{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:CZEDW4W2ZTMOIUY4MTWLGGTNXH","short_pith_number":"pith:CZEDW4W2","canonical_record":{"source":{"id":"2108.10869","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-24T17:50:10Z","cross_cats_sorted":[],"title_canon_sha256":"19c25f54c62e8f2dfe50dc5fac7fcb5bea2112f03bfe69c8f295d723f387028b","abstract_canon_sha256":"041016f37f5d3a29ac26a09768f344c085d50386c97489a40ca10d23657d197b"},"schema_version":"1.0"},"canonical_sha256":"16483b72daccd8e4531c64ecb31a6db9c0c6a7e91164cfefaf2bbb7e24438507","source":{"kind":"arxiv","id":"2108.10869","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.10869","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"arxiv_version","alias_value":"2108.10869v2","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.10869","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"pith_short_12","alias_value":"CZEDW4W2ZTMO","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"pith_short_16","alias_value":"CZEDW4W2ZTMOIUY4","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"pith_short_8","alias_value":"CZEDW4W2","created_at":"2026-07-05T03:53:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:CZEDW4W2ZTMOIUY4MTWLGGTNXH","target":"record","payload":{"canonical_record":{"source":{"id":"2108.10869","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-24T17:50:10Z","cross_cats_sorted":[],"title_canon_sha256":"19c25f54c62e8f2dfe50dc5fac7fcb5bea2112f03bfe69c8f295d723f387028b","abstract_canon_sha256":"041016f37f5d3a29ac26a09768f344c085d50386c97489a40ca10d23657d197b"},"schema_version":"1.0"},"canonical_sha256":"16483b72daccd8e4531c64ecb31a6db9c0c6a7e91164cfefaf2bbb7e24438507","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:53:48.957682Z","signature_b64":"9qi6tsgHlL2doTd2tC9jFH7FSttyaRQfooUmV8vULBgSLrgOp46t6JgC97FDHmQbl3c98ujzbamtpgk4J25oDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"16483b72daccd8e4531c64ecb31a6db9c0c6a7e91164cfefaf2bbb7e24438507","last_reissued_at":"2026-07-05T03:53:48.957187Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:53:48.957187Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.10869","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":"2026-07-05T03:53:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HHQ1tvEU+zPHfC+fy0YfAqqO3WMZlXEeix9YP9BoNFxNWyEoEgjgwibo7G6NmKrT+2wouTCmM42L0UoQD+w/CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T22:57:09.087370Z"},"content_sha256":"9b09ac9d0c84b2b0a569016f8a9908214b4f4bc3c5e2a9199d5fe2cfdb53dd6d","schema_version":"1.0","event_id":"sha256:9b09ac9d0c84b2b0a569016f8a9908214b4f4bc3c5e2a9199d5fe2cfdb53dd6d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:CZEDW4W2ZTMOIUY4MTWLGGTNXH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Jia Deng, Zachary Teed","submitted_at":"2021-08-24T17:50:10Z","abstract_excerpt":"We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large improvements over prior work, and robust, suffering from substantially fewer catastrophic failures. Despite training on monocular video, it can leverage stereo or RGB-D video to achieve improved performance at test time. The URL to our open source code is https://github.com/princeton-vl/DROID-SLAM."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.10869","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/2108.10869/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":"2026-07-05T03:53:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KOKF23xoFdQoHNIoTQby4TfMqHmMGbHXrKqTxE3M1IsuvxK1XREDsz8rb814sRqi4tdW55XgDYagK7agwrT/Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T22:57:09.088399Z"},"content_sha256":"437395815d2d89f8f849a9c615f9aff81476e18ea9fc5bafea1ecb53b6102288","schema_version":"1.0","event_id":"sha256:437395815d2d89f8f849a9c615f9aff81476e18ea9fc5bafea1ecb53b6102288"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CZEDW4W2ZTMOIUY4MTWLGGTNXH/bundle.json","state_url":"https://pith.science/pith/CZEDW4W2ZTMOIUY4MTWLGGTNXH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CZEDW4W2ZTMOIUY4MTWLGGTNXH/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":"2026-08-14T22:57:09Z","links":{"resolver":"https://pith.science/pith/CZEDW4W2ZTMOIUY4MTWLGGTNXH","bundle":"https://pith.science/pith/CZEDW4W2ZTMOIUY4MTWLGGTNXH/bundle.json","state":"https://pith.science/pith/CZEDW4W2ZTMOIUY4MTWLGGTNXH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CZEDW4W2ZTMOIUY4MTWLGGTNXH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:CZEDW4W2ZTMOIUY4MTWLGGTNXH","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":"041016f37f5d3a29ac26a09768f344c085d50386c97489a40ca10d23657d197b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-24T17:50:10Z","title_canon_sha256":"19c25f54c62e8f2dfe50dc5fac7fcb5bea2112f03bfe69c8f295d723f387028b"},"schema_version":"1.0","source":{"id":"2108.10869","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.10869","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"arxiv_version","alias_value":"2108.10869v2","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.10869","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"pith_short_12","alias_value":"CZEDW4W2ZTMO","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"pith_short_16","alias_value":"CZEDW4W2ZTMOIUY4","created_at":"2026-07-05T03:53:48Z"},{"alias_kind":"pith_short_8","alias_value":"CZEDW4W2","created_at":"2026-07-05T03:53:48Z"}],"graph_snapshots":[{"event_id":"sha256:437395815d2d89f8f849a9c615f9aff81476e18ea9fc5bafea1ecb53b6102288","target":"graph","created_at":"2026-07-05T03:53:48Z","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/2108.10869/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large improvements over prior work, and robust, suffering from substantially fewer catastrophic failures. Despite training on monocular video, it can leverage stereo or RGB-D video to achieve improved performance at test time. The URL to our open source code is https://github.com/princeton-vl/DROID-SLAM.","authors_text":"Jia Deng, Zachary Teed","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-24T17:50:10Z","title":"DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.10869","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":"sha256:9b09ac9d0c84b2b0a569016f8a9908214b4f4bc3c5e2a9199d5fe2cfdb53dd6d","target":"record","created_at":"2026-07-05T03:53:48Z","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":"041016f37f5d3a29ac26a09768f344c085d50386c97489a40ca10d23657d197b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-24T17:50:10Z","title_canon_sha256":"19c25f54c62e8f2dfe50dc5fac7fcb5bea2112f03bfe69c8f295d723f387028b"},"schema_version":"1.0","source":{"id":"2108.10869","kind":"arxiv","version":2}},"canonical_sha256":"16483b72daccd8e4531c64ecb31a6db9c0c6a7e91164cfefaf2bbb7e24438507","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"16483b72daccd8e4531c64ecb31a6db9c0c6a7e91164cfefaf2bbb7e24438507","first_computed_at":"2026-07-05T03:53:48.957187Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:53:48.957187Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9qi6tsgHlL2doTd2tC9jFH7FSttyaRQfooUmV8vULBgSLrgOp46t6JgC97FDHmQbl3c98ujzbamtpgk4J25oDw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:53:48.957682Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.10869","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9b09ac9d0c84b2b0a569016f8a9908214b4f4bc3c5e2a9199d5fe2cfdb53dd6d","sha256:437395815d2d89f8f849a9c615f9aff81476e18ea9fc5bafea1ecb53b6102288"],"state_sha256":"4d4aa34e3996ea27f0f50603fac710c5a4c2afb419199c2d4a741e023c167fe4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+jgppLqUkuOWa0zUGPHQecM3h6OjHlqC4EEgRg4yvklnXhdwxILcr8iTN3f05r0uUmU7czM+y+mYNjHY9FylAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T22:57:09.092937Z","bundle_sha256":"fc9b8678f28e9bbc3c8c38ffb8c2b5d67ea5236d6bd348240789ac4de49ad483"}}