{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:7CSJQYPX7KCDEWTVR46RB7ORLA","short_pith_number":"pith:7CSJQYPX","canonical_record":{"source":{"id":"1705.00703","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-01T20:32:43Z","cross_cats_sorted":[],"title_canon_sha256":"dff97e4f9cae81a72ac5dbb59034797140b0f04450484efbf701c457c6ef7d67","abstract_canon_sha256":"d393d40565cf9ec0c69759bc17afcc284cd996d1d48770e11f35e7415ca5c49a"},"schema_version":"1.0"},"canonical_sha256":"f8a49861f7fa84325a758f3d10fdd1583e807a3181c5079acd071eb7b472dffc","source":{"kind":"arxiv","id":"1705.00703","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.00703","created_at":"2026-05-18T00:38:39Z"},{"alias_kind":"arxiv_version","alias_value":"1705.00703v3","created_at":"2026-05-18T00:38:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.00703","created_at":"2026-05-18T00:38:39Z"},{"alias_kind":"pith_short_12","alias_value":"7CSJQYPX7KCD","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"7CSJQYPX7KCDEWTV","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"7CSJQYPX","created_at":"2026-05-18T12:31:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:7CSJQYPX7KCDEWTVR46RB7ORLA","target":"record","payload":{"canonical_record":{"source":{"id":"1705.00703","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-01T20:32:43Z","cross_cats_sorted":[],"title_canon_sha256":"dff97e4f9cae81a72ac5dbb59034797140b0f04450484efbf701c457c6ef7d67","abstract_canon_sha256":"d393d40565cf9ec0c69759bc17afcc284cd996d1d48770e11f35e7415ca5c49a"},"schema_version":"1.0"},"canonical_sha256":"f8a49861f7fa84325a758f3d10fdd1583e807a3181c5079acd071eb7b472dffc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:38:39.649433Z","signature_b64":"gjKJJK98cNCKnEPY+DBhKIO666WFl5Hswpv3jSIQwLu1vGVN1/ib6WjCmHqzM6/0b4KH6pMKEFGQd2eyOxGFBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f8a49861f7fa84325a758f3d10fdd1583e807a3181c5079acd071eb7b472dffc","last_reissued_at":"2026-05-18T00:38:39.649001Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:38:39.649001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1705.00703","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:38:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rfPsfzoW/y6BAqJ7yD8rPDRWqT8QtMDeZqxBeKsZ3Z37HND/3brTOR0xOhP/sCt7PxRrlm8q/E2TXVHvxD8/DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T17:37:13.600344Z"},"content_sha256":"bc99c65f8a789f652de4a20af32292e4f7d64537ecb50c80e66ce2312f409296","schema_version":"1.0","event_id":"sha256:bc99c65f8a789f652de4a20af32292e4f7d64537ecb50c80e66ce2312f409296"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:7CSJQYPX7KCDEWTVR46RB7ORLA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Submodular Trajectory Optimization for Aerial 3D Scanning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Anh Truong, Ashish Kapoor, Debadeepta Dey, Mike Roberts, Neel Joshi, Pat Hanrahan, Shital Shah, Sudipta Sinha","submitted_at":"2017-05-01T20:32:43Z","abstract_excerpt":"Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and incomplete 3D models. We present an automatic method to generate drone trajectories, such that the imagery acquired during the flight will later produce a high-fidelity 3D model. Our method uses a coarse estimate of the scene geometry to plan camera trajectories that: (1) cover the scene as thoroughly as possible; (2) encourage observations of scene geometry from"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.00703","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:38:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Mk/Dw3raIud4SZk0D+pQB1rWJXmy/07HbSWHjpF1IpYTaEafhsDCUGOdf3Vpehl9NyD2c9ZZXZQ1pYZBl45rDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T17:37:13.601105Z"},"content_sha256":"8ceba65742ebedbe337d86b846757968d6d709ea41cdd31c74d56e2c96e85a94","schema_version":"1.0","event_id":"sha256:8ceba65742ebedbe337d86b846757968d6d709ea41cdd31c74d56e2c96e85a94"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7CSJQYPX7KCDEWTVR46RB7ORLA/bundle.json","state_url":"https://pith.science/pith/7CSJQYPX7KCDEWTVR46RB7ORLA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7CSJQYPX7KCDEWTVR46RB7ORLA/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":"2026-05-28T17:37:13Z","links":{"resolver":"https://pith.science/pith/7CSJQYPX7KCDEWTVR46RB7ORLA","bundle":"https://pith.science/pith/7CSJQYPX7KCDEWTVR46RB7ORLA/bundle.json","state":"https://pith.science/pith/7CSJQYPX7KCDEWTVR46RB7ORLA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7CSJQYPX7KCDEWTVR46RB7ORLA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:7CSJQYPX7KCDEWTVR46RB7ORLA","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":"d393d40565cf9ec0c69759bc17afcc284cd996d1d48770e11f35e7415ca5c49a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-01T20:32:43Z","title_canon_sha256":"dff97e4f9cae81a72ac5dbb59034797140b0f04450484efbf701c457c6ef7d67"},"schema_version":"1.0","source":{"id":"1705.00703","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.00703","created_at":"2026-05-18T00:38:39Z"},{"alias_kind":"arxiv_version","alias_value":"1705.00703v3","created_at":"2026-05-18T00:38:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.00703","created_at":"2026-05-18T00:38:39Z"},{"alias_kind":"pith_short_12","alias_value":"7CSJQYPX7KCD","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"7CSJQYPX7KCDEWTV","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"7CSJQYPX","created_at":"2026-05-18T12:31:03Z"}],"graph_snapshots":[{"event_id":"sha256:8ceba65742ebedbe337d86b846757968d6d709ea41cdd31c74d56e2c96e85a94","target":"graph","created_at":"2026-05-18T00:38:39Z","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":"Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and incomplete 3D models. We present an automatic method to generate drone trajectories, such that the imagery acquired during the flight will later produce a high-fidelity 3D model. Our method uses a coarse estimate of the scene geometry to plan camera trajectories that: (1) cover the scene as thoroughly as possible; (2) encourage observations of scene geometry from","authors_text":"Anh Truong, Ashish Kapoor, Debadeepta Dey, Mike Roberts, Neel Joshi, Pat Hanrahan, Shital Shah, Sudipta Sinha","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-01T20:32:43Z","title":"Submodular Trajectory Optimization for Aerial 3D Scanning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.00703","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:bc99c65f8a789f652de4a20af32292e4f7d64537ecb50c80e66ce2312f409296","target":"record","created_at":"2026-05-18T00:38:39Z","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":"d393d40565cf9ec0c69759bc17afcc284cd996d1d48770e11f35e7415ca5c49a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-05-01T20:32:43Z","title_canon_sha256":"dff97e4f9cae81a72ac5dbb59034797140b0f04450484efbf701c457c6ef7d67"},"schema_version":"1.0","source":{"id":"1705.00703","kind":"arxiv","version":3}},"canonical_sha256":"f8a49861f7fa84325a758f3d10fdd1583e807a3181c5079acd071eb7b472dffc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f8a49861f7fa84325a758f3d10fdd1583e807a3181c5079acd071eb7b472dffc","first_computed_at":"2026-05-18T00:38:39.649001Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:38:39.649001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gjKJJK98cNCKnEPY+DBhKIO666WFl5Hswpv3jSIQwLu1vGVN1/ib6WjCmHqzM6/0b4KH6pMKEFGQd2eyOxGFBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:38:39.649433Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.00703","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bc99c65f8a789f652de4a20af32292e4f7d64537ecb50c80e66ce2312f409296","sha256:8ceba65742ebedbe337d86b846757968d6d709ea41cdd31c74d56e2c96e85a94"],"state_sha256":"a70dd03763415d62d6bf139ea93d260fc19879de12f0e27272f1bc6f0aeae3f6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wGrVmI/OZnrfBmc+76pYnQE9u1S/lXgSoY9BZUie0ec/6u6bzgJNfpA5VQ1i/7sGjOSGxVPJFzCKAZPzHwhQAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T17:37:13.605136Z","bundle_sha256":"75d74fd90234abd05da42eb71554e5d90c7709256d70890fe8c3712bde87d6c2"}}