9Gn3n0RM/Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:15:18.773544Z"},"content_sha256":"be2ac8fa091069855e56cea13309a7ee7b482de033035f225ee69baaea72d45a","schema_version":"1.0","event_id":"sha256:be2ac8fa091069855e56cea13309a7ee7b482de033035f225ee69baaea72d45a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5YTV67LRPJRHOP4TT4HVRHYNLT/bundle.json","state_url":"https://pith.science/pith/5YTV67LRPJRHOP4TT4HVRHYNLT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5YTV67LRPJRHOP4TT4HVRHYNLT/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":"2026-07-07T06:15:18Z","links":{"resolver":"https://pith.science/pith/5YTV67LRPJRHOP4TT4HVRHYNLT","bundle":"https://pith.science/pith/5YTV67LRPJRHOP4TT4HVRHYNLT/bundle.json","state":"https://pith.science/pith/5YTV67LRPJRHOP4TT4HVRHYNLT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5YTV67LRPJRHOP4TT4HVRHYNLT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:5YTV67LRPJRHOP4TT4HVRHYNLT","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":"4e8edd6efe0c0bee292579131364fc9eb9f9a33abe4fcbadb024b87d3304b9e8","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-27T07:13:33Z","title_canon_sha256":"e4b8b198e70daaad1d772727e03e70f3f2a25119943646ce2e0f3da2f9d073f6"},"schema_version":"1.0","source":{"id":"2004.12611","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.12611","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"arxiv_version","alias_value":"2004.12611v1","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.12611","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"pith_short_12","alias_value":"5YTV67LRPJRH","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"pith_short_16","alias_value":"5YTV67LRPJRHOP4T","created_at":"2026-07-05T00:58:16Z"},{"alias_kind":"pith_short_8","alias_value":"5YTV67LR","created_at":"2026-07-05T00:58:16Z"}],"graph_snapshots":[{"event_id":"sha256:be2ac8fa091069855e56cea13309a7ee7b482de033035f225ee69baaea72d45a","target":"graph","created_at":"2026-07-05T00:58:16Z","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/2004.12611/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The recent development of calibration algorithms has been driven into two major directions: (1) an increasing accuracy of mathematical approaches and (2) an increasing flexibility in usage by reducing the dependency on calibration objects. These two trends, however, seem to be contradictory since the overall accuracy is directly related to the accuracy of the pose estimation of the calibration object and therefore demanding large objects, while an increased flexibility leads to smaller objects or noisier estimation methods.\n  The method presented in this paper aims to resolves this problem in ","authors_text":"Bjarne Grossmann, Volker Krueger","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-27T07:13:33Z","title":"Continuous hand-eye calibration using 3D points"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.12611","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":"sha256:7e9c4d2160459948e386836f2f89abba6044a6b10131735bc8e15f58e55e7b98","target":"record","created_at":"2026-07-05T00:58:16Z","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":"4e8edd6efe0c0bee292579131364fc9eb9f9a33abe4fcbadb024b87d3304b9e8","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-27T07:13:33Z","title_canon_sha256":"e4b8b198e70daaad1d772727e03e70f3f2a25119943646ce2e0f3da2f9d073f6"},"schema_version":"1.0","source":{"id":"2004.12611","kind":"arxiv","version":1}},"canonical_sha256":"ee275f7d717a62773f939f0f589f0d5cfcf67f008a3c9b40564cd7306742d7bd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ee275f7d717a62773f939f0f589f0d5cfcf67f008a3c9b40564cd7306742d7bd","first_computed_at":"2026-07-05T00:58:16.961764Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:58:16.961764Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YJO0JrPB3sFBjzZV/MrzAv1XGfxwSt2+WCep1FUrS2X56I1lAuL5r35ENG2WLKiRSHqkIcsLobtY41VZOglvAA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:58:16.962154Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.12611","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7e9c4d2160459948e386836f2f89abba6044a6b10131735bc8e15f58e55e7b98","sha256:be2ac8fa091069855e56cea13309a7ee7b482de033035f225ee69baaea72d45a"],"state_sha256":"a6f9e4bc287e9a5b7c64cd44618123ab93959c2c5cb8aaf7510fed83c24088be"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/TrJFYynU5reyZea4brA2nt3no/jWYICDbEpirqoit4i6Nt7TdyIEMgtqWsdKvjSqAiMQ1TamMGd42sHs7V6Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:15:18.775465Z","bundle_sha256":"e65c1e118d8616a47c096e1913a670accaf17ab9c5c07bac73dfed4b79cbae4e"}}