{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:F3WBNCDOINNEZS65THPZOBUMEM","short_pith_number":"pith:F3WBNCDO","canonical_record":{"source":{"id":"1807.03556","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T10:11:05Z","cross_cats_sorted":[],"title_canon_sha256":"a36dd4f6e5ede51a01bd933e93569f8e11b3efcc77d747c33c9e5b119b9d80fa","abstract_canon_sha256":"ca4106437fad708ef5e8c008a94d0a763577454a3bd0378d0eb0f5886ac08578"},"schema_version":"1.0"},"canonical_sha256":"2eec16886e435a4ccbdd99df97068c231b4a2e4f78bffad06801463a7c6a6a27","source":{"kind":"arxiv","id":"1807.03556","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.03556","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"arxiv_version","alias_value":"1807.03556v1","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.03556","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"pith_short_12","alias_value":"F3WBNCDOINNE","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_16","alias_value":"F3WBNCDOINNEZS65","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_8","alias_value":"F3WBNCDO","created_at":"2026-05-18T12:32:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:F3WBNCDOINNEZS65THPZOBUMEM","target":"record","payload":{"canonical_record":{"source":{"id":"1807.03556","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T10:11:05Z","cross_cats_sorted":[],"title_canon_sha256":"a36dd4f6e5ede51a01bd933e93569f8e11b3efcc77d747c33c9e5b119b9d80fa","abstract_canon_sha256":"ca4106437fad708ef5e8c008a94d0a763577454a3bd0378d0eb0f5886ac08578"},"schema_version":"1.0"},"canonical_sha256":"2eec16886e435a4ccbdd99df97068c231b4a2e4f78bffad06801463a7c6a6a27","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:11:10.049466Z","signature_b64":"E5dSezTbx+MvGL73R0oQfUmkmGjb27KWDH+y9k6wZRW1wU3pjN5JWc6iQMhw+bXuXNtsdMYI8+EzK8sES6BvBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2eec16886e435a4ccbdd99df97068c231b4a2e4f78bffad06801463a7c6a6a27","last_reissued_at":"2026-05-18T00:11:10.048701Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:11:10.048701Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.03556","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":"2026-05-18T00:11:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lu6H+6BZu6qDkaSfxvKqhkzepLoojLyXnzCtqA+qZJLD8H7C/VUza3E2LDWiErjx28T+I2T96NljiPB6f7yzAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T05:34:37.590279Z"},"content_sha256":"1f9fd46bbe47f2dd50c6254cbeadaff2d3e76c1be65cbce7b57aafae077471c0","schema_version":"1.0","event_id":"sha256:1f9fd46bbe47f2dd50c6254cbeadaff2d3e76c1be65cbce7b57aafae077471c0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:F3WBNCDOINNEZS65THPZOBUMEM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Parallax Bundle Adjustment on Manifold with Convexified Initialization","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brenton Leighton, Gamini Dissanayake, Liang Zhao, Liyang Liu, Shoudong Huang, Teng Zhang, Yi Liu","submitted_at":"2018-07-10T10:11:05Z","abstract_excerpt":"Bundle adjustment (BA) with parallax angle based feature parameterization has been shown to have superior performance over BA using inverse depth or XYZ feature forms. In this paper, we propose an improved version of the parallax BA algorithm (PMBA) by extending it to the manifold domain along with observation-ray based objective function. With this modification, the problem formulation faithfully mimics the projective nature in a camera's image formation, BA is able to achieve better convergence, accuracy and robustness. This is particularly useful in handling diverse outdoor environments and"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.03556","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":"2026-05-18T00:11:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G1dwWHdghxlajpmzjGkFbk9766Ovtl29xrVkscXLtirlbioa2CjpdV30/y+0vPbxCnKkuR3xKNiEUbSkjmXxAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T05:34:37.590934Z"},"content_sha256":"54aa47603342dd4bda0e067fb48548538aac7dba238ea390e67f1db963150f71","schema_version":"1.0","event_id":"sha256:54aa47603342dd4bda0e067fb48548538aac7dba238ea390e67f1db963150f71"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/F3WBNCDOINNEZS65THPZOBUMEM/bundle.json","state_url":"https://pith.science/pith/F3WBNCDOINNEZS65THPZOBUMEM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/F3WBNCDOINNEZS65THPZOBUMEM/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":"2026-05-27T05:34:37Z","links":{"resolver":"https://pith.science/pith/F3WBNCDOINNEZS65THPZOBUMEM","bundle":"https://pith.science/pith/F3WBNCDOINNEZS65THPZOBUMEM/bundle.json","state":"https://pith.science/pith/F3WBNCDOINNEZS65THPZOBUMEM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/F3WBNCDOINNEZS65THPZOBUMEM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:F3WBNCDOINNEZS65THPZOBUMEM","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":"ca4106437fad708ef5e8c008a94d0a763577454a3bd0378d0eb0f5886ac08578","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T10:11:05Z","title_canon_sha256":"a36dd4f6e5ede51a01bd933e93569f8e11b3efcc77d747c33c9e5b119b9d80fa"},"schema_version":"1.0","source":{"id":"1807.03556","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.03556","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"arxiv_version","alias_value":"1807.03556v1","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.03556","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"pith_short_12","alias_value":"F3WBNCDOINNE","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_16","alias_value":"F3WBNCDOINNEZS65","created_at":"2026-05-18T12:32:22Z"},{"alias_kind":"pith_short_8","alias_value":"F3WBNCDO","created_at":"2026-05-18T12:32:22Z"}],"graph_snapshots":[{"event_id":"sha256:54aa47603342dd4bda0e067fb48548538aac7dba238ea390e67f1db963150f71","target":"graph","created_at":"2026-05-18T00:11:10Z","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":"Bundle adjustment (BA) with parallax angle based feature parameterization has been shown to have superior performance over BA using inverse depth or XYZ feature forms. In this paper, we propose an improved version of the parallax BA algorithm (PMBA) by extending it to the manifold domain along with observation-ray based objective function. With this modification, the problem formulation faithfully mimics the projective nature in a camera's image formation, BA is able to achieve better convergence, accuracy and robustness. This is particularly useful in handling diverse outdoor environments and","authors_text":"Brenton Leighton, Gamini Dissanayake, Liang Zhao, Liyang Liu, Shoudong Huang, Teng Zhang, Yi Liu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T10:11:05Z","title":"Parallax Bundle Adjustment on Manifold with Convexified Initialization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.03556","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":"sha256:1f9fd46bbe47f2dd50c6254cbeadaff2d3e76c1be65cbce7b57aafae077471c0","target":"record","created_at":"2026-05-18T00:11:10Z","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":"ca4106437fad708ef5e8c008a94d0a763577454a3bd0378d0eb0f5886ac08578","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T10:11:05Z","title_canon_sha256":"a36dd4f6e5ede51a01bd933e93569f8e11b3efcc77d747c33c9e5b119b9d80fa"},"schema_version":"1.0","source":{"id":"1807.03556","kind":"arxiv","version":1}},"canonical_sha256":"2eec16886e435a4ccbdd99df97068c231b4a2e4f78bffad06801463a7c6a6a27","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2eec16886e435a4ccbdd99df97068c231b4a2e4f78bffad06801463a7c6a6a27","first_computed_at":"2026-05-18T00:11:10.048701Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:11:10.048701Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E5dSezTbx+MvGL73R0oQfUmkmGjb27KWDH+y9k6wZRW1wU3pjN5JWc6iQMhw+bXuXNtsdMYI8+EzK8sES6BvBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:11:10.049466Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.03556","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1f9fd46bbe47f2dd50c6254cbeadaff2d3e76c1be65cbce7b57aafae077471c0","sha256:54aa47603342dd4bda0e067fb48548538aac7dba238ea390e67f1db963150f71"],"state_sha256":"2c17219ac158515448b411b514b5c4c585704dcb2e01691738f63f0e5ba8a31e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O67kqG5J0hxo7EYcZEi7L5a99duZWfEIWU27fvkjv99UJuEQ4ffyHHGuIyzstYqLWe3IRMr+5ExRj6i5ZPb4Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T05:34:37.594554Z","bundle_sha256":"72a0e588c7e8ffc301b661fa6ba873d1dc1eda1d0942009079c14b43ea0672ab"}}