{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:ADFTQZTRNAKBQ3YZCF3YMTNWKI","short_pith_number":"pith:ADFTQZTR","canonical_record":{"source":{"id":"1910.02490","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-06T18:26:25Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"19d096220523535aa3f7b43bf0f8f5d2982cbe17b0b14d3ec9b740a431b96bdf","abstract_canon_sha256":"2c8a733e0344d27cbf0796d5c6194361a25d7da0fd2c2a961f2fe8ba195562f2"},"schema_version":"1.0"},"canonical_sha256":"00cb3866716814186f191177864db65233a5f2df32200e622cb1a9af0210c39c","source":{"kind":"arxiv","id":"1910.02490","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1910.02490","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"arxiv_version","alias_value":"1910.02490v3","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1910.02490","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"pith_short_12","alias_value":"ADFTQZTRNAKB","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"pith_short_16","alias_value":"ADFTQZTRNAKBQ3YZ","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"pith_short_8","alias_value":"ADFTQZTR","created_at":"2026-07-05T00:45:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:ADFTQZTRNAKBQ3YZCF3YMTNWKI","target":"record","payload":{"canonical_record":{"source":{"id":"1910.02490","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-06T18:26:25Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"19d096220523535aa3f7b43bf0f8f5d2982cbe17b0b14d3ec9b740a431b96bdf","abstract_canon_sha256":"2c8a733e0344d27cbf0796d5c6194361a25d7da0fd2c2a961f2fe8ba195562f2"},"schema_version":"1.0"},"canonical_sha256":"00cb3866716814186f191177864db65233a5f2df32200e622cb1a9af0210c39c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:45:33.961912Z","signature_b64":"2c1lfhiyMiaTCsNeDTdjnKVso4RzOSyq2MoRN09LXhE4Z44bw2svhkizeyvZsmxnBXttSJSSDFYyeMypwQ+2CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"00cb3866716814186f191177864db65233a5f2df32200e622cb1a9af0210c39c","last_reissued_at":"2026-07-05T00:45:33.961333Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:45:33.961333Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1910.02490","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":"2026-07-05T00:45:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"M59Px3xVHbRz5iQxJZD1EWXafkmjW2Dmq3VMvLYo/sE+od8lGOxtjttS112gDcOut74L5TkseGd6OZAH5cKKBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:21:46.422511Z"},"content_sha256":"f6c6aeaec2802de1c032a1e0b0786c6118ba1d4e82fe3df7f2df49d425024a41","schema_version":"1.0","event_id":"sha256:f6c6aeaec2802de1c032a1e0b0786c6118ba1d4e82fe3df7f2df49d425024a41"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:ADFTQZTRNAKBQ3YZCF3YMTNWKI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Antoni Rosinol, Luca Carlone, Marcus Abate, Yun Chang","submitted_at":"2019-10-06T18:26:25Z","abstract_excerpt":"We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS- Mono, OKVIS, ROVIO) by enabling mesh reconstruction and semantic labeling in 3D. Kimera is designed with modularity in mind and has four key components: a visual-inertial odometry (VIO) module for fast and accurate state estimation, a robust pose graph optimizer for global trajectory estimation, a lightweight 3D mesher module for fast mesh reconstruction, and a dense 3D"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.02490","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1910.02490/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":"2026-07-05T00:45:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"D0wG5b7QXgPx5rHXGUH9uDHmgH5Rfd9Qe3aBkpBX7EMBcXWCxPtOT21bF9F0B99foAb7XLgK4zl6qc55eI1VAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:21:46.422886Z"},"content_sha256":"c714f72d40323b5de5ef51f4a427fd4fa9d6e958be2551f621689abdfdd9622c","schema_version":"1.0","event_id":"sha256:c714f72d40323b5de5ef51f4a427fd4fa9d6e958be2551f621689abdfdd9622c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ADFTQZTRNAKBQ3YZCF3YMTNWKI/bundle.json","state_url":"https://pith.science/pith/ADFTQZTRNAKBQ3YZCF3YMTNWKI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ADFTQZTRNAKBQ3YZCF3YMTNWKI/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":"2026-07-07T08:21:46Z","links":{"resolver":"https://pith.science/pith/ADFTQZTRNAKBQ3YZCF3YMTNWKI","bundle":"https://pith.science/pith/ADFTQZTRNAKBQ3YZCF3YMTNWKI/bundle.json","state":"https://pith.science/pith/ADFTQZTRNAKBQ3YZCF3YMTNWKI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ADFTQZTRNAKBQ3YZCF3YMTNWKI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:ADFTQZTRNAKBQ3YZCF3YMTNWKI","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":"2c8a733e0344d27cbf0796d5c6194361a25d7da0fd2c2a961f2fe8ba195562f2","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-06T18:26:25Z","title_canon_sha256":"19d096220523535aa3f7b43bf0f8f5d2982cbe17b0b14d3ec9b740a431b96bdf"},"schema_version":"1.0","source":{"id":"1910.02490","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1910.02490","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"arxiv_version","alias_value":"1910.02490v3","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1910.02490","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"pith_short_12","alias_value":"ADFTQZTRNAKB","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"pith_short_16","alias_value":"ADFTQZTRNAKBQ3YZ","created_at":"2026-07-05T00:45:33Z"},{"alias_kind":"pith_short_8","alias_value":"ADFTQZTR","created_at":"2026-07-05T00:45:33Z"}],"graph_snapshots":[{"event_id":"sha256:c714f72d40323b5de5ef51f4a427fd4fa9d6e958be2551f621689abdfdd9622c","target":"graph","created_at":"2026-07-05T00:45:33Z","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/1910.02490/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS- Mono, OKVIS, ROVIO) by enabling mesh reconstruction and semantic labeling in 3D. Kimera is designed with modularity in mind and has four key components: a visual-inertial odometry (VIO) module for fast and accurate state estimation, a robust pose graph optimizer for global trajectory estimation, a lightweight 3D mesher module for fast mesh reconstruction, and a dense 3D","authors_text":"Antoni Rosinol, Luca Carlone, Marcus Abate, Yun Chang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-06T18:26:25Z","title":"Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.02490","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:f6c6aeaec2802de1c032a1e0b0786c6118ba1d4e82fe3df7f2df49d425024a41","target":"record","created_at":"2026-07-05T00:45:33Z","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":"2c8a733e0344d27cbf0796d5c6194361a25d7da0fd2c2a961f2fe8ba195562f2","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-06T18:26:25Z","title_canon_sha256":"19d096220523535aa3f7b43bf0f8f5d2982cbe17b0b14d3ec9b740a431b96bdf"},"schema_version":"1.0","source":{"id":"1910.02490","kind":"arxiv","version":3}},"canonical_sha256":"00cb3866716814186f191177864db65233a5f2df32200e622cb1a9af0210c39c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"00cb3866716814186f191177864db65233a5f2df32200e622cb1a9af0210c39c","first_computed_at":"2026-07-05T00:45:33.961333Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:45:33.961333Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2c1lfhiyMiaTCsNeDTdjnKVso4RzOSyq2MoRN09LXhE4Z44bw2svhkizeyvZsmxnBXttSJSSDFYyeMypwQ+2CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:45:33.961912Z","signed_message":"canonical_sha256_bytes"},"source_id":"1910.02490","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f6c6aeaec2802de1c032a1e0b0786c6118ba1d4e82fe3df7f2df49d425024a41","sha256:c714f72d40323b5de5ef51f4a427fd4fa9d6e958be2551f621689abdfdd9622c"],"state_sha256":"20a10b1cb07f706ae31548e278febc3f82b3ad6739c30c43ce7a0367a3f9ed04"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GejrkyJX3Xem3GL2Q+Go6M66F0BnabeeXcxc6jaj0m5Z6N8wh57HlGGY45lvx5u2NSbRZWvJEu0bryNvd/ocBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T08:21:46.424837Z","bundle_sha256":"41a01e781a20126eda2325aa3626919392eecb0f8aa4f515f59b229938f93e7b"}}