{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:72WF5SBGWR47AJZGJ7COMD7MQG","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":"ca4c60cc3ffa51003691678b5dc35e12b859c4a0bbb4c1c2f610aadda2312a30","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2018-03-06T04:19:24Z","title_canon_sha256":"561a1fb80b51fe66954daf1c4b7e642fab0d7443818fbfd0d9f5f03d04f1d5f2"},"schema_version":"1.0","source":{"id":"1803.02009","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.02009","created_at":"2026-05-18T00:20:01Z"},{"alias_kind":"arxiv_version","alias_value":"1803.02009v2","created_at":"2026-05-18T00:20:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.02009","created_at":"2026-05-18T00:20:01Z"},{"alias_kind":"pith_short_12","alias_value":"72WF5SBGWR47","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"72WF5SBGWR47AJZG","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"72WF5SBG","created_at":"2026-05-18T12:32:11Z"}],"graph_snapshots":[{"event_id":"sha256:55edc34ca212e11d5991984943673853c5c2a79e52deeb9c16a7ab595260d45c","target":"graph","created_at":"2026-05-18T00:20:01Z","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"},"paper":{"abstract_excerpt":"Real-time simultaneously localization and dense mapping is very helpful for providing Virtual Reality and Augmented Reality for surgeons or even surgical robots. In this paper, we propose MIS-SLAM: a complete real-time large scale dense deformable SLAM system with stereoscope in Minimal Invasive Surgery based on heterogeneous computing by making full use of CPU and GPU. Idled CPU is used to perform ORB- SLAM for providing robust global pose. Strategies are taken to integrate modules from CPU and GPU. We solved the key problem raised in previous work, that is, fast movement of scope and blurry ","authors_text":"Gamini Dissanayake, Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2018-03-06T04:19:24Z","title":"MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.02009","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":"sha256:3b1f4bd40192c37233c041a8697e1b15ee43210bc6740ad3e6217ed117b906d8","target":"record","created_at":"2026-05-18T00:20:01Z","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":"ca4c60cc3ffa51003691678b5dc35e12b859c4a0bbb4c1c2f610aadda2312a30","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2018-03-06T04:19:24Z","title_canon_sha256":"561a1fb80b51fe66954daf1c4b7e642fab0d7443818fbfd0d9f5f03d04f1d5f2"},"schema_version":"1.0","source":{"id":"1803.02009","kind":"arxiv","version":2}},"canonical_sha256":"feac5ec826b479f027264fc4e60fec81ac086bd6c2b0497683489e9891aac5a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"feac5ec826b479f027264fc4e60fec81ac086bd6c2b0497683489e9891aac5a6","first_computed_at":"2026-05-18T00:20:01.730438Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:20:01.730438Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7JZ4QpRXWPOFanv6ZqJ19f3TIKN1l7RULLEiJm+95m9JWZr74aOzm/ogttORO8axL+Q3Y6/xEbdqAcpyjMSdCw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:20:01.731110Z","signed_message":"canonical_sha256_bytes"},"source_id":"1803.02009","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3b1f4bd40192c37233c041a8697e1b15ee43210bc6740ad3e6217ed117b906d8","sha256:55edc34ca212e11d5991984943673853c5c2a79e52deeb9c16a7ab595260d45c"],"state_sha256":"ff24618d345c85629b4346edf4300f881155a4551dd3b30acb966cdced456ab0"}