{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:EEALA3T3IMKJXCY4PLYRECAYY7","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":"cac7bf40591cd67ccacd2395cf5fe9ba6c253e0e30117c18968dda1c0547852a","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T06:54:09Z","title_canon_sha256":"0889a73b4efbe4f12060d307334f51a07c88395ad08b01bbfccc13105e7f193b"},"schema_version":"1.0","source":{"id":"2109.12292","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.12292","created_at":"2026-07-05T04:58:14Z"},{"alias_kind":"arxiv_version","alias_value":"2109.12292v2","created_at":"2026-07-05T04:58:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.12292","created_at":"2026-07-05T04:58:14Z"},{"alias_kind":"pith_short_12","alias_value":"EEALA3T3IMKJ","created_at":"2026-07-05T04:58:14Z"},{"alias_kind":"pith_short_16","alias_value":"EEALA3T3IMKJXCY4","created_at":"2026-07-05T04:58:14Z"},{"alias_kind":"pith_short_8","alias_value":"EEALA3T3","created_at":"2026-07-05T04:58:14Z"}],"graph_snapshots":[{"event_id":"sha256:812462810c4c0e1ec5d43269cb0491c683d9f34856838b2928d3f88c9cb1965e","target":"graph","created_at":"2026-07-05T04:58:14Z","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/2109.12292/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference and empirical parameter tuning. On the other hand, learning-based approaches allow for end-to-end training but require a large number of training data to learn millions of parameters. However, the non-interpretable and heavy models hinder the generalization ability. In this paper, we propose a fully differentiable, and interpretable, bird-eye-view (BEV) base","authors_text":"Haozhe Du, Rong Xiong, Xuecheng Xu, Yiyi Liao, Yue Wang, Zexi Chen","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T06:54:09Z","title":"Learning Interpretable BEV Based VIO without Deep Neural Networks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.12292","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:c84aefd170c92881c4e9b25770dda6faa8f9c7cbf0b0a86a895ef68c3022a5db","target":"record","created_at":"2026-07-05T04:58:14Z","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":"cac7bf40591cd67ccacd2395cf5fe9ba6c253e0e30117c18968dda1c0547852a","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T06:54:09Z","title_canon_sha256":"0889a73b4efbe4f12060d307334f51a07c88395ad08b01bbfccc13105e7f193b"},"schema_version":"1.0","source":{"id":"2109.12292","kind":"arxiv","version":2}},"canonical_sha256":"2100b06e7b43149b8b1c7af1120818c7f0a05afdd9d907ffda49b25415b91bb1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2100b06e7b43149b8b1c7af1120818c7f0a05afdd9d907ffda49b25415b91bb1","first_computed_at":"2026-07-05T04:58:14.476160Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:58:14.476160Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Y6GAgO9ALkYJlnE3wZOjDYtgs8NUq818MTLYItUILQhI/5aVFeeexDIqH53Jp2ZwMF0WbNbrXufldXQsMNV2Ag==","signature_status":"signed_v1","signed_at":"2026-07-05T04:58:14.476633Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.12292","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c84aefd170c92881c4e9b25770dda6faa8f9c7cbf0b0a86a895ef68c3022a5db","sha256:812462810c4c0e1ec5d43269cb0491c683d9f34856838b2928d3f88c9cb1965e"],"state_sha256":"357fd6c369b70a51577822c6f762b46c2f833de4c664f52dd125c5ea7564615f"}