{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:BYQNTGCH7UAKAVRS2A7APKV6TH","short_pith_number":"pith:BYQNTGCH","canonical_record":{"source":{"id":"2507.12027","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-07-16T08:39:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"59dbcfe0c1628ddc837610b972910b1c271fbc34d510b23d6f9b2bda99844ee4","abstract_canon_sha256":"e6dd3daf1a137bb12874e7adc2f903611d599a64baaff0cfd144df9545f7aed9"},"schema_version":"1.0"},"canonical_sha256":"0e20d99847fd00a05632d03e07aabe99f60e94fcc592422ac875033b123cfd71","source":{"kind":"arxiv","id":"2507.12027","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.12027","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"arxiv_version","alias_value":"2507.12027v1","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.12027","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"pith_short_12","alias_value":"BYQNTGCH7UAK","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"pith_short_16","alias_value":"BYQNTGCH7UAKAVRS","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"pith_short_8","alias_value":"BYQNTGCH","created_at":"2026-07-05T11:38:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:BYQNTGCH7UAKAVRS2A7APKV6TH","target":"record","payload":{"canonical_record":{"source":{"id":"2507.12027","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-07-16T08:39:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"59dbcfe0c1628ddc837610b972910b1c271fbc34d510b23d6f9b2bda99844ee4","abstract_canon_sha256":"e6dd3daf1a137bb12874e7adc2f903611d599a64baaff0cfd144df9545f7aed9"},"schema_version":"1.0"},"canonical_sha256":"0e20d99847fd00a05632d03e07aabe99f60e94fcc592422ac875033b123cfd71","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:38:13.258642Z","signature_b64":"TdpUeCT7J34VmLJ82KJBsqzYNUq2tMZTO1cN2j9VTiT6vevIiGVLMkwCX1ncpg6yvXaCbCWQtYw6CUgqnrcoAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0e20d99847fd00a05632d03e07aabe99f60e94fcc592422ac875033b123cfd71","last_reissued_at":"2026-07-05T11:38:13.258069Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:38:13.258069Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.12027","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":"2026-07-05T11:38:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gLnbLKnMkVCOq+YAoseR8M/v+Mde3BOQP2Y5ya3M7uUDyYVgZv835+9C7O4h9XYE2DgPlR7tcwIQpIdg69RlBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:50:15.984336Z"},"content_sha256":"117c672d3f105a8b15ad408c87ef90debdb0adf3e39d19ca6f103034f945a01e","schema_version":"1.0","event_id":"sha256:117c672d3f105a8b15ad408c87ef90debdb0adf3e39d19ca6f103034f945a01e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:BYQNTGCH7UAKAVRS2A7APKV6TH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SGLoc: Semantic Localization System for Camera Pose Estimation from 3D Gaussian Splatting Representation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Beining Xu, Hesheng Wang, Siting Zhu","submitted_at":"2025-07-16T08:39:08Z","abstract_excerpt":"We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D scene representation to estimate the 6DoF pose without prior pose information. In this system, we introduce a multi-level pose regression strategy that progressively estimates and refines the pose of query image from the global 3DGS map, without requiring initial pose priors. Moreover, we introduce a semantic-based global retrieval algorithm that establishes c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.12027","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/2507.12027/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":"2026-07-05T11:38:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"velfa0qX1Koo6X8ygBx4E7/a7hACfVTvgM6zHRVf1Wq62Kq46Raf62vuzqGRhCtiNy761uMKOrT3OTtn7ZUWCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:50:15.984831Z"},"content_sha256":"6f3161e5b7d0b42a6eb8134da51886c7434c6abd325efaba9c0d4b0df4e36b7a","schema_version":"1.0","event_id":"sha256:6f3161e5b7d0b42a6eb8134da51886c7434c6abd325efaba9c0d4b0df4e36b7a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BYQNTGCH7UAKAVRS2A7APKV6TH/bundle.json","state_url":"https://pith.science/pith/BYQNTGCH7UAKAVRS2A7APKV6TH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BYQNTGCH7UAKAVRS2A7APKV6TH/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":"2026-08-07T04:50:15Z","links":{"resolver":"https://pith.science/pith/BYQNTGCH7UAKAVRS2A7APKV6TH","bundle":"https://pith.science/pith/BYQNTGCH7UAKAVRS2A7APKV6TH/bundle.json","state":"https://pith.science/pith/BYQNTGCH7UAKAVRS2A7APKV6TH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BYQNTGCH7UAKAVRS2A7APKV6TH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:BYQNTGCH7UAKAVRS2A7APKV6TH","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":"e6dd3daf1a137bb12874e7adc2f903611d599a64baaff0cfd144df9545f7aed9","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-07-16T08:39:08Z","title_canon_sha256":"59dbcfe0c1628ddc837610b972910b1c271fbc34d510b23d6f9b2bda99844ee4"},"schema_version":"1.0","source":{"id":"2507.12027","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.12027","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"arxiv_version","alias_value":"2507.12027v1","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.12027","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"pith_short_12","alias_value":"BYQNTGCH7UAK","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"pith_short_16","alias_value":"BYQNTGCH7UAKAVRS","created_at":"2026-07-05T11:38:13Z"},{"alias_kind":"pith_short_8","alias_value":"BYQNTGCH","created_at":"2026-07-05T11:38:13Z"}],"graph_snapshots":[{"event_id":"sha256:6f3161e5b7d0b42a6eb8134da51886c7434c6abd325efaba9c0d4b0df4e36b7a","target":"graph","created_at":"2026-07-05T11:38:13Z","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/2507.12027/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D scene representation to estimate the 6DoF pose without prior pose information. In this system, we introduce a multi-level pose regression strategy that progressively estimates and refines the pose of query image from the global 3DGS map, without requiring initial pose priors. Moreover, we introduce a semantic-based global retrieval algorithm that establishes c","authors_text":"Beining Xu, Hesheng Wang, Siting Zhu","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-07-16T08:39:08Z","title":"SGLoc: Semantic Localization System for Camera Pose Estimation from 3D Gaussian Splatting Representation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.12027","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":"sha256:117c672d3f105a8b15ad408c87ef90debdb0adf3e39d19ca6f103034f945a01e","target":"record","created_at":"2026-07-05T11:38:13Z","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":"e6dd3daf1a137bb12874e7adc2f903611d599a64baaff0cfd144df9545f7aed9","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-07-16T08:39:08Z","title_canon_sha256":"59dbcfe0c1628ddc837610b972910b1c271fbc34d510b23d6f9b2bda99844ee4"},"schema_version":"1.0","source":{"id":"2507.12027","kind":"arxiv","version":1}},"canonical_sha256":"0e20d99847fd00a05632d03e07aabe99f60e94fcc592422ac875033b123cfd71","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0e20d99847fd00a05632d03e07aabe99f60e94fcc592422ac875033b123cfd71","first_computed_at":"2026-07-05T11:38:13.258069Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:38:13.258069Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TdpUeCT7J34VmLJ82KJBsqzYNUq2tMZTO1cN2j9VTiT6vevIiGVLMkwCX1ncpg6yvXaCbCWQtYw6CUgqnrcoAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:38:13.258642Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.12027","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:117c672d3f105a8b15ad408c87ef90debdb0adf3e39d19ca6f103034f945a01e","sha256:6f3161e5b7d0b42a6eb8134da51886c7434c6abd325efaba9c0d4b0df4e36b7a"],"state_sha256":"5d471078cb326caa844acd671e0946e073693c08e057c566bd5b5eb9abe02ddf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8NX1bf4tWjBaY0lF5XwZ2pYE9xRkazQPh6dMshcBiWF3LlEjlbRSEFB54Cjq9vsF9c+m1NyYOjZm5C14EsvdBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T04:50:15.988600Z","bundle_sha256":"4ab40066bb80cc3a45ae7a3263668d85ef6204b058fd10b65d9b239835255e7b"}}