{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:D3I7DAGU2RYQUZK6IFNBLJH5DN","short_pith_number":"pith:D3I7DAGU","canonical_record":{"source":{"id":"1805.12443","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-05-31T12:49:13Z","cross_cats_sorted":[],"title_canon_sha256":"d965aedc6f0c5ab27280fd095a2e4ef4c520e974f6ceba3da19bbf054d92905a","abstract_canon_sha256":"14062adceeb9204373e11f0c387f2bfac5f23ce336c16c063943e6ce866b52c4"},"schema_version":"1.0"},"canonical_sha256":"1ed1f180d4d4710a655e415a15a4fd1b7865e7b82dc94f5b8e5b8049e8ce4e9e","source":{"kind":"arxiv","id":"1805.12443","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.12443","created_at":"2026-05-18T00:14:30Z"},{"alias_kind":"arxiv_version","alias_value":"1805.12443v1","created_at":"2026-05-18T00:14:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.12443","created_at":"2026-05-18T00:14:30Z"},{"alias_kind":"pith_short_12","alias_value":"D3I7DAGU2RYQ","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"D3I7DAGU2RYQUZK6","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"D3I7DAGU","created_at":"2026-05-18T12:32:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:D3I7DAGU2RYQUZK6IFNBLJH5DN","target":"record","payload":{"canonical_record":{"source":{"id":"1805.12443","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-05-31T12:49:13Z","cross_cats_sorted":[],"title_canon_sha256":"d965aedc6f0c5ab27280fd095a2e4ef4c520e974f6ceba3da19bbf054d92905a","abstract_canon_sha256":"14062adceeb9204373e11f0c387f2bfac5f23ce336c16c063943e6ce866b52c4"},"schema_version":"1.0"},"canonical_sha256":"1ed1f180d4d4710a655e415a15a4fd1b7865e7b82dc94f5b8e5b8049e8ce4e9e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:14:30.186406Z","signature_b64":"Dtynx+bvnl1jII0OAq5SgcuKnXUg2exv7QaIqrawSRaziZ0b7aQU5GW7RTOe2viyT1Wm641+NEKgKcdGJmfbAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1ed1f180d4d4710a655e415a15a4fd1b7865e7b82dc94f5b8e5b8049e8ce4e9e","last_reissued_at":"2026-05-18T00:14:30.185884Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:14:30.185884Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.12443","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":"2026-05-18T00:14:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KGqllnoHjXzR4LmeX6iE08wrWOmGo2nXPmmINEXQRwTPw1ZIcC4K39HeAnMyu6KqJ4ZRFxsmE1lVbOJpBUdsDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T08:13:33.676159Z"},"content_sha256":"d8d4481bd1738e6d6d95318bdd404b2eb3cd4e977137b45aa8b09f3527dff95a","schema_version":"1.0","event_id":"sha256:d8d4481bd1738e6d6d95318bdd404b2eb3cd4e977137b45aa8b09f3527dff95a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:D3I7DAGU2RYQUZK6IFNBLJH5DN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"New Feature Detection Mechanism for Extended Kalman Filter Based Monocular SLAM with 1-Point RANSAC","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Agniva Sengupta, Shafeeq Elanattil","submitted_at":"2018-05-31T12:49:13Z","abstract_excerpt":"We present a different approach of feature point detection for improving the accuracy of SLAM using single, monocular camera. Traditionally, Harris Corner detection, SURF or FAST corner detectors are used for finding feature points of interest in the image. We replace this with another approach, which involves building a non-linear scale-space representation of images using Perona and Malik Diffusion equation and computing the scale normalized Hessian at multiple scale levels (KAZE feature). The feature points so detected are used to estimate the state and pose of a mono camera using extended "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.12443","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":""},"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":"2026-05-18T00:14:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SN4d4+atC4O4USdNfsPvoIPV8W5aTz1MsVOAz6PQaDYHmuZdtSDEYaAAK1Yg9pst/NKy86fCsNzS3/GAwSPYCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T08:13:33.676540Z"},"content_sha256":"2114dccae048cc66a7a663480fbf84fcf1b418763c6e0c90909a9e674bb0aa5f","schema_version":"1.0","event_id":"sha256:2114dccae048cc66a7a663480fbf84fcf1b418763c6e0c90909a9e674bb0aa5f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D3I7DAGU2RYQUZK6IFNBLJH5DN/bundle.json","state_url":"https://pith.science/pith/D3I7DAGU2RYQUZK6IFNBLJH5DN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D3I7DAGU2RYQUZK6IFNBLJH5DN/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":"2026-05-30T08:13:33Z","links":{"resolver":"https://pith.science/pith/D3I7DAGU2RYQUZK6IFNBLJH5DN","bundle":"https://pith.science/pith/D3I7DAGU2RYQUZK6IFNBLJH5DN/bundle.json","state":"https://pith.science/pith/D3I7DAGU2RYQUZK6IFNBLJH5DN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D3I7DAGU2RYQUZK6IFNBLJH5DN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:D3I7DAGU2RYQUZK6IFNBLJH5DN","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":"14062adceeb9204373e11f0c387f2bfac5f23ce336c16c063943e6ce866b52c4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-05-31T12:49:13Z","title_canon_sha256":"d965aedc6f0c5ab27280fd095a2e4ef4c520e974f6ceba3da19bbf054d92905a"},"schema_version":"1.0","source":{"id":"1805.12443","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.12443","created_at":"2026-05-18T00:14:30Z"},{"alias_kind":"arxiv_version","alias_value":"1805.12443v1","created_at":"2026-05-18T00:14:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.12443","created_at":"2026-05-18T00:14:30Z"},{"alias_kind":"pith_short_12","alias_value":"D3I7DAGU2RYQ","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"D3I7DAGU2RYQUZK6","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"D3I7DAGU","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:2114dccae048cc66a7a663480fbf84fcf1b418763c6e0c90909a9e674bb0aa5f","target":"graph","created_at":"2026-05-18T00:14:30Z","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":"We present a different approach of feature point detection for improving the accuracy of SLAM using single, monocular camera. Traditionally, Harris Corner detection, SURF or FAST corner detectors are used for finding feature points of interest in the image. We replace this with another approach, which involves building a non-linear scale-space representation of images using Perona and Malik Diffusion equation and computing the scale normalized Hessian at multiple scale levels (KAZE feature). The feature points so detected are used to estimate the state and pose of a mono camera using extended ","authors_text":"Agniva Sengupta, Shafeeq Elanattil","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-05-31T12:49:13Z","title":"New Feature Detection Mechanism for Extended Kalman Filter Based Monocular SLAM with 1-Point RANSAC"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.12443","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:d8d4481bd1738e6d6d95318bdd404b2eb3cd4e977137b45aa8b09f3527dff95a","target":"record","created_at":"2026-05-18T00:14:30Z","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":"14062adceeb9204373e11f0c387f2bfac5f23ce336c16c063943e6ce866b52c4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-05-31T12:49:13Z","title_canon_sha256":"d965aedc6f0c5ab27280fd095a2e4ef4c520e974f6ceba3da19bbf054d92905a"},"schema_version":"1.0","source":{"id":"1805.12443","kind":"arxiv","version":1}},"canonical_sha256":"1ed1f180d4d4710a655e415a15a4fd1b7865e7b82dc94f5b8e5b8049e8ce4e9e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1ed1f180d4d4710a655e415a15a4fd1b7865e7b82dc94f5b8e5b8049e8ce4e9e","first_computed_at":"2026-05-18T00:14:30.185884Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:14:30.185884Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Dtynx+bvnl1jII0OAq5SgcuKnXUg2exv7QaIqrawSRaziZ0b7aQU5GW7RTOe2viyT1Wm641+NEKgKcdGJmfbAw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:14:30.186406Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.12443","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d8d4481bd1738e6d6d95318bdd404b2eb3cd4e977137b45aa8b09f3527dff95a","sha256:2114dccae048cc66a7a663480fbf84fcf1b418763c6e0c90909a9e674bb0aa5f"],"state_sha256":"b9bba8e70bcbf095df8811bbfefa06b076df18d1b8f52539604727cdd10dd260"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"itJaxAi2eJ1EiEWGk2zYLns72QVmOkjz7I7Dqu9/lA2ulG72Nl01sX3+4fHXclWkXNfi2YdlMZLp53omkU7aCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T08:13:33.678795Z","bundle_sha256":"248d366168025c90648f2ebd0b76e861d53bf25ce68236529e0d170ed8fbb7da"}}