{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:DAY2LW3SJZEFIQARIWIAB6SSMT","short_pith_number":"pith:DAY2LW3S","canonical_record":{"source":{"id":"2607.14639","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-16T07:06:04Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5b354f3c8608c9c79e3968bc65e16e16e1478a8c29222f5d9b7eaa89f0d0c720","abstract_canon_sha256":"dd6563d721df3cc8f1182b571b85910396bd7f3e1afcbdf136b31435dc2d92c8"},"schema_version":"1.0"},"canonical_sha256":"1831a5db724e48544011459000fa5264e2361d54ae5b89557b8099152458fa7a","source":{"kind":"arxiv","id":"2607.14639","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.14639","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"arxiv_version","alias_value":"2607.14639v1","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.14639","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"pith_short_12","alias_value":"DAY2LW3SJZEF","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"pith_short_16","alias_value":"DAY2LW3SJZEFIQAR","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"pith_short_8","alias_value":"DAY2LW3S","created_at":"2026-07-17T01:21:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:DAY2LW3SJZEFIQARIWIAB6SSMT","target":"record","payload":{"canonical_record":{"source":{"id":"2607.14639","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-16T07:06:04Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5b354f3c8608c9c79e3968bc65e16e16e1478a8c29222f5d9b7eaa89f0d0c720","abstract_canon_sha256":"dd6563d721df3cc8f1182b571b85910396bd7f3e1afcbdf136b31435dc2d92c8"},"schema_version":"1.0"},"canonical_sha256":"1831a5db724e48544011459000fa5264e2361d54ae5b89557b8099152458fa7a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-17T01:21:22.283263Z","signature_b64":"CcJ4toQX/tJZH7feQyn7mB7xqzWyaWygpeknwb5nyYUtmM8DBIjrAXY9+Deg7S0AIINNA7IYMW07iXkWqPebDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1831a5db724e48544011459000fa5264e2361d54ae5b89557b8099152458fa7a","last_reissued_at":"2026-07-17T01:21:22.282437Z","signature_status":"signed_v1","first_computed_at":"2026-07-17T01:21:22.282437Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.14639","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":"2026-07-17T01:21:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l5F1CAfzZR+kpFHSEl9F79hXjHB6GMjoLrA4DJpqev4CuzVnXwfK5iDe4gWMl3WgyRO32cWBDP4d86gKrfTIAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T18:32:07.162692Z"},"content_sha256":"a98216ef981dd4ef19fbab01d38f729084f2ee4e98b9f7c7e3c8161c442ce2b7","schema_version":"1.0","event_id":"sha256:a98216ef981dd4ef19fbab01d38f729084f2ee4e98b9f7c7e3c8161c442ce2b7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:DAY2LW3SJZEFIQARIWIAB6SSMT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Image-to-Point Cloud Registration Made Easy with Rectified Flow-based LiDAR Upsampling","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Aoki Takanose, Jun Miura, Kenji Koide, Masashi Yokozuka, Reon Tabata, Shuji Oishi, Taku Okawara","submitted_at":"2026-07-16T07:06:04Z","abstract_excerpt":"Image-to-Point Cloud Registration (I2P) is essential for integrating camera and LiDAR in perception and autonomous systems, yet the modality gap between images and point clouds makes it difficult to achieve both high accuracy and strong generalization. In this paper, we propose a simple yet effective I2P method that treats LiDAR as an imaging sensor: from a single sparse LiDAR scan, we generate a dense LiDAR intensity image using Conditional Rectified Flow, match it with a camera image using a pre-trained feature matcher, and estimate the 6-DoF relative pose via PnP-RANSAC. The proposed model "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.14639","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/2607.14639/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":"2026-07-17T01:21:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R6RU5FLfeC14zQnGkHznb4g88Qgqfb5cVhmtLicNSb0fllhUAixdvwfp/r0som4J6MhsU00HlPd3oEPHCxHXBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T18:32:07.164700Z"},"content_sha256":"dc504cf8c1d9a6cda4721d6847cd645d895a953767cbdc7d85568249c3aee162","schema_version":"1.0","event_id":"sha256:dc504cf8c1d9a6cda4721d6847cd645d895a953767cbdc7d85568249c3aee162"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DAY2LW3SJZEFIQARIWIAB6SSMT/bundle.json","state_url":"https://pith.science/pith/DAY2LW3SJZEFIQARIWIAB6SSMT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DAY2LW3SJZEFIQARIWIAB6SSMT/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":"2026-08-07T18:32:07Z","links":{"resolver":"https://pith.science/pith/DAY2LW3SJZEFIQARIWIAB6SSMT","bundle":"https://pith.science/pith/DAY2LW3SJZEFIQARIWIAB6SSMT/bundle.json","state":"https://pith.science/pith/DAY2LW3SJZEFIQARIWIAB6SSMT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DAY2LW3SJZEFIQARIWIAB6SSMT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:DAY2LW3SJZEFIQARIWIAB6SSMT","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":"dd6563d721df3cc8f1182b571b85910396bd7f3e1afcbdf136b31435dc2d92c8","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-16T07:06:04Z","title_canon_sha256":"5b354f3c8608c9c79e3968bc65e16e16e1478a8c29222f5d9b7eaa89f0d0c720"},"schema_version":"1.0","source":{"id":"2607.14639","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.14639","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"arxiv_version","alias_value":"2607.14639v1","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.14639","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"pith_short_12","alias_value":"DAY2LW3SJZEF","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"pith_short_16","alias_value":"DAY2LW3SJZEFIQAR","created_at":"2026-07-17T01:21:22Z"},{"alias_kind":"pith_short_8","alias_value":"DAY2LW3S","created_at":"2026-07-17T01:21:22Z"}],"graph_snapshots":[{"event_id":"sha256:dc504cf8c1d9a6cda4721d6847cd645d895a953767cbdc7d85568249c3aee162","target":"graph","created_at":"2026-07-17T01:21:22Z","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/2607.14639/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Image-to-Point Cloud Registration (I2P) is essential for integrating camera and LiDAR in perception and autonomous systems, yet the modality gap between images and point clouds makes it difficult to achieve both high accuracy and strong generalization. In this paper, we propose a simple yet effective I2P method that treats LiDAR as an imaging sensor: from a single sparse LiDAR scan, we generate a dense LiDAR intensity image using Conditional Rectified Flow, match it with a camera image using a pre-trained feature matcher, and estimate the 6-DoF relative pose via PnP-RANSAC. The proposed model ","authors_text":"Aoki Takanose, Jun Miura, Kenji Koide, Masashi Yokozuka, Reon Tabata, Shuji Oishi, Taku Okawara","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-16T07:06:04Z","title":"Image-to-Point Cloud Registration Made Easy with Rectified Flow-based LiDAR Upsampling"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.14639","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:a98216ef981dd4ef19fbab01d38f729084f2ee4e98b9f7c7e3c8161c442ce2b7","target":"record","created_at":"2026-07-17T01:21:22Z","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":"dd6563d721df3cc8f1182b571b85910396bd7f3e1afcbdf136b31435dc2d92c8","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-16T07:06:04Z","title_canon_sha256":"5b354f3c8608c9c79e3968bc65e16e16e1478a8c29222f5d9b7eaa89f0d0c720"},"schema_version":"1.0","source":{"id":"2607.14639","kind":"arxiv","version":1}},"canonical_sha256":"1831a5db724e48544011459000fa5264e2361d54ae5b89557b8099152458fa7a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1831a5db724e48544011459000fa5264e2361d54ae5b89557b8099152458fa7a","first_computed_at":"2026-07-17T01:21:22.282437Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-17T01:21:22.282437Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CcJ4toQX/tJZH7feQyn7mB7xqzWyaWygpeknwb5nyYUtmM8DBIjrAXY9+Deg7S0AIINNA7IYMW07iXkWqPebDA==","signature_status":"signed_v1","signed_at":"2026-07-17T01:21:22.283263Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.14639","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a98216ef981dd4ef19fbab01d38f729084f2ee4e98b9f7c7e3c8161c442ce2b7","sha256:dc504cf8c1d9a6cda4721d6847cd645d895a953767cbdc7d85568249c3aee162"],"state_sha256":"0b7d20ac21979582a4fb532aac068a2951b05f6328c228080026d612bd2dbbcd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xJIuSEf0xC0gTBBMFRPVlcCwZUMK+TTATUscNSDWYjbgoCh97y4S8iIL2cfNu89yW83muBGZR1zay/V5cZehCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T18:32:07.176700Z","bundle_sha256":"4e78b62958838e611289d4d26da9129732e2f0317a1a93ef10e87b33f32f7be9"}}