{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:BQTPRNTLH642JOMK4R3VMTMGY6","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":"568c0ffbc013530f2d13282117a93df3256bb83981a3d9da2b7d62181943a487","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-17T20:18:20Z","title_canon_sha256":"9484db9a29cc1dabab59b591c6f5fedf1ea0e90e94b8edf102fa5cf88197e8b1"},"schema_version":"1.0","source":{"id":"1810.07768","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.07768","created_at":"2026-05-18T00:02:54Z"},{"alias_kind":"arxiv_version","alias_value":"1810.07768v1","created_at":"2026-05-18T00:02:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.07768","created_at":"2026-05-18T00:02:54Z"},{"alias_kind":"pith_short_12","alias_value":"BQTPRNTLH642","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"BQTPRNTLH642JOMK","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"BQTPRNTL","created_at":"2026-05-18T12:32:16Z"}],"graph_snapshots":[{"event_id":"sha256:26f3c1242fb09e8e504abbc0e36054236fad06ba13ea2c636531da3e49ca55f2","target":"graph","created_at":"2026-05-18T00:02:54Z","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":"Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives: on one hand, the motion has to be tracked fast and reliably, on the other hand, high-level functions like navigation and obstacle avoidance depend crucially on a complete and accurate environment representation. In this work, we propose a two-layer approach for visual odometry and SLAM with stereo cameras that runs in real-time and combines feature-based matc","authors_text":"David Droeschel, Nicola Krombach, Sebastian Houben, Sven Behnke","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-17T20:18:20Z","title":"Feature-based visual odometry prior for real-time semi-dense stereo SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.07768","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":"sha256:9d358bf1917716dccdae53e9171591b6a06ff147c75561d89f9f42f2bb6566f8","target":"record","created_at":"2026-05-18T00:02:54Z","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":"568c0ffbc013530f2d13282117a93df3256bb83981a3d9da2b7d62181943a487","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-17T20:18:20Z","title_canon_sha256":"9484db9a29cc1dabab59b591c6f5fedf1ea0e90e94b8edf102fa5cf88197e8b1"},"schema_version":"1.0","source":{"id":"1810.07768","kind":"arxiv","version":1}},"canonical_sha256":"0c26f8b66b3fb9a4b98ae477564d86c7b925a2907b52e02005eb411bf812c2e2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0c26f8b66b3fb9a4b98ae477564d86c7b925a2907b52e02005eb411bf812c2e2","first_computed_at":"2026-05-18T00:02:54.286647Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:02:54.286647Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NKvRNrpZpv/tecdQBjZEEQX+8Wda84mtI+1vX8igge/7k8jjB5jpUpZHZEvuaYm1B1HzClI+2tZbp96sKdIeDg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:02:54.287243Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.07768","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9d358bf1917716dccdae53e9171591b6a06ff147c75561d89f9f42f2bb6566f8","sha256:26f3c1242fb09e8e504abbc0e36054236fad06ba13ea2c636531da3e49ca55f2"],"state_sha256":"c95bf304c8b1a431ca77e725d5c25b488f2f0e42045c47c6af5391a8f49911cf"}