{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:65KBSYUGWS325EOAL6DGB3ADTR","short_pith_number":"pith:65KBSYUG","canonical_record":{"source":{"id":"2403.08125","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-03-12T23:27:30Z","cross_cats_sorted":[],"title_canon_sha256":"77ab3f410751baa403aa2e26dafbd4b64da4946604978e66b142203721cf12e8","abstract_canon_sha256":"3976af4aace39ee15e41b5fe0bc8bd7468b5566df533799ab37d4ca9a664097c"},"schema_version":"1.0"},"canonical_sha256":"f754196286b4b7ae91c05f8660ec039c50156a6748ce4c2c82d8786c79afd162","source":{"kind":"arxiv","id":"2403.08125","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.08125","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"arxiv_version","alias_value":"2403.08125v2","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.08125","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"pith_short_12","alias_value":"65KBSYUGWS32","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"pith_short_16","alias_value":"65KBSYUGWS325EOA","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"pith_short_8","alias_value":"65KBSYUG","created_at":"2026-07-05T09:37:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:65KBSYUGWS325EOAL6DGB3ADTR","target":"record","payload":{"canonical_record":{"source":{"id":"2403.08125","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-03-12T23:27:30Z","cross_cats_sorted":[],"title_canon_sha256":"77ab3f410751baa403aa2e26dafbd4b64da4946604978e66b142203721cf12e8","abstract_canon_sha256":"3976af4aace39ee15e41b5fe0bc8bd7468b5566df533799ab37d4ca9a664097c"},"schema_version":"1.0"},"canonical_sha256":"f754196286b4b7ae91c05f8660ec039c50156a6748ce4c2c82d8786c79afd162","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:37:52.338496Z","signature_b64":"zS+ZXs3KaoOlovMxDjljpHZyTgumjVVFLvc8lbRaamD2S1ivJ/GAiHYDaBPMSTvJG0U68WheJKodpHaGAWCzDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f754196286b4b7ae91c05f8660ec039c50156a6748ce4c2c82d8786c79afd162","last_reissued_at":"2026-07-05T09:37:52.337915Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:37:52.337915Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.08125","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":"2026-07-05T09:37:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WVe/85nR83XUwJZZRu/FJmoJVAtdH+2o/pXDLgFVyneC+T4MARdqS9OpQ/p3DJkVytDwXe5z801M86mcLOsZAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T02:46:41.957443Z"},"content_sha256":"714d63b20ee80ec926e07c11823f008bcdb0ce2691439f6ebc84f97b6aecb1d3","schema_version":"1.0","event_id":"sha256:714d63b20ee80ec926e07c11823f008bcdb0ce2691439f6ebc84f97b6aecb1d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:65KBSYUGWS325EOAL6DGB3ADTR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Q-SLAM: Quadric Representations for Monocular SLAM","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Chenfeng Xu, Chensheng Peng, Heng Yang, Kurt Keutzer, Marco Pavone, Masayoshi Tomizuka, Mingyu Ding, Wei Zhan, Yue Wang","submitted_at":"2024-03-12T23:27:30Z","abstract_excerpt":"In this paper, we reimagine volumetric representations through the lens of quadrics. We posit that rigid scene components can be effectively decomposed into quadric surfaces. Leveraging this assumption, we reshape the volumetric representations with million of cubes by several quadric planes, which results in more accurate and efficient modeling of 3D scenes in SLAM contexts. First, we use the quadric assumption to rectify noisy depth estimations from RGB inputs. This step significantly improves depth estimation accuracy, and allows us to efficiently sample ray points around quadric planes ins"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.08125","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/2403.08125/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":"2026-07-05T09:37:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WDMHpoPOEatAMHuEZ3iCvh2RaGlqFdLZ7I12Yf4lGbBy0czypjM0i/TOo2bnNJEc29dRATRW8AJIEsEnD2NWCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T02:46:41.958141Z"},"content_sha256":"ff66226f691d2f4064909ab3567085f1e157fad8b2d694776c1dfc8b069bddc6","schema_version":"1.0","event_id":"sha256:ff66226f691d2f4064909ab3567085f1e157fad8b2d694776c1dfc8b069bddc6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/65KBSYUGWS325EOAL6DGB3ADTR/bundle.json","state_url":"https://pith.science/pith/65KBSYUGWS325EOAL6DGB3ADTR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/65KBSYUGWS325EOAL6DGB3ADTR/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":"2026-08-06T02:46:41Z","links":{"resolver":"https://pith.science/pith/65KBSYUGWS325EOAL6DGB3ADTR","bundle":"https://pith.science/pith/65KBSYUGWS325EOAL6DGB3ADTR/bundle.json","state":"https://pith.science/pith/65KBSYUGWS325EOAL6DGB3ADTR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/65KBSYUGWS325EOAL6DGB3ADTR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:65KBSYUGWS325EOAL6DGB3ADTR","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":"3976af4aace39ee15e41b5fe0bc8bd7468b5566df533799ab37d4ca9a664097c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-03-12T23:27:30Z","title_canon_sha256":"77ab3f410751baa403aa2e26dafbd4b64da4946604978e66b142203721cf12e8"},"schema_version":"1.0","source":{"id":"2403.08125","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.08125","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"arxiv_version","alias_value":"2403.08125v2","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.08125","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"pith_short_12","alias_value":"65KBSYUGWS32","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"pith_short_16","alias_value":"65KBSYUGWS325EOA","created_at":"2026-07-05T09:37:52Z"},{"alias_kind":"pith_short_8","alias_value":"65KBSYUG","created_at":"2026-07-05T09:37:52Z"}],"graph_snapshots":[{"event_id":"sha256:ff66226f691d2f4064909ab3567085f1e157fad8b2d694776c1dfc8b069bddc6","target":"graph","created_at":"2026-07-05T09:37:52Z","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/2403.08125/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we reimagine volumetric representations through the lens of quadrics. We posit that rigid scene components can be effectively decomposed into quadric surfaces. Leveraging this assumption, we reshape the volumetric representations with million of cubes by several quadric planes, which results in more accurate and efficient modeling of 3D scenes in SLAM contexts. First, we use the quadric assumption to rectify noisy depth estimations from RGB inputs. This step significantly improves depth estimation accuracy, and allows us to efficiently sample ray points around quadric planes ins","authors_text":"Chenfeng Xu, Chensheng Peng, Heng Yang, Kurt Keutzer, Marco Pavone, Masayoshi Tomizuka, Mingyu Ding, Wei Zhan, Yue Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-03-12T23:27:30Z","title":"Q-SLAM: Quadric Representations for Monocular SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.08125","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":"sha256:714d63b20ee80ec926e07c11823f008bcdb0ce2691439f6ebc84f97b6aecb1d3","target":"record","created_at":"2026-07-05T09:37:52Z","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":"3976af4aace39ee15e41b5fe0bc8bd7468b5566df533799ab37d4ca9a664097c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-03-12T23:27:30Z","title_canon_sha256":"77ab3f410751baa403aa2e26dafbd4b64da4946604978e66b142203721cf12e8"},"schema_version":"1.0","source":{"id":"2403.08125","kind":"arxiv","version":2}},"canonical_sha256":"f754196286b4b7ae91c05f8660ec039c50156a6748ce4c2c82d8786c79afd162","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f754196286b4b7ae91c05f8660ec039c50156a6748ce4c2c82d8786c79afd162","first_computed_at":"2026-07-05T09:37:52.337915Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:37:52.337915Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zS+ZXs3KaoOlovMxDjljpHZyTgumjVVFLvc8lbRaamD2S1ivJ/GAiHYDaBPMSTvJG0U68WheJKodpHaGAWCzDg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:37:52.338496Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.08125","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:714d63b20ee80ec926e07c11823f008bcdb0ce2691439f6ebc84f97b6aecb1d3","sha256:ff66226f691d2f4064909ab3567085f1e157fad8b2d694776c1dfc8b069bddc6"],"state_sha256":"8aa7fc03aa18e0fb54a1c31a13af58d46676c19a4e7d7334a8509e78dbdaec08"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"73y5rXJlzRQDI9HTgrZiGPySHOH/BoRutXyVlVospIjSOCQePACGvVZhJYqlQhMobik7BdsCws4c70n3Dji9AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T02:46:41.964711Z","bundle_sha256":"edbdc03ad3d287a691e0ba8be99082c553ed29d341ac687b3861cdeb81fbd66e"}}