{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:6HKMW7TL3EZFQKN4QDM7RM6AVG","short_pith_number":"pith:6HKMW7TL","canonical_record":{"source":{"id":"2410.05405","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-07T18:11:22Z","cross_cats_sorted":[],"title_canon_sha256":"d07a0477b5d70ddd3482324be4a0bcd7ae2168a5b9bf0799d5cb842e9e94f6cf","abstract_canon_sha256":"f68e6fd62b287a293bb78792d77bb09d2111b6009b16613dc271024fc66b5b1f"},"schema_version":"1.0"},"canonical_sha256":"f1d4cb7e6bd9325829bc80d9f8b3c0a9a9999209de3822fcc66142321a36a9db","source":{"kind":"arxiv","id":"2410.05405","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.05405","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"arxiv_version","alias_value":"2410.05405v1","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.05405","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"pith_short_12","alias_value":"6HKMW7TL3EZF","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"pith_short_16","alias_value":"6HKMW7TL3EZFQKN4","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"pith_short_8","alias_value":"6HKMW7TL","created_at":"2026-07-05T09:17:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:6HKMW7TL3EZFQKN4QDM7RM6AVG","target":"record","payload":{"canonical_record":{"source":{"id":"2410.05405","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-07T18:11:22Z","cross_cats_sorted":[],"title_canon_sha256":"d07a0477b5d70ddd3482324be4a0bcd7ae2168a5b9bf0799d5cb842e9e94f6cf","abstract_canon_sha256":"f68e6fd62b287a293bb78792d77bb09d2111b6009b16613dc271024fc66b5b1f"},"schema_version":"1.0"},"canonical_sha256":"f1d4cb7e6bd9325829bc80d9f8b3c0a9a9999209de3822fcc66142321a36a9db","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:17:18.820361Z","signature_b64":"rVVmXWxFJVfbiMlTEfoecrxcH9CmTXDw9E8+GEQ6aFATNmH1FQ/MK4xYUpQ3+/jya1etDPugwve+re6/7Zt0AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f1d4cb7e6bd9325829bc80d9f8b3c0a9a9999209de3822fcc66142321a36a9db","last_reissued_at":"2026-07-05T09:17:18.819838Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:17:18.819838Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.05405","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":"2026-07-05T09:17:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XOIAgVr2/569sXMcBaA82SqegRxyrLAFSQLZz5dGOGqwe5fPCeteS9gkKXfwKemhooCoGjN+XtuOZAWWt+3LAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T04:55:33.642782Z"},"content_sha256":"0efc525fb5d335478bcd732274f1745ed27bd784688f7bcc2226f9815d6ba9d9","schema_version":"1.0","event_id":"sha256:0efc525fb5d335478bcd732274f1745ed27bd784688f7bcc2226f9815d6ba9d9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:6HKMW7TL3EZFQKN4QDM7RM6AVG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SharpSLAM: 3D Object-Oriented Visual SLAM with Deblurring for Agile Drones","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aleksey Fedoseev, Denis Davletshin, Dzmitry Tsetserukou, Iana Zhura, Mikhail Rybiyanov, Vladislav Cheremnykh","submitted_at":"2024-10-07T18:11:22Z","abstract_excerpt":"The paper focuses on the algorithm for improving the quality of 3D reconstruction and segmentation in DSP-SLAM by enhancing the RGB image quality. SharpSLAM algorithm developed by us aims to decrease the influence of high dynamic motion on visual object-oriented SLAM through image deblurring, improving all aspects of object-oriented SLAM, including localization, mapping, and object reconstruction.\n  The experimental results revealed noticeable improvement in object detection quality, with F-score increased from 82.9% to 86.2% due to the higher number of features and corresponding map points. T"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.05405","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/2410.05405/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":"2026-07-05T09:17:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JnRu6X68PV1GlaNxvQ80W4paeHMOxi4PIYrRata4TENjNvmpSnJ91tCUB6imCT3N3q6/9jble6qekn9acYn9AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T04:55:33.643415Z"},"content_sha256":"ea5f019ad6e1e5a2a0a8acb4f640a7cbc615779b4347b827cfe4d51e447eb23a","schema_version":"1.0","event_id":"sha256:ea5f019ad6e1e5a2a0a8acb4f640a7cbc615779b4347b827cfe4d51e447eb23a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6HKMW7TL3EZFQKN4QDM7RM6AVG/bundle.json","state_url":"https://pith.science/pith/6HKMW7TL3EZFQKN4QDM7RM6AVG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6HKMW7TL3EZFQKN4QDM7RM6AVG/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":"2026-07-07T04:55:33Z","links":{"resolver":"https://pith.science/pith/6HKMW7TL3EZFQKN4QDM7RM6AVG","bundle":"https://pith.science/pith/6HKMW7TL3EZFQKN4QDM7RM6AVG/bundle.json","state":"https://pith.science/pith/6HKMW7TL3EZFQKN4QDM7RM6AVG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6HKMW7TL3EZFQKN4QDM7RM6AVG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:6HKMW7TL3EZFQKN4QDM7RM6AVG","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":"f68e6fd62b287a293bb78792d77bb09d2111b6009b16613dc271024fc66b5b1f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-07T18:11:22Z","title_canon_sha256":"d07a0477b5d70ddd3482324be4a0bcd7ae2168a5b9bf0799d5cb842e9e94f6cf"},"schema_version":"1.0","source":{"id":"2410.05405","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.05405","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"arxiv_version","alias_value":"2410.05405v1","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.05405","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"pith_short_12","alias_value":"6HKMW7TL3EZF","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"pith_short_16","alias_value":"6HKMW7TL3EZFQKN4","created_at":"2026-07-05T09:17:18Z"},{"alias_kind":"pith_short_8","alias_value":"6HKMW7TL","created_at":"2026-07-05T09:17:18Z"}],"graph_snapshots":[{"event_id":"sha256:ea5f019ad6e1e5a2a0a8acb4f640a7cbc615779b4347b827cfe4d51e447eb23a","target":"graph","created_at":"2026-07-05T09:17:18Z","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/2410.05405/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The paper focuses on the algorithm for improving the quality of 3D reconstruction and segmentation in DSP-SLAM by enhancing the RGB image quality. SharpSLAM algorithm developed by us aims to decrease the influence of high dynamic motion on visual object-oriented SLAM through image deblurring, improving all aspects of object-oriented SLAM, including localization, mapping, and object reconstruction.\n  The experimental results revealed noticeable improvement in object detection quality, with F-score increased from 82.9% to 86.2% due to the higher number of features and corresponding map points. T","authors_text":"Aleksey Fedoseev, Denis Davletshin, Dzmitry Tsetserukou, Iana Zhura, Mikhail Rybiyanov, Vladislav Cheremnykh","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-07T18:11:22Z","title":"SharpSLAM: 3D Object-Oriented Visual SLAM with Deblurring for Agile Drones"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.05405","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":"sha256:0efc525fb5d335478bcd732274f1745ed27bd784688f7bcc2226f9815d6ba9d9","target":"record","created_at":"2026-07-05T09:17:18Z","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":"f68e6fd62b287a293bb78792d77bb09d2111b6009b16613dc271024fc66b5b1f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-07T18:11:22Z","title_canon_sha256":"d07a0477b5d70ddd3482324be4a0bcd7ae2168a5b9bf0799d5cb842e9e94f6cf"},"schema_version":"1.0","source":{"id":"2410.05405","kind":"arxiv","version":1}},"canonical_sha256":"f1d4cb7e6bd9325829bc80d9f8b3c0a9a9999209de3822fcc66142321a36a9db","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f1d4cb7e6bd9325829bc80d9f8b3c0a9a9999209de3822fcc66142321a36a9db","first_computed_at":"2026-07-05T09:17:18.819838Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:17:18.819838Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rVVmXWxFJVfbiMlTEfoecrxcH9CmTXDw9E8+GEQ6aFATNmH1FQ/MK4xYUpQ3+/jya1etDPugwve+re6/7Zt0AA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:17:18.820361Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.05405","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0efc525fb5d335478bcd732274f1745ed27bd784688f7bcc2226f9815d6ba9d9","sha256:ea5f019ad6e1e5a2a0a8acb4f640a7cbc615779b4347b827cfe4d51e447eb23a"],"state_sha256":"39ecbfe0ac82ac86bedd667890d8505c36bd5ac698380394b00195638ba9bba3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bYIXdwD3rnTgxJDSDivd6yvf9rpCYHJlLrweFk3bSKUHpy0fEpsz841gkjwkdbjFX2pv4DcrTJXZ41PJt9B/Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T04:55:33.646928Z","bundle_sha256":"6d5df15fa81ef8354c03409797fff4a226d942a90193dd567c7d8def087dbd90"}}