{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:EU6BJV6V55V6LBICDWZ2EOPDX3","short_pith_number":"pith:EU6BJV6V","canonical_record":{"source":{"id":"2110.03234","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-07T07:33:52Z","cross_cats_sorted":[],"title_canon_sha256":"8fbaca010ed9bbe80bdb5c5fb966c49a9c79c156caddfaced2bf4600872fcf42","abstract_canon_sha256":"17ebeeb047b26cae2b708be706ce045304594d3f145daafac1fce52f9195d625"},"schema_version":"1.0"},"canonical_sha256":"253c14d7d5ef6be585021db3a239e3bed077f3731e1954d6964ae0ccd0a746f0","source":{"kind":"arxiv","id":"2110.03234","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.03234","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"arxiv_version","alias_value":"2110.03234v2","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.03234","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"pith_short_12","alias_value":"EU6BJV6V55V6","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"pith_short_16","alias_value":"EU6BJV6V55V6LBIC","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"pith_short_8","alias_value":"EU6BJV6V","created_at":"2026-07-05T03:50:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:EU6BJV6V55V6LBICDWZ2EOPDX3","target":"record","payload":{"canonical_record":{"source":{"id":"2110.03234","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-07T07:33:52Z","cross_cats_sorted":[],"title_canon_sha256":"8fbaca010ed9bbe80bdb5c5fb966c49a9c79c156caddfaced2bf4600872fcf42","abstract_canon_sha256":"17ebeeb047b26cae2b708be706ce045304594d3f145daafac1fce52f9195d625"},"schema_version":"1.0"},"canonical_sha256":"253c14d7d5ef6be585021db3a239e3bed077f3731e1954d6964ae0ccd0a746f0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:50:02.453639Z","signature_b64":"mvuxl/KmDVfHhR5RnEIlwFM5ZhR+KvFz7pUUAd5xRngVyKguhOvEve42l+AswapXd2ofoyvy05JXDqmyyzDSBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"253c14d7d5ef6be585021db3a239e3bed077f3731e1954d6964ae0ccd0a746f0","last_reissued_at":"2026-07-05T03:50:02.453193Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:50:02.453193Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.03234","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":"2026-07-05T03:50:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kySEN4LMNNnbVVwHL2oi6hGFrfmTr6p+pG73igWWCblyyHHDp9OkJE2Fd54YXViMNqLuFlis47JjummQamZcDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:42:59.509370Z"},"content_sha256":"8e7e5c93c34345147944abdb41ff3d87aa398869481bffed261750fd1ad33448","schema_version":"1.0","event_id":"sha256:8e7e5c93c34345147944abdb41ff3d87aa398869481bffed261750fd1ad33448"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:EU6BJV6V55V6LBICDWZ2EOPDX3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-Supervised Depth Completion for Active Stereo","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Alexander Vakhitov, Daniel Hernandez-Juarez, Frederik Warburg, Juan Tarrio, Pablo F. Alcantarilla, Ujwal Bonde","submitted_at":"2021-10-07T07:33:52Z","abstract_excerpt":"Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised depth completion method for active stereo systems that predicts accurate dense depth maps. Our system leverages a feature-based visual inertial SLAM system to produce motion estimates and accurate (but sparse) 3D landmarks. The 3D landmarks are used both as model input and as supervision during training. The motion estimates are used in our novel reconstruct"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.03234","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/2110.03234/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":"2026-07-05T03:50:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Vy5amjRkr6Yi0+H2Q+R9P3bXK6/hh1Yc4j2LHOZualuwefn6i/+r233PNl3S8T0+FHM1SIRwmvuMp070LxP2Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:42:59.509757Z"},"content_sha256":"560f4c921c0fd8d66d1803a0b69021e3a15278b32fea94c707af9b40c9abe4ab","schema_version":"1.0","event_id":"sha256:560f4c921c0fd8d66d1803a0b69021e3a15278b32fea94c707af9b40c9abe4ab"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EU6BJV6V55V6LBICDWZ2EOPDX3/bundle.json","state_url":"https://pith.science/pith/EU6BJV6V55V6LBICDWZ2EOPDX3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EU6BJV6V55V6LBICDWZ2EOPDX3/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":"2026-07-06T17:42:59Z","links":{"resolver":"https://pith.science/pith/EU6BJV6V55V6LBICDWZ2EOPDX3","bundle":"https://pith.science/pith/EU6BJV6V55V6LBICDWZ2EOPDX3/bundle.json","state":"https://pith.science/pith/EU6BJV6V55V6LBICDWZ2EOPDX3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EU6BJV6V55V6LBICDWZ2EOPDX3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:EU6BJV6V55V6LBICDWZ2EOPDX3","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":"17ebeeb047b26cae2b708be706ce045304594d3f145daafac1fce52f9195d625","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-07T07:33:52Z","title_canon_sha256":"8fbaca010ed9bbe80bdb5c5fb966c49a9c79c156caddfaced2bf4600872fcf42"},"schema_version":"1.0","source":{"id":"2110.03234","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.03234","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"arxiv_version","alias_value":"2110.03234v2","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.03234","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"pith_short_12","alias_value":"EU6BJV6V55V6","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"pith_short_16","alias_value":"EU6BJV6V55V6LBIC","created_at":"2026-07-05T03:50:02Z"},{"alias_kind":"pith_short_8","alias_value":"EU6BJV6V","created_at":"2026-07-05T03:50:02Z"}],"graph_snapshots":[{"event_id":"sha256:560f4c921c0fd8d66d1803a0b69021e3a15278b32fea94c707af9b40c9abe4ab","target":"graph","created_at":"2026-07-05T03:50:02Z","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/2110.03234/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised depth completion method for active stereo systems that predicts accurate dense depth maps. Our system leverages a feature-based visual inertial SLAM system to produce motion estimates and accurate (but sparse) 3D landmarks. The 3D landmarks are used both as model input and as supervision during training. The motion estimates are used in our novel reconstruct","authors_text":"Alexander Vakhitov, Daniel Hernandez-Juarez, Frederik Warburg, Juan Tarrio, Pablo F. Alcantarilla, Ujwal Bonde","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-07T07:33:52Z","title":"Self-Supervised Depth Completion for Active Stereo"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.03234","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":"sha256:8e7e5c93c34345147944abdb41ff3d87aa398869481bffed261750fd1ad33448","target":"record","created_at":"2026-07-05T03:50:02Z","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":"17ebeeb047b26cae2b708be706ce045304594d3f145daafac1fce52f9195d625","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-07T07:33:52Z","title_canon_sha256":"8fbaca010ed9bbe80bdb5c5fb966c49a9c79c156caddfaced2bf4600872fcf42"},"schema_version":"1.0","source":{"id":"2110.03234","kind":"arxiv","version":2}},"canonical_sha256":"253c14d7d5ef6be585021db3a239e3bed077f3731e1954d6964ae0ccd0a746f0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"253c14d7d5ef6be585021db3a239e3bed077f3731e1954d6964ae0ccd0a746f0","first_computed_at":"2026-07-05T03:50:02.453193Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:50:02.453193Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mvuxl/KmDVfHhR5RnEIlwFM5ZhR+KvFz7pUUAd5xRngVyKguhOvEve42l+AswapXd2ofoyvy05JXDqmyyzDSBw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:50:02.453639Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.03234","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8e7e5c93c34345147944abdb41ff3d87aa398869481bffed261750fd1ad33448","sha256:560f4c921c0fd8d66d1803a0b69021e3a15278b32fea94c707af9b40c9abe4ab"],"state_sha256":"0346f7055dc4eb4a37cd18dc1a740ea94c13a3ac14f3156b58061c00b003c141"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T2QPxz6s9MNLa7LYWJNDtLmU1sfFNGKiNGyowmEm1TYBZYdQEDHg4Xh11vzH1EohcTlCrFZWYSnP+SsPNhUSCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T17:42:59.511715Z","bundle_sha256":"508b247fee06998f78e336d2a765fed67c022bdc3767825dbef2c9d680c9daa3"}}