{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:6ZYDPIPIKXF7QZCPZ23LTW3U4K","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":"78fad2f847de7784fa07c4763c98ab6f4fac7c92d9fc31747a945cfc9e58d576","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-09-18T17:12:43Z","title_canon_sha256":"42dd7e9dd1a94905c607a02997c2992390a17a97dfd8d1520f63faf37fcd7c1a"},"schema_version":"1.0","source":{"id":"2309.09947","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.09947","created_at":"2026-07-05T09:05:10Z"},{"alias_kind":"arxiv_version","alias_value":"2309.09947v3","created_at":"2026-07-05T09:05:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.09947","created_at":"2026-07-05T09:05:10Z"},{"alias_kind":"pith_short_12","alias_value":"6ZYDPIPIKXF7","created_at":"2026-07-05T09:05:10Z"},{"alias_kind":"pith_short_16","alias_value":"6ZYDPIPIKXF7QZCP","created_at":"2026-07-05T09:05:10Z"},{"alias_kind":"pith_short_8","alias_value":"6ZYDPIPI","created_at":"2026-07-05T09:05:10Z"}],"graph_snapshots":[{"event_id":"sha256:78789a7057cc4f6bcb6f0b5150100e9ed7a3a09c3b8ff68f70393b8758d01c50","target":"graph","created_at":"2026-07-05T09:05:10Z","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/2309.09947/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras. While event cameras excel in low-light and high-speed motion, standard cameras provide dense and easier-to-track features. However, the field of image- and event-based VO still predominantly relies on model-based methods and is yet to fully integrate recent image-only advancements leveraging end-to-end learning-based architectures. Seamlessly integrating the t","authors_text":"Daniel Gehrig, Davide Scaramuzza, Joris Belhadj, Marco Cannici, Massimo Casasco, Olivier Dubois-Matra, Roberto Pellerito","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-09-18T17:12:43Z","title":"Deep Visual Odometry with Events and Frames"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.09947","kind":"arxiv","version":3},"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:b76f1c8b16670a0ff5f60b084493c7e5df6d62c2f5d6a93cf25c2ba958d5b6ad","target":"record","created_at":"2026-07-05T09:05:10Z","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":"78fad2f847de7784fa07c4763c98ab6f4fac7c92d9fc31747a945cfc9e58d576","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-09-18T17:12:43Z","title_canon_sha256":"42dd7e9dd1a94905c607a02997c2992390a17a97dfd8d1520f63faf37fcd7c1a"},"schema_version":"1.0","source":{"id":"2309.09947","kind":"arxiv","version":3}},"canonical_sha256":"f67037a1e855cbf8644fceb6b9db74e2823543f0b38da6a77a3cea5cdbde6db8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f67037a1e855cbf8644fceb6b9db74e2823543f0b38da6a77a3cea5cdbde6db8","first_computed_at":"2026-07-05T09:05:10.866716Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:05:10.866716Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Dz4bfWFpIhBwxtw3WAsCgAELj8EsXlEzrk0gvAnwZ4H67aAykjXSN4Rv+sauVMHMmuvtYxwmKbvBJEskGpbDAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:05:10.867248Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.09947","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b76f1c8b16670a0ff5f60b084493c7e5df6d62c2f5d6a93cf25c2ba958d5b6ad","sha256:78789a7057cc4f6bcb6f0b5150100e9ed7a3a09c3b8ff68f70393b8758d01c50"],"state_sha256":"4974c3e6a9b27d2404749f5a1c243359947f583e0df48d931d1025c889854533"}