{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:AYRPOI5YXSEIEGSJDND5BTD6HW","short_pith_number":"pith:AYRPOI5Y","canonical_record":{"source":{"id":"2301.09033","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-22T01:12:15Z","cross_cats_sorted":[],"title_canon_sha256":"3719716d26ecbef4e36001fafd0bbdf6c686df6dc5eca3966a7ae448fe63603e","abstract_canon_sha256":"3bbfb1bdb4eb0d3e9cff047622f99e9e44bf9fe61752e28e1dc35d37f59023d0"},"schema_version":"1.0"},"canonical_sha256":"0622f723b8bc88821a491b47d0cc7e3d91f024b1efa98a8d39e31a9d1eaf0985","source":{"kind":"arxiv","id":"2301.09033","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.09033","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"arxiv_version","alias_value":"2301.09033v2","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.09033","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"pith_short_12","alias_value":"AYRPOI5YXSEI","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"pith_short_16","alias_value":"AYRPOI5YXSEIEGSJ","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"pith_short_8","alias_value":"AYRPOI5Y","created_at":"2026-07-05T06:19:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:AYRPOI5YXSEIEGSJDND5BTD6HW","target":"record","payload":{"canonical_record":{"source":{"id":"2301.09033","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-22T01:12:15Z","cross_cats_sorted":[],"title_canon_sha256":"3719716d26ecbef4e36001fafd0bbdf6c686df6dc5eca3966a7ae448fe63603e","abstract_canon_sha256":"3bbfb1bdb4eb0d3e9cff047622f99e9e44bf9fe61752e28e1dc35d37f59023d0"},"schema_version":"1.0"},"canonical_sha256":"0622f723b8bc88821a491b47d0cc7e3d91f024b1efa98a8d39e31a9d1eaf0985","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:19:17.956746Z","signature_b64":"w8sRmI4vv2ktlGdFR11Bec+OOSJGZMX+kjb9RKdh4s6JK/316qFoaXCjfwyvtoENK6O6AXiP6uaI3m4xeLjRAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0622f723b8bc88821a491b47d0cc7e3d91f024b1efa98a8d39e31a9d1eaf0985","last_reissued_at":"2026-07-05T06:19:17.956307Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:19:17.956307Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2301.09033","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:19:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1uCh/kV1cTtFoYGgg0Br3KTJsxmkRZ3WYeZTbBz07OUSrkuaXJ1ExX3CIj6I/HbB13oMkKTFqnt7sbimIOFPAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T19:30:16.097480Z"},"content_sha256":"40ec1a690d8394089aaf85d091771468c4ac2423926ed40d6db733030ec5bc07","schema_version":"1.0","event_id":"sha256:40ec1a690d8394089aaf85d091771468c4ac2423926ed40d6db733030ec5bc07"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:AYRPOI5YXSEIEGSJDND5BTD6HW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Continuous-Time Ultra-Wideband-Inertial Fusion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kailai Li, Uwe D. Hanebeck, Ziyu Cao","submitted_at":"2023-01-22T01:12:15Z","abstract_excerpt":"We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (splin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.09033","kind":"arxiv","version":2},"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/2301.09033/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":"2026-07-05T06:19:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"w6i+2VanfRLDYcFdyHGEs2koCt9POi8KYWUmM2E5rH09eKhpewwWNzzmXUDtwph40UHsgi0axzJK3YtaYIDdAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T19:30:16.098191Z"},"content_sha256":"4271622a09d78d4e27bae5dd547d71b0971acc744df34b3dcce430e7b49af982","schema_version":"1.0","event_id":"sha256:4271622a09d78d4e27bae5dd547d71b0971acc744df34b3dcce430e7b49af982"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AYRPOI5YXSEIEGSJDND5BTD6HW/bundle.json","state_url":"https://pith.science/pith/AYRPOI5YXSEIEGSJDND5BTD6HW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AYRPOI5YXSEIEGSJDND5BTD6HW/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":"2026-08-11T19:30:16Z","links":{"resolver":"https://pith.science/pith/AYRPOI5YXSEIEGSJDND5BTD6HW","bundle":"https://pith.science/pith/AYRPOI5YXSEIEGSJDND5BTD6HW/bundle.json","state":"https://pith.science/pith/AYRPOI5YXSEIEGSJDND5BTD6HW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AYRPOI5YXSEIEGSJDND5BTD6HW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:AYRPOI5YXSEIEGSJDND5BTD6HW","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":"3bbfb1bdb4eb0d3e9cff047622f99e9e44bf9fe61752e28e1dc35d37f59023d0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-22T01:12:15Z","title_canon_sha256":"3719716d26ecbef4e36001fafd0bbdf6c686df6dc5eca3966a7ae448fe63603e"},"schema_version":"1.0","source":{"id":"2301.09033","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.09033","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"arxiv_version","alias_value":"2301.09033v2","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.09033","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"pith_short_12","alias_value":"AYRPOI5YXSEI","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"pith_short_16","alias_value":"AYRPOI5YXSEIEGSJ","created_at":"2026-07-05T06:19:17Z"},{"alias_kind":"pith_short_8","alias_value":"AYRPOI5Y","created_at":"2026-07-05T06:19:17Z"}],"graph_snapshots":[{"event_id":"sha256:4271622a09d78d4e27bae5dd547d71b0971acc744df34b3dcce430e7b49af982","target":"graph","created_at":"2026-07-05T06:19:17Z","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/2301.09033/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (splin","authors_text":"Kailai Li, Uwe D. Hanebeck, Ziyu Cao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-22T01:12:15Z","title":"Continuous-Time Ultra-Wideband-Inertial Fusion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.09033","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":"sha256:40ec1a690d8394089aaf85d091771468c4ac2423926ed40d6db733030ec5bc07","target":"record","created_at":"2026-07-05T06:19:17Z","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":"3bbfb1bdb4eb0d3e9cff047622f99e9e44bf9fe61752e28e1dc35d37f59023d0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-22T01:12:15Z","title_canon_sha256":"3719716d26ecbef4e36001fafd0bbdf6c686df6dc5eca3966a7ae448fe63603e"},"schema_version":"1.0","source":{"id":"2301.09033","kind":"arxiv","version":2}},"canonical_sha256":"0622f723b8bc88821a491b47d0cc7e3d91f024b1efa98a8d39e31a9d1eaf0985","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0622f723b8bc88821a491b47d0cc7e3d91f024b1efa98a8d39e31a9d1eaf0985","first_computed_at":"2026-07-05T06:19:17.956307Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:19:17.956307Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"w8sRmI4vv2ktlGdFR11Bec+OOSJGZMX+kjb9RKdh4s6JK/316qFoaXCjfwyvtoENK6O6AXiP6uaI3m4xeLjRAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:19:17.956746Z","signed_message":"canonical_sha256_bytes"},"source_id":"2301.09033","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:40ec1a690d8394089aaf85d091771468c4ac2423926ed40d6db733030ec5bc07","sha256:4271622a09d78d4e27bae5dd547d71b0971acc744df34b3dcce430e7b49af982"],"state_sha256":"bdf784ddef0aa3af9364fa345b505acb760147c7ce2866e0ece4ba1e0fdcf3c2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FQMUzhTEj6FmjOWye3fLPPVBN5maTY4lrQEpPaCfxAr1hb4gIVdPkj2+lxXe57hNNbsaRaVSnrSNq/HnyjeZAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T19:30:16.103827Z","bundle_sha256":"1462f80742dbeefee3511d5105ff55a39759f1246b7cad4a8e203a22c9af6e80"}}