{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:CIRBYUUMV36RK3SEZ5MSMLQHG5","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":"4ff45766db164b40e9a668bd5a3101111804c1d8bd36e3de9a69d9510471fdcf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-07T19:32:50Z","title_canon_sha256":"de271d1aec2b6086721a2259eb999de97749fffd0569904ea2aed506d89fbf05"},"schema_version":"1.0","source":{"id":"1702.02175","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.02175","created_at":"2026-05-18T00:04:08Z"},{"alias_kind":"arxiv_version","alias_value":"1702.02175v2","created_at":"2026-05-18T00:04:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.02175","created_at":"2026-05-18T00:04:08Z"},{"alias_kind":"pith_short_12","alias_value":"CIRBYUUMV36R","created_at":"2026-05-18T12:31:10Z"},{"alias_kind":"pith_short_16","alias_value":"CIRBYUUMV36RK3SE","created_at":"2026-05-18T12:31:10Z"},{"alias_kind":"pith_short_8","alias_value":"CIRBYUUM","created_at":"2026-05-18T12:31:10Z"}],"graph_snapshots":[{"event_id":"sha256:cfdb6abaa93cfdb0e8ff057c5ab22a9eac01e9361792ca0c804037ed69fa70e1","target":"graph","created_at":"2026-05-18T00:04:08Z","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":"Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial simultaneous localization and mapping (SLAM) for monocular and stereo cameras. Our visual-inertial SLAM system is based on a real-time capable visual-inertial odometry method that provides locally consistent trajectory and map estimates. We achieve global consistency in the estimate through online loop-closing and non-linear optimization. Furthermore, our system ","authors_text":"Anton Kasyanov, Bastian Leibe, Francis Engelmann, J\\\"org St\\\"uckler","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-07T19:32:50Z","title":"Keyframe-Based Visual-Inertial Online SLAM with Relocalization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.02175","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":"sha256:90517490f78d4d010a6702f1e210eff25fbcb353a28be0dd3301e5e99efcf062","target":"record","created_at":"2026-05-18T00:04:08Z","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":"4ff45766db164b40e9a668bd5a3101111804c1d8bd36e3de9a69d9510471fdcf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-07T19:32:50Z","title_canon_sha256":"de271d1aec2b6086721a2259eb999de97749fffd0569904ea2aed506d89fbf05"},"schema_version":"1.0","source":{"id":"1702.02175","kind":"arxiv","version":2}},"canonical_sha256":"12221c528caefd156e44cf59262e0737773cb3daafc3bf8098f08ed88d62c42f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"12221c528caefd156e44cf59262e0737773cb3daafc3bf8098f08ed88d62c42f","first_computed_at":"2026-05-18T00:04:08.437931Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:08.437931Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LbtNg6FqTq/y13GYlEHq1Ck8zQPnM32tsvp3OWa2ytxp/H/i3+xid1rDaeaINJAmCAg/WQ21A4L1VWYDI97pAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:08.438676Z","signed_message":"canonical_sha256_bytes"},"source_id":"1702.02175","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:90517490f78d4d010a6702f1e210eff25fbcb353a28be0dd3301e5e99efcf062","sha256:cfdb6abaa93cfdb0e8ff057c5ab22a9eac01e9361792ca0c804037ed69fa70e1"],"state_sha256":"0bdd3437f2ad1197a9b137619aec195479c42ef34daad6358015794b497c36ca"}