{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:66A5BGZUDODKBBLGVRTFKK2XQM","short_pith_number":"pith:66A5BGZU","canonical_record":{"source":{"id":"2506.00970","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-01T11:40:45Z","cross_cats_sorted":[],"title_canon_sha256":"27bc00177a9a9ec06e127ebdd306a9d3b45bd9d60f2995befc915b3e30ec4ac6","abstract_canon_sha256":"bfeb3ee58344f2de08336e9c7fcdc81104ad5b9abd6217f196053f587b0df8b3"},"schema_version":"1.0"},"canonical_sha256":"f781d09b341b86a08566ac66552b578337a082ab3371b05c7e48ead03b9d24bc","source":{"kind":"arxiv","id":"2506.00970","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.00970","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"arxiv_version","alias_value":"2506.00970v1","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.00970","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"pith_short_12","alias_value":"66A5BGZUDODK","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"pith_short_16","alias_value":"66A5BGZUDODKBBLG","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"pith_short_8","alias_value":"66A5BGZU","created_at":"2026-07-05T11:13:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:66A5BGZUDODKBBLGVRTFKK2XQM","target":"record","payload":{"canonical_record":{"source":{"id":"2506.00970","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-01T11:40:45Z","cross_cats_sorted":[],"title_canon_sha256":"27bc00177a9a9ec06e127ebdd306a9d3b45bd9d60f2995befc915b3e30ec4ac6","abstract_canon_sha256":"bfeb3ee58344f2de08336e9c7fcdc81104ad5b9abd6217f196053f587b0df8b3"},"schema_version":"1.0"},"canonical_sha256":"f781d09b341b86a08566ac66552b578337a082ab3371b05c7e48ead03b9d24bc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:13:43.789380Z","signature_b64":"tB0VckhSi+rx8gtnynEon9aA39zdNmllpzVNaOiLkeJcXtVpSvKyEtysO4bARxvFGTeKNTNIlKdylAshBNoYBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f781d09b341b86a08566ac66552b578337a082ab3371b05c7e48ead03b9d24bc","last_reissued_at":"2026-07-05T11:13:43.788967Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:13:43.788967Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.00970","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":"2026-07-05T11:13:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"29el1c4jJ+UXknY8l6r1pSRKtjuwUpx3J0Jhwrg1gwhenLxZld/UPjuFtvt2gW3WHXXGEr+XVU0iR5xPrfssBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T04:54:45.624124Z"},"content_sha256":"60c8471ec73ca5abcda61fe48d08aedb54e3f5975e26e3ad04c95e6d213790cc","schema_version":"1.0","event_id":"sha256:60c8471ec73ca5abcda61fe48d08aedb54e3f5975e26e3ad04c95e6d213790cc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:66A5BGZUDODKBBLGVRTFKK2XQM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Globally Consistent RGB-D SLAM with 2D Gaussian Splatting","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cyrill Stachniss, Jens Behley, Liren Jin, Marija Popovi\\'c, Xingguang Zhong, Yue Pan","submitted_at":"2025-06-01T11:40:45Z","abstract_excerpt":"Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric reconstructions and its ability to perform globally consistent mapping online. In this paper, we present 2DGS-SLAM, an RGB-D SLAM system using 2D Gaussian splatting as the map representation. By leveraging the depth-consistent rendering property of the 2D variant, we propose an accurate camera pose optimization method and achieve geometrically accurate 3D reconstructio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.00970","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/2506.00970/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":"2026-07-05T11:13:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"67oOHai3bjWE79vy0f1KUetiW1+0G+wGidJERKiP1dPBJoD+wHMkexDrd+7GM661l6/mi66qTRir73PJQ2W8Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T04:54:45.624618Z"},"content_sha256":"194f7b1d0a8ee21ae288b4f4158c90b3214b0062866393ca780e25ea5ecff90a","schema_version":"1.0","event_id":"sha256:194f7b1d0a8ee21ae288b4f4158c90b3214b0062866393ca780e25ea5ecff90a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/66A5BGZUDODKBBLGVRTFKK2XQM/bundle.json","state_url":"https://pith.science/pith/66A5BGZUDODKBBLGVRTFKK2XQM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/66A5BGZUDODKBBLGVRTFKK2XQM/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":"2026-08-08T04:54:45Z","links":{"resolver":"https://pith.science/pith/66A5BGZUDODKBBLGVRTFKK2XQM","bundle":"https://pith.science/pith/66A5BGZUDODKBBLGVRTFKK2XQM/bundle.json","state":"https://pith.science/pith/66A5BGZUDODKBBLGVRTFKK2XQM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/66A5BGZUDODKBBLGVRTFKK2XQM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:66A5BGZUDODKBBLGVRTFKK2XQM","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":"bfeb3ee58344f2de08336e9c7fcdc81104ad5b9abd6217f196053f587b0df8b3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-01T11:40:45Z","title_canon_sha256":"27bc00177a9a9ec06e127ebdd306a9d3b45bd9d60f2995befc915b3e30ec4ac6"},"schema_version":"1.0","source":{"id":"2506.00970","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.00970","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"arxiv_version","alias_value":"2506.00970v1","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.00970","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"pith_short_12","alias_value":"66A5BGZUDODK","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"pith_short_16","alias_value":"66A5BGZUDODKBBLG","created_at":"2026-07-05T11:13:43Z"},{"alias_kind":"pith_short_8","alias_value":"66A5BGZU","created_at":"2026-07-05T11:13:43Z"}],"graph_snapshots":[{"event_id":"sha256:194f7b1d0a8ee21ae288b4f4158c90b3214b0062866393ca780e25ea5ecff90a","target":"graph","created_at":"2026-07-05T11:13:43Z","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/2506.00970/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric reconstructions and its ability to perform globally consistent mapping online. In this paper, we present 2DGS-SLAM, an RGB-D SLAM system using 2D Gaussian splatting as the map representation. By leveraging the depth-consistent rendering property of the 2D variant, we propose an accurate camera pose optimization method and achieve geometrically accurate 3D reconstructio","authors_text":"Cyrill Stachniss, Jens Behley, Liren Jin, Marija Popovi\\'c, Xingguang Zhong, Yue Pan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-01T11:40:45Z","title":"Globally Consistent RGB-D SLAM with 2D Gaussian Splatting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.00970","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":"sha256:60c8471ec73ca5abcda61fe48d08aedb54e3f5975e26e3ad04c95e6d213790cc","target":"record","created_at":"2026-07-05T11:13:43Z","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":"bfeb3ee58344f2de08336e9c7fcdc81104ad5b9abd6217f196053f587b0df8b3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-01T11:40:45Z","title_canon_sha256":"27bc00177a9a9ec06e127ebdd306a9d3b45bd9d60f2995befc915b3e30ec4ac6"},"schema_version":"1.0","source":{"id":"2506.00970","kind":"arxiv","version":1}},"canonical_sha256":"f781d09b341b86a08566ac66552b578337a082ab3371b05c7e48ead03b9d24bc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f781d09b341b86a08566ac66552b578337a082ab3371b05c7e48ead03b9d24bc","first_computed_at":"2026-07-05T11:13:43.788967Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:13:43.788967Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tB0VckhSi+rx8gtnynEon9aA39zdNmllpzVNaOiLkeJcXtVpSvKyEtysO4bARxvFGTeKNTNIlKdylAshBNoYBw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:13:43.789380Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.00970","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:60c8471ec73ca5abcda61fe48d08aedb54e3f5975e26e3ad04c95e6d213790cc","sha256:194f7b1d0a8ee21ae288b4f4158c90b3214b0062866393ca780e25ea5ecff90a"],"state_sha256":"72929f5fffaeb89971b8b0e5012220797781a3f421fa7b10a24df72db7d01da7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k9gxsHH64WVhCPWu2ZN9sqqVLbRPyJoCyABL/80pxTwtEIkIzMsa7l64IKy7AIZAomA0lPGxvhUbQOWGzDTQCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T04:54:45.628464Z","bundle_sha256":"a0009a943e14e19ec0478dbb37a82772963d14d573aa87cd1e9a69cf278cca5f"}}