{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:EQXM46BEMB3ZQZYWI773NTVN4G","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":"4a322d002c0200d655f57aad6c28ae2919aaed384316ae093a822ffbe91d9f21","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-08T15:19:36Z","title_canon_sha256":"28a4b9f2801700f4c8ceb255772d8cddb04d9cf2b5b231eb46543dbda8b59377"},"schema_version":"1.0","source":{"id":"2107.03890","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.03890","created_at":"2026-07-05T02:56:20Z"},{"alias_kind":"arxiv_version","alias_value":"2107.03890v1","created_at":"2026-07-05T02:56:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.03890","created_at":"2026-07-05T02:56:20Z"},{"alias_kind":"pith_short_12","alias_value":"EQXM46BEMB3Z","created_at":"2026-07-05T02:56:20Z"},{"alias_kind":"pith_short_16","alias_value":"EQXM46BEMB3ZQZYW","created_at":"2026-07-05T02:56:20Z"},{"alias_kind":"pith_short_8","alias_value":"EQXM46BE","created_at":"2026-07-05T02:56:20Z"}],"graph_snapshots":[{"event_id":"sha256:3fb68099f692e3ebaa43f2ba57096f5968ad60178e11f965dd2c8b5ad205a3f7","target":"graph","created_at":"2026-07-05T02:56:20Z","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/2107.03890/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Perspective-n-Point-and-Line (P$n$PL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current point-based pose estimation methods use only 2D feature detection uncertainties, and the line-based methods do not take uncertainties into account. In our setup, both 3D coordinates and 2D projections of the features are considered uncertain. We propose PnP(L) solvers based on EPnP and DLS for the uncertainty-aware pose estimation. We also modify motion-only bundle ad","authors_text":"Alexander Vakhitov, Antonio Agudo, Francesc Moreno-Noguer, Luis Ferraz Colomina","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-08T15:19:36Z","title":"Uncertainty-Aware Camera Pose Estimation from Points and Lines"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.03890","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":"sha256:3c88bf5846bf110bf3a3c08b15f3b48ae06a392f4df4b7de8b10826372c8a3fb","target":"record","created_at":"2026-07-05T02:56:20Z","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":"4a322d002c0200d655f57aad6c28ae2919aaed384316ae093a822ffbe91d9f21","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-08T15:19:36Z","title_canon_sha256":"28a4b9f2801700f4c8ceb255772d8cddb04d9cf2b5b231eb46543dbda8b59377"},"schema_version":"1.0","source":{"id":"2107.03890","kind":"arxiv","version":1}},"canonical_sha256":"242ece7824607798671647ffb6ceade19764b806b492153895c192561cbc1e31","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"242ece7824607798671647ffb6ceade19764b806b492153895c192561cbc1e31","first_computed_at":"2026-07-05T02:56:20.461419Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:56:20.461419Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0Yv7wE9arRZ/nLJw6I1Y7D91ilVuGX/S70AkKoFZvPPDtd/DWfN7YSzJLygxPR6u9hQ/S9pKceHHxgHA+R27AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:56:20.461761Z","signed_message":"canonical_sha256_bytes"},"source_id":"2107.03890","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3c88bf5846bf110bf3a3c08b15f3b48ae06a392f4df4b7de8b10826372c8a3fb","sha256:3fb68099f692e3ebaa43f2ba57096f5968ad60178e11f965dd2c8b5ad205a3f7"],"state_sha256":"7f0a28764bd74fb3ff2346a63c02ae93f05b7c27b8282df649c9584c4d39f64d"}