{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:6ANHO4PB5DSUOYOSJ4HQR2YEO4","short_pith_number":"pith:6ANHO4PB","canonical_record":{"source":{"id":"2202.09199","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.IV","submitted_at":"2022-02-18T13:53:43Z","cross_cats_sorted":[],"title_canon_sha256":"dfcf6a2a8afacb018302a1ca3b10623d42fa9e3933275ed9d16f7c8b109c8f16","abstract_canon_sha256":"f8c0edc4c76e22e099218a18901cd1db7507e827b2b04164b13040f7519a855e"},"schema_version":"1.0"},"canonical_sha256":"f01a7771e1e8e54761d24f0f08eb0477202ed5a2e300f60bf433f5a7bfc8639e","source":{"kind":"arxiv","id":"2202.09199","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.09199","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"arxiv_version","alias_value":"2202.09199v2","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.09199","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"pith_short_12","alias_value":"6ANHO4PB5DSU","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"pith_short_16","alias_value":"6ANHO4PB5DSUOYOS","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"pith_short_8","alias_value":"6ANHO4PB","created_at":"2026-07-05T04:47:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:6ANHO4PB5DSUOYOSJ4HQR2YEO4","target":"record","payload":{"canonical_record":{"source":{"id":"2202.09199","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.IV","submitted_at":"2022-02-18T13:53:43Z","cross_cats_sorted":[],"title_canon_sha256":"dfcf6a2a8afacb018302a1ca3b10623d42fa9e3933275ed9d16f7c8b109c8f16","abstract_canon_sha256":"f8c0edc4c76e22e099218a18901cd1db7507e827b2b04164b13040f7519a855e"},"schema_version":"1.0"},"canonical_sha256":"f01a7771e1e8e54761d24f0f08eb0477202ed5a2e300f60bf433f5a7bfc8639e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:47:56.964284Z","signature_b64":"tI/+7UJuhJSyWBEPiYePfcXe+iQbmRqNuORfWyim7TYihJk28KK1RlRdoEHlsMxiztNYchmM0bytdr4m1Hf1BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f01a7771e1e8e54761d24f0f08eb0477202ed5a2e300f60bf433f5a7bfc8639e","last_reissued_at":"2026-07-05T04:47:56.963877Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:47:56.963877Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2202.09199","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":"2026-07-05T04:47:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CdHFmkU816kne5o/inxCliVocEVymBsVd75NnAAaIlgCR/qiuuYiWJiy+5pzjqVLlk1+D6G62AMORLEV8wDPAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:00:30.681769Z"},"content_sha256":"969cdccb596cb5921c2a890326ddfa5ea3459028e912039af070c0178ba83ae4","schema_version":"1.0","event_id":"sha256:969cdccb596cb5921c2a890326ddfa5ea3459028e912039af070c0178ba83ae4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:6ANHO4PB5DSUOYOSJ4HQR2YEO4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"eess.IV","authors_text":"Stefan Leutenegger","submitted_at":"2022-02-18T13:53:43Z","abstract_excerpt":"Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is introduced that particularly addresses challenges around long as well as repeated loop-closures. A series of experiments reveals that it achieves and in part outperforms what state-of-the-art open-source systems achieve. At the core of the algorithm sits the creation of pose-graph edges through marginalisation of common observations, which can fluidly be turned b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.09199","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/2202.09199/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":"2026-07-05T04:47:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PmytVfoR4vnCorNUupTEV1Emnzn/M47pK101ze5vCXqneofcl4kkaidUgYWTKoFcOZ8fqv+UV1a0+0BaSMdJDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:00:30.682433Z"},"content_sha256":"e1a1d4b484baa8ae31d48ffa92eebba6f8b3919a7d6819543d7086d7a01bcce8","schema_version":"1.0","event_id":"sha256:e1a1d4b484baa8ae31d48ffa92eebba6f8b3919a7d6819543d7086d7a01bcce8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6ANHO4PB5DSUOYOSJ4HQR2YEO4/bundle.json","state_url":"https://pith.science/pith/6ANHO4PB5DSUOYOSJ4HQR2YEO4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6ANHO4PB5DSUOYOSJ4HQR2YEO4/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":"2026-08-06T16:00:30Z","links":{"resolver":"https://pith.science/pith/6ANHO4PB5DSUOYOSJ4HQR2YEO4","bundle":"https://pith.science/pith/6ANHO4PB5DSUOYOSJ4HQR2YEO4/bundle.json","state":"https://pith.science/pith/6ANHO4PB5DSUOYOSJ4HQR2YEO4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6ANHO4PB5DSUOYOSJ4HQR2YEO4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:6ANHO4PB5DSUOYOSJ4HQR2YEO4","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":"f8c0edc4c76e22e099218a18901cd1db7507e827b2b04164b13040f7519a855e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.IV","submitted_at":"2022-02-18T13:53:43Z","title_canon_sha256":"dfcf6a2a8afacb018302a1ca3b10623d42fa9e3933275ed9d16f7c8b109c8f16"},"schema_version":"1.0","source":{"id":"2202.09199","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.09199","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"arxiv_version","alias_value":"2202.09199v2","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.09199","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"pith_short_12","alias_value":"6ANHO4PB5DSU","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"pith_short_16","alias_value":"6ANHO4PB5DSUOYOS","created_at":"2026-07-05T04:47:56Z"},{"alias_kind":"pith_short_8","alias_value":"6ANHO4PB","created_at":"2026-07-05T04:47:56Z"}],"graph_snapshots":[{"event_id":"sha256:e1a1d4b484baa8ae31d48ffa92eebba6f8b3919a7d6819543d7086d7a01bcce8","target":"graph","created_at":"2026-07-05T04:47:56Z","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/2202.09199/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is introduced that particularly addresses challenges around long as well as repeated loop-closures. A series of experiments reveals that it achieves and in part outperforms what state-of-the-art open-source systems achieve. At the core of the algorithm sits the creation of pose-graph edges through marginalisation of common observations, which can fluidly be turned b","authors_text":"Stefan Leutenegger","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.IV","submitted_at":"2022-02-18T13:53:43Z","title":"OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.09199","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":"sha256:969cdccb596cb5921c2a890326ddfa5ea3459028e912039af070c0178ba83ae4","target":"record","created_at":"2026-07-05T04:47:56Z","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":"f8c0edc4c76e22e099218a18901cd1db7507e827b2b04164b13040f7519a855e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.IV","submitted_at":"2022-02-18T13:53:43Z","title_canon_sha256":"dfcf6a2a8afacb018302a1ca3b10623d42fa9e3933275ed9d16f7c8b109c8f16"},"schema_version":"1.0","source":{"id":"2202.09199","kind":"arxiv","version":2}},"canonical_sha256":"f01a7771e1e8e54761d24f0f08eb0477202ed5a2e300f60bf433f5a7bfc8639e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f01a7771e1e8e54761d24f0f08eb0477202ed5a2e300f60bf433f5a7bfc8639e","first_computed_at":"2026-07-05T04:47:56.963877Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:47:56.963877Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tI/+7UJuhJSyWBEPiYePfcXe+iQbmRqNuORfWyim7TYihJk28KK1RlRdoEHlsMxiztNYchmM0bytdr4m1Hf1BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:47:56.964284Z","signed_message":"canonical_sha256_bytes"},"source_id":"2202.09199","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:969cdccb596cb5921c2a890326ddfa5ea3459028e912039af070c0178ba83ae4","sha256:e1a1d4b484baa8ae31d48ffa92eebba6f8b3919a7d6819543d7086d7a01bcce8"],"state_sha256":"def4b881567019a1ae0e1c20dda06a30a9badfcb9065a9d07c40462de9627e50"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XifjZaYvAc+OwklwK/uOxslmug51DnVcO1ysz/0FyUajyBrtdGGXilxIAt0t/seIIJOKjLdAMnQAL/4yjXhzAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T16:00:30.689404Z","bundle_sha256":"f00c870ecf2469fb0937b24460d5a5b220c15c808a13db52d2b262af930e22b5"}}