{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:6AQHCVJTQTKXE7FNJONSXZH3O3","short_pith_number":"pith:6AQHCVJT","canonical_record":{"source":{"id":"2008.11762","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-26T18:49:30Z","cross_cats_sorted":[],"title_canon_sha256":"eca95f88fe250ebd763c43916c42a2f8e7049f83fb5e2292ef18d491f40604b9","abstract_canon_sha256":"ab7ce1605e915e2ecd57d4cacfdbb027c0e6ba53b91c66c303fa3aef6ca5b624"},"schema_version":"1.0"},"canonical_sha256":"f02071553384d5727cad4b9b2be4fb76c99830ca83de97617a60ef00f488e40a","source":{"kind":"arxiv","id":"2008.11762","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.11762","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"arxiv_version","alias_value":"2008.11762v2","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.11762","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"pith_short_12","alias_value":"6AQHCVJTQTKX","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"pith_short_16","alias_value":"6AQHCVJTQTKXE7FN","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"pith_short_8","alias_value":"6AQHCVJT","created_at":"2026-07-05T01:34:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:6AQHCVJTQTKXE7FNJONSXZH3O3","target":"record","payload":{"canonical_record":{"source":{"id":"2008.11762","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-26T18:49:30Z","cross_cats_sorted":[],"title_canon_sha256":"eca95f88fe250ebd763c43916c42a2f8e7049f83fb5e2292ef18d491f40604b9","abstract_canon_sha256":"ab7ce1605e915e2ecd57d4cacfdbb027c0e6ba53b91c66c303fa3aef6ca5b624"},"schema_version":"1.0"},"canonical_sha256":"f02071553384d5727cad4b9b2be4fb76c99830ca83de97617a60ef00f488e40a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:34:34.468758Z","signature_b64":"2tR2jRq9zZJ7tda8+YCzfKlca4aMpFygofMNiK0iXsMs9hkSCluSetKUv1YvqW9TBP06H5ud/XBZnU1A5LaABg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f02071553384d5727cad4b9b2be4fb76c99830ca83de97617a60ef00f488e40a","last_reissued_at":"2026-07-05T01:34:34.468330Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:34:34.468330Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2008.11762","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":"2026-07-05T01:34:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hrEL8UhaeCKwEZew828JDKzQVmBzCvc0joA+raks+plbYa8q40K3eUZTdgWDyXhPhAvRW862Ypd8AXYN7DeSDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:05:38.177866Z"},"content_sha256":"c0f819628df5e5287f5bead85b658324b3945b421ebd1d06846833f6eabdfa1d","schema_version":"1.0","event_id":"sha256:c0f819628df5e5287f5bead85b658324b3945b421ebd1d06846833f6eabdfa1d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:6AQHCVJTQTKXE7FNJONSXZH3O3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Large Scale Photometric Bundle Adjustment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Edward Rosten, Oliver J. Woodford","submitted_at":"2020-08-26T18:49:30Z","abstract_excerpt":"Direct methods have shown promise on visual odometry and SLAM, leading to greater accuracy and robustness over feature-based methods. However, offline 3-d reconstruction from internet images has not yet benefited from a joint, photometric optimization over dense geometry and camera parameters. Issues such as the lack of brightness constancy, and the sheer volume of data, make this a more challenging task. This work presents a framework for jointly optimizing millions of scene points and hundreds of camera poses and intrinsics, using a photometric cost that is invariant to local lighting change"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.11762","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/2008.11762/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":"2026-07-05T01:34:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7sDVIn6T5/pm37bXFXsEiTYys0tivMmn1RiB3LD4FkkdVxQyQZ02CQfoCU0SXOAwcy6EjxCNT7nr3pkoLpioDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:05:38.179277Z"},"content_sha256":"85f9c197ffd845ff1ff24873d930818c508b1188060ce1b4b31354638a1bdd14","schema_version":"1.0","event_id":"sha256:85f9c197ffd845ff1ff24873d930818c508b1188060ce1b4b31354638a1bdd14"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6AQHCVJTQTKXE7FNJONSXZH3O3/bundle.json","state_url":"https://pith.science/pith/6AQHCVJTQTKXE7FNJONSXZH3O3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6AQHCVJTQTKXE7FNJONSXZH3O3/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":"2026-08-06T05:05:38Z","links":{"resolver":"https://pith.science/pith/6AQHCVJTQTKXE7FNJONSXZH3O3","bundle":"https://pith.science/pith/6AQHCVJTQTKXE7FNJONSXZH3O3/bundle.json","state":"https://pith.science/pith/6AQHCVJTQTKXE7FNJONSXZH3O3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6AQHCVJTQTKXE7FNJONSXZH3O3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:6AQHCVJTQTKXE7FNJONSXZH3O3","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":"ab7ce1605e915e2ecd57d4cacfdbb027c0e6ba53b91c66c303fa3aef6ca5b624","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-26T18:49:30Z","title_canon_sha256":"eca95f88fe250ebd763c43916c42a2f8e7049f83fb5e2292ef18d491f40604b9"},"schema_version":"1.0","source":{"id":"2008.11762","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.11762","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"arxiv_version","alias_value":"2008.11762v2","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.11762","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"pith_short_12","alias_value":"6AQHCVJTQTKX","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"pith_short_16","alias_value":"6AQHCVJTQTKXE7FN","created_at":"2026-07-05T01:34:34Z"},{"alias_kind":"pith_short_8","alias_value":"6AQHCVJT","created_at":"2026-07-05T01:34:34Z"}],"graph_snapshots":[{"event_id":"sha256:85f9c197ffd845ff1ff24873d930818c508b1188060ce1b4b31354638a1bdd14","target":"graph","created_at":"2026-07-05T01:34:34Z","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/2008.11762/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Direct methods have shown promise on visual odometry and SLAM, leading to greater accuracy and robustness over feature-based methods. However, offline 3-d reconstruction from internet images has not yet benefited from a joint, photometric optimization over dense geometry and camera parameters. Issues such as the lack of brightness constancy, and the sheer volume of data, make this a more challenging task. This work presents a framework for jointly optimizing millions of scene points and hundreds of camera poses and intrinsics, using a photometric cost that is invariant to local lighting change","authors_text":"Edward Rosten, Oliver J. Woodford","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-26T18:49:30Z","title":"Large Scale Photometric Bundle Adjustment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.11762","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:c0f819628df5e5287f5bead85b658324b3945b421ebd1d06846833f6eabdfa1d","target":"record","created_at":"2026-07-05T01:34:34Z","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":"ab7ce1605e915e2ecd57d4cacfdbb027c0e6ba53b91c66c303fa3aef6ca5b624","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-26T18:49:30Z","title_canon_sha256":"eca95f88fe250ebd763c43916c42a2f8e7049f83fb5e2292ef18d491f40604b9"},"schema_version":"1.0","source":{"id":"2008.11762","kind":"arxiv","version":2}},"canonical_sha256":"f02071553384d5727cad4b9b2be4fb76c99830ca83de97617a60ef00f488e40a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f02071553384d5727cad4b9b2be4fb76c99830ca83de97617a60ef00f488e40a","first_computed_at":"2026-07-05T01:34:34.468330Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:34:34.468330Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2tR2jRq9zZJ7tda8+YCzfKlca4aMpFygofMNiK0iXsMs9hkSCluSetKUv1YvqW9TBP06H5ud/XBZnU1A5LaABg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:34:34.468758Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.11762","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c0f819628df5e5287f5bead85b658324b3945b421ebd1d06846833f6eabdfa1d","sha256:85f9c197ffd845ff1ff24873d930818c508b1188060ce1b4b31354638a1bdd14"],"state_sha256":"3131d5c5595970c8dab3e78055553ba7a42a40d27ec4d5fb8b863d4f754f127b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HWfyRdQalIW9NTzz+ezwaJYz9tebjerRhhcwILKW+U3ushmOXvwgnPF3WQQjevZO6iou/vMTLeq1ZhtSOx3ABw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T05:05:38.191789Z","bundle_sha256":"fb1b628855a6853faab15be8c07882639869b04c4ec7f9d3a4c2eea3bd65343f"}}