{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:HECXXRP2OS27MYMXD4R6LGQBXZ","short_pith_number":"pith:HECXXRP2","canonical_record":{"source":{"id":"2607.14009","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T16:38:27Z","cross_cats_sorted":[],"title_canon_sha256":"1d001eba7b664340e0f0d728d9ba044b93a9d79f0eb2b577b1f5d4d4d146d94b","abstract_canon_sha256":"2bb4cfd346ed92d8cfb02b0b95977293d3703481a8209fb3394423388deae9da"},"schema_version":"1.0"},"canonical_sha256":"39057bc5fa74b5f661971f23e59a01be6e5ff54cefff05445344fcfa9a03b386","source":{"kind":"arxiv","id":"2607.14009","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.14009","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"arxiv_version","alias_value":"2607.14009v1","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.14009","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"pith_short_12","alias_value":"HECXXRP2OS27","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"pith_short_16","alias_value":"HECXXRP2OS27MYMX","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"pith_short_8","alias_value":"HECXXRP2","created_at":"2026-07-16T01:23:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:HECXXRP2OS27MYMXD4R6LGQBXZ","target":"record","payload":{"canonical_record":{"source":{"id":"2607.14009","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T16:38:27Z","cross_cats_sorted":[],"title_canon_sha256":"1d001eba7b664340e0f0d728d9ba044b93a9d79f0eb2b577b1f5d4d4d146d94b","abstract_canon_sha256":"2bb4cfd346ed92d8cfb02b0b95977293d3703481a8209fb3394423388deae9da"},"schema_version":"1.0"},"canonical_sha256":"39057bc5fa74b5f661971f23e59a01be6e5ff54cefff05445344fcfa9a03b386","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-16T01:23:19.212074Z","signature_b64":"4C1G5//PkSm89BBmRs48NvqJAi+3qn0x01xSdLhJKXRIzwaPvTnXxHuyU/OdRfrTxa++b53w9ctVSUSJqxkBAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"39057bc5fa74b5f661971f23e59a01be6e5ff54cefff05445344fcfa9a03b386","last_reissued_at":"2026-07-16T01:23:19.211213Z","signature_status":"signed_v1","first_computed_at":"2026-07-16T01:23:19.211213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.14009","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":"2026-07-16T01:23:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wYlgwCvhlSj/T4YT77JUpiQgCw6lEcqB/M4ocju1d/gJhamP3K5Rm1jQZ4daDi1/9y8lqM0jwlkQr2nPHIg4AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T01:15:46.216660Z"},"content_sha256":"7f5f412d46dfdaba0b7719e1423aa20a54ff685b9af1047437e992412566dece","schema_version":"1.0","event_id":"sha256:7f5f412d46dfdaba0b7719e1423aa20a54ff685b9af1047437e992412566dece"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:HECXXRP2OS27MYMXD4R6LGQBXZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AeroMap3D: Anchoring Monocular UAV 6-DoF Localization to Visual-Geometric-Semantic Map Priors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Luis Sentis, Zhiyun Deng","submitted_at":"2026-07-15T16:38:27Z","abstract_excerpt":"We present AeroMap3D, a monocular 6-DoF UAV localization system that anchors onboard imagery to visual, geometric, and semantic map priors for GNSS-denied navigation. AeroMap3D addresses two fundamental challenges in map-referenced aerial localization: the cross-view discrepancy between UAV imagery and satellite maps, and the structural inconsistency between bare-earth digital elevation models (DEMs) and urban scenes. First, we introduce a lightweight adapter that enables a dense matcher pretrained on internet-scale generic data to perform reliable UAV-to-map registration without finetuning. B"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.14009","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/2607.14009/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":"2026-07-16T01:23:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gHzud2NtKceJqhukOTc/zCg4WttvSj4vec0WnbzJFiGkHo+v8sBu/LtEbr07F7xn0Id2VMQIkkm/FENOS8rPDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T01:15:46.217178Z"},"content_sha256":"6932d9850eb4e700ab55381b7d806240f5f22783466ccbcb2b395ced980bb37e","schema_version":"1.0","event_id":"sha256:6932d9850eb4e700ab55381b7d806240f5f22783466ccbcb2b395ced980bb37e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HECXXRP2OS27MYMXD4R6LGQBXZ/bundle.json","state_url":"https://pith.science/pith/HECXXRP2OS27MYMXD4R6LGQBXZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HECXXRP2OS27MYMXD4R6LGQBXZ/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":"2026-08-05T01:15:46Z","links":{"resolver":"https://pith.science/pith/HECXXRP2OS27MYMXD4R6LGQBXZ","bundle":"https://pith.science/pith/HECXXRP2OS27MYMXD4R6LGQBXZ/bundle.json","state":"https://pith.science/pith/HECXXRP2OS27MYMXD4R6LGQBXZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HECXXRP2OS27MYMXD4R6LGQBXZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:HECXXRP2OS27MYMXD4R6LGQBXZ","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":"2bb4cfd346ed92d8cfb02b0b95977293d3703481a8209fb3394423388deae9da","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T16:38:27Z","title_canon_sha256":"1d001eba7b664340e0f0d728d9ba044b93a9d79f0eb2b577b1f5d4d4d146d94b"},"schema_version":"1.0","source":{"id":"2607.14009","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.14009","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"arxiv_version","alias_value":"2607.14009v1","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.14009","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"pith_short_12","alias_value":"HECXXRP2OS27","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"pith_short_16","alias_value":"HECXXRP2OS27MYMX","created_at":"2026-07-16T01:23:19Z"},{"alias_kind":"pith_short_8","alias_value":"HECXXRP2","created_at":"2026-07-16T01:23:19Z"}],"graph_snapshots":[{"event_id":"sha256:6932d9850eb4e700ab55381b7d806240f5f22783466ccbcb2b395ced980bb37e","target":"graph","created_at":"2026-07-16T01:23:19Z","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/2607.14009/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present AeroMap3D, a monocular 6-DoF UAV localization system that anchors onboard imagery to visual, geometric, and semantic map priors for GNSS-denied navigation. AeroMap3D addresses two fundamental challenges in map-referenced aerial localization: the cross-view discrepancy between UAV imagery and satellite maps, and the structural inconsistency between bare-earth digital elevation models (DEMs) and urban scenes. First, we introduce a lightweight adapter that enables a dense matcher pretrained on internet-scale generic data to perform reliable UAV-to-map registration without finetuning. B","authors_text":"Luis Sentis, Zhiyun Deng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T16:38:27Z","title":"AeroMap3D: Anchoring Monocular UAV 6-DoF Localization to Visual-Geometric-Semantic Map Priors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.14009","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":"sha256:7f5f412d46dfdaba0b7719e1423aa20a54ff685b9af1047437e992412566dece","target":"record","created_at":"2026-07-16T01:23:19Z","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":"2bb4cfd346ed92d8cfb02b0b95977293d3703481a8209fb3394423388deae9da","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T16:38:27Z","title_canon_sha256":"1d001eba7b664340e0f0d728d9ba044b93a9d79f0eb2b577b1f5d4d4d146d94b"},"schema_version":"1.0","source":{"id":"2607.14009","kind":"arxiv","version":1}},"canonical_sha256":"39057bc5fa74b5f661971f23e59a01be6e5ff54cefff05445344fcfa9a03b386","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"39057bc5fa74b5f661971f23e59a01be6e5ff54cefff05445344fcfa9a03b386","first_computed_at":"2026-07-16T01:23:19.211213Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-16T01:23:19.211213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4C1G5//PkSm89BBmRs48NvqJAi+3qn0x01xSdLhJKXRIzwaPvTnXxHuyU/OdRfrTxa++b53w9ctVSUSJqxkBAg==","signature_status":"signed_v1","signed_at":"2026-07-16T01:23:19.212074Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.14009","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7f5f412d46dfdaba0b7719e1423aa20a54ff685b9af1047437e992412566dece","sha256:6932d9850eb4e700ab55381b7d806240f5f22783466ccbcb2b395ced980bb37e"],"state_sha256":"6b1d7e90376b5b884a36c53d391d1d831ca57e3b378497005f5feede3f3ff0ef"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ok5c6UlDCEaQ9SJUh46AYKl6E+AAt0aZSwe24GNFAM1Qlp4sU6XXFPZz0zrrAROnSc/oACDNQMNlqcTl4jbKBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T01:15:46.222753Z","bundle_sha256":"7cc4ab237506789089f275e8791f0181fb6ef8e697cc8c8f6260502b263a8b09"}}