{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:ALO3VMKZSKPRNQ6EBOXSPQF7P5","short_pith_number":"pith:ALO3VMKZ","canonical_record":{"source":{"id":"2004.05534","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-04-12T03:13:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"3217a040e8031611044aab86f9f452659f57d8fa4a3c23798f5c8ab241bdbb37","abstract_canon_sha256":"10abdb82579c3ec9f9cca10899d48e823b2a424b83a8b61ac7ffb8562907490e"},"schema_version":"1.0"},"canonical_sha256":"02ddbab159929f16c3c40baf27c0bf7f5ee9cce5c6b9208cd739f32f4aed46d1","source":{"kind":"arxiv","id":"2004.05534","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.05534","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"arxiv_version","alias_value":"2004.05534v1","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.05534","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"pith_short_12","alias_value":"ALO3VMKZSKPR","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"pith_short_16","alias_value":"ALO3VMKZSKPRNQ6E","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"pith_short_8","alias_value":"ALO3VMKZ","created_at":"2026-07-05T00:54:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:ALO3VMKZSKPRNQ6EBOXSPQF7P5","target":"record","payload":{"canonical_record":{"source":{"id":"2004.05534","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-04-12T03:13:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"3217a040e8031611044aab86f9f452659f57d8fa4a3c23798f5c8ab241bdbb37","abstract_canon_sha256":"10abdb82579c3ec9f9cca10899d48e823b2a424b83a8b61ac7ffb8562907490e"},"schema_version":"1.0"},"canonical_sha256":"02ddbab159929f16c3c40baf27c0bf7f5ee9cce5c6b9208cd739f32f4aed46d1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:54:38.164515Z","signature_b64":"WViXRv98PhZnM1jHMOCYPuBqDZmqCho8PRNP9Z6zdutyR7gp3Wcf366g/qb7CkCZOUBEe/EWTzAqDdYz4jWUDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"02ddbab159929f16c3c40baf27c0bf7f5ee9cce5c6b9208cd739f32f4aed46d1","last_reissued_at":"2026-07-05T00:54:38.164081Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:54:38.164081Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2004.05534","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:54:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R0uO9yWnamyuyZY+BzMY/ArX/kawed7YnwZSm7MRShQ5/RatNpPKzjJHxUOwik1sVYNLb0sKDaAh+ZDWq1zTBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T14:05:52.537696Z"},"content_sha256":"69ce2363c7646c3f511a410b3a8071a54e4a90f1c4256c1120a9b2254cd29789","schema_version":"1.0","event_id":"sha256:69ce2363c7646c3f511a410b3a8071a54e4a90f1c4256c1120a9b2254cd29789"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:ALO3VMKZSKPRNQ6EBOXSPQF7P5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Online Initialization and Extrinsic Spatial-Temporal Calibration for Monocular Visual-Inertial Odometry","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Hong Liu, Weibo Huang, Weiwei Wan","submitted_at":"2020-04-12T03:13:08Z","abstract_excerpt":"This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among camera and IMU, as well as estimate the initial values of metric scale, velocity, gravity, gyroscope bias, and accelerometer bias during the initialization stage. To compensate for the impact of time offset, our method includes two short-term motion interpolation algorithms for the camera and IMU pose estimation. Besides, it includes a three-step process to i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.05534","kind":"arxiv","version":1},"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/2004.05534/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":"2026-07-05T00:54:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4U7zdLZklyPFyTOSfjIonTWYqkAw3VrG0EbOVhZI0aVziR2QkdqJBDR+CMuhf2LvZu1pGvJpVlO7cn/qFf+QDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T14:05:52.538448Z"},"content_sha256":"1fd1b956bd8c0d112bf53f13b19e85a1d3b3b6ff2bce5aa2cbcb12e42f25461f","schema_version":"1.0","event_id":"sha256:1fd1b956bd8c0d112bf53f13b19e85a1d3b3b6ff2bce5aa2cbcb12e42f25461f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ALO3VMKZSKPRNQ6EBOXSPQF7P5/bundle.json","state_url":"https://pith.science/pith/ALO3VMKZSKPRNQ6EBOXSPQF7P5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ALO3VMKZSKPRNQ6EBOXSPQF7P5/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":"2026-08-05T14:05:52Z","links":{"resolver":"https://pith.science/pith/ALO3VMKZSKPRNQ6EBOXSPQF7P5","bundle":"https://pith.science/pith/ALO3VMKZSKPRNQ6EBOXSPQF7P5/bundle.json","state":"https://pith.science/pith/ALO3VMKZSKPRNQ6EBOXSPQF7P5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ALO3VMKZSKPRNQ6EBOXSPQF7P5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:ALO3VMKZSKPRNQ6EBOXSPQF7P5","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":"10abdb82579c3ec9f9cca10899d48e823b2a424b83a8b61ac7ffb8562907490e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-04-12T03:13:08Z","title_canon_sha256":"3217a040e8031611044aab86f9f452659f57d8fa4a3c23798f5c8ab241bdbb37"},"schema_version":"1.0","source":{"id":"2004.05534","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.05534","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"arxiv_version","alias_value":"2004.05534v1","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.05534","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"pith_short_12","alias_value":"ALO3VMKZSKPR","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"pith_short_16","alias_value":"ALO3VMKZSKPRNQ6E","created_at":"2026-07-05T00:54:38Z"},{"alias_kind":"pith_short_8","alias_value":"ALO3VMKZ","created_at":"2026-07-05T00:54:38Z"}],"graph_snapshots":[{"event_id":"sha256:1fd1b956bd8c0d112bf53f13b19e85a1d3b3b6ff2bce5aa2cbcb12e42f25461f","target":"graph","created_at":"2026-07-05T00:54:38Z","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/2004.05534/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among camera and IMU, as well as estimate the initial values of metric scale, velocity, gravity, gyroscope bias, and accelerometer bias during the initialization stage. To compensate for the impact of time offset, our method includes two short-term motion interpolation algorithms for the camera and IMU pose estimation. Besides, it includes a three-step process to i","authors_text":"Hong Liu, Weibo Huang, Weiwei Wan","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-04-12T03:13:08Z","title":"Online Initialization and Extrinsic Spatial-Temporal Calibration for Monocular Visual-Inertial Odometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.05534","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":"sha256:69ce2363c7646c3f511a410b3a8071a54e4a90f1c4256c1120a9b2254cd29789","target":"record","created_at":"2026-07-05T00:54:38Z","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":"10abdb82579c3ec9f9cca10899d48e823b2a424b83a8b61ac7ffb8562907490e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-04-12T03:13:08Z","title_canon_sha256":"3217a040e8031611044aab86f9f452659f57d8fa4a3c23798f5c8ab241bdbb37"},"schema_version":"1.0","source":{"id":"2004.05534","kind":"arxiv","version":1}},"canonical_sha256":"02ddbab159929f16c3c40baf27c0bf7f5ee9cce5c6b9208cd739f32f4aed46d1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"02ddbab159929f16c3c40baf27c0bf7f5ee9cce5c6b9208cd739f32f4aed46d1","first_computed_at":"2026-07-05T00:54:38.164081Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:54:38.164081Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WViXRv98PhZnM1jHMOCYPuBqDZmqCho8PRNP9Z6zdutyR7gp3Wcf366g/qb7CkCZOUBEe/EWTzAqDdYz4jWUDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:54:38.164515Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.05534","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:69ce2363c7646c3f511a410b3a8071a54e4a90f1c4256c1120a9b2254cd29789","sha256:1fd1b956bd8c0d112bf53f13b19e85a1d3b3b6ff2bce5aa2cbcb12e42f25461f"],"state_sha256":"7745108d954b572816d3030a6db9b9c93b945c709d3ff90689bb3c38911f8a1a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"STYN/3ekDHkvlvQKnSELBpaR5L5oSkQZpUXC27kDL1J4vMkQ3Gj6gwPbGDeSBSsS7cNq/+a6WkY66Nq18wWwBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T14:05:52.550673Z","bundle_sha256":"c156640e89636299a2ce8b2b3117d98290115ad4d11b6cd2d1978b82b1e6a414"}}