{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:73RHS5Z36HXWELVPJLD3BGCNTL","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":"2ac5410e86a4386f0afb51cc467e4f29656169a325ffad47b0105d262b4fc751","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2015-06-25T02:27:29Z","title_canon_sha256":"ddd8686bbcc2c991c8a4575fae706ce8507da3bf438ccceafdb19bea605565f2"},"schema_version":"1.0","source":{"id":"1506.07597","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1506.07597","created_at":"2026-05-18T01:38:51Z"},{"alias_kind":"arxiv_version","alias_value":"1506.07597v1","created_at":"2026-05-18T01:38:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1506.07597","created_at":"2026-05-18T01:38:51Z"},{"alias_kind":"pith_short_12","alias_value":"73RHS5Z36HXW","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_16","alias_value":"73RHS5Z36HXWELVP","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_8","alias_value":"73RHS5Z3","created_at":"2026-05-18T12:29:07Z"}],"graph_snapshots":[{"event_id":"sha256:3385731dad6d4326578db8d96267758d3b048d709f81ee737bd48721f37fd211","target":"graph","created_at":"2026-05-18T01:38:51Z","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":"An analysis of the relative motion and point feature model configurations leading to solution degeneracy is presented, for the case of a Simultaneous Localization and Mapping system using multicamera clusters with non-overlapping fields-of-view. The SLAM optimization system seeks to minimize image space reprojection error and is formulated for a cluster containing any number of component cameras, observing any number of point features over two keyframes. The measurement Jacobian is transformed to expose a reduced-dimension representation such that the degeneracy of the system can be determined","authors_text":"David W. L. Wang, Michael J. Tribou, Steven L. Waslander","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2015-06-25T02:27:29Z","title":"Degenerate Motions in Multicamera Cluster SLAM with Non-overlapping Fields of View"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1506.07597","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:f660fe7e9b63320a6bbd8bf9c71176dc9de5f9ffdca4066a7fee0f9b84c91f49","target":"record","created_at":"2026-05-18T01:38:51Z","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":"2ac5410e86a4386f0afb51cc467e4f29656169a325ffad47b0105d262b4fc751","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2015-06-25T02:27:29Z","title_canon_sha256":"ddd8686bbcc2c991c8a4575fae706ce8507da3bf438ccceafdb19bea605565f2"},"schema_version":"1.0","source":{"id":"1506.07597","kind":"arxiv","version":1}},"canonical_sha256":"fee279773bf1ef622eaf4ac7b0984d9ad4b347b5a18b0d7c45a6ae884768876a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fee279773bf1ef622eaf4ac7b0984d9ad4b347b5a18b0d7c45a6ae884768876a","first_computed_at":"2026-05-18T01:38:51.387265Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:38:51.387265Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NXfatzk3DHvmlK2w0aPPNX1YAh+mSkjVRjK/rYUfxuKY0j2OW5w9C9IoYZA1qyme558LlQnpFx/OmnRbN/VeDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:38:51.387934Z","signed_message":"canonical_sha256_bytes"},"source_id":"1506.07597","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f660fe7e9b63320a6bbd8bf9c71176dc9de5f9ffdca4066a7fee0f9b84c91f49","sha256:3385731dad6d4326578db8d96267758d3b048d709f81ee737bd48721f37fd211"],"state_sha256":"052728646f8bdee73821f42c076bb800c36916013c463a5a6f80f0be43ddd810"}