{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:B273TC4B3LOOBNSHHZCD7AQRNI","short_pith_number":"pith:B273TC4B","schema_version":"1.0","canonical_sha256":"0ebfb98b81dadce0b6473e443f82116a1c9f996728f1cb328e0f4564d49b6738","source":{"kind":"arxiv","id":"1908.01797","version":2},"attestation_state":"computed","paper":{"title":"Hybrid Camera Pose Estimation with Online Partitioning for SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Haibin Ling, Xinyi Li","submitted_at":"2019-08-05T18:26:03Z","abstract_excerpt":"This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of fixed-size temporal partitioning in many conventional SLAM pipelines, our approach significantly improves the accuracy of local bundle adjustment by gathering spatially-strongly-connected cameras into each block. With the dynamic initialization using intermediate computation values, \\XL{we improve the Levenberg-Marquardt solver to further enhance the efficie"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1908.01797","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-08-05T18:26:03Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"6172c566cc67ad056c11ae1c223e9c92802157fab3504615e96c3b6cda769083","abstract_canon_sha256":"977f15c4b9eb7ed712335722c18f0a914f7875ae7a68723a31a2b964caa0ded5"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:48:24.906938Z","signature_b64":"NQAWIia+sBn9FA7RvRoC2QRFHXpG37r851YAMcXnV9R8BunC9s6XbuOuJdTv6RDt7k7zfM0+sPL0DifDUTYkAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0ebfb98b81dadce0b6473e443f82116a1c9f996728f1cb328e0f4564d49b6738","last_reissued_at":"2026-07-05T01:48:24.906474Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:48:24.906474Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Hybrid Camera Pose Estimation with Online Partitioning for SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Haibin Ling, Xinyi Li","submitted_at":"2019-08-05T18:26:03Z","abstract_excerpt":"This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of fixed-size temporal partitioning in many conventional SLAM pipelines, our approach significantly improves the accuracy of local bundle adjustment by gathering spatially-strongly-connected cameras into each block. With the dynamic initialization using intermediate computation values, \\XL{we improve the Levenberg-Marquardt solver to further enhance the efficie"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.01797","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/1908.01797/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1908.01797","created_at":"2026-07-05T01:48:24.906533+00:00"},{"alias_kind":"arxiv_version","alias_value":"1908.01797v2","created_at":"2026-07-05T01:48:24.906533+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.01797","created_at":"2026-07-05T01:48:24.906533+00:00"},{"alias_kind":"pith_short_12","alias_value":"B273TC4B3LOO","created_at":"2026-07-05T01:48:24.906533+00:00"},{"alias_kind":"pith_short_16","alias_value":"B273TC4B3LOOBNSH","created_at":"2026-07-05T01:48:24.906533+00:00"},{"alias_kind":"pith_short_8","alias_value":"B273TC4B","created_at":"2026-07-05T01:48:24.906533+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI","json":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI.json","graph_json":"https://pith.science/api/pith-number/B273TC4B3LOOBNSHHZCD7AQRNI/graph.json","events_json":"https://pith.science/api/pith-number/B273TC4B3LOOBNSHHZCD7AQRNI/events.json","paper":"https://pith.science/paper/B273TC4B"},"agent_actions":{"view_html":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI","download_json":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI.json","view_paper":"https://pith.science/paper/B273TC4B","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1908.01797&json=true","fetch_graph":"https://pith.science/api/pith-number/B273TC4B3LOOBNSHHZCD7AQRNI/graph.json","fetch_events":"https://pith.science/api/pith-number/B273TC4B3LOOBNSHHZCD7AQRNI/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI/action/timestamp_anchor","attest_storage":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI/action/storage_attestation","attest_author":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI/action/author_attestation","sign_citation":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI/action/citation_signature","submit_replication":"https://pith.science/pith/B273TC4B3LOOBNSHHZCD7AQRNI/action/replication_record"}},"created_at":"2026-07-05T01:48:24.906533+00:00","updated_at":"2026-07-05T01:48:24.906533+00:00"}