{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:HS5SVZQTDSZC3UCPOMEWOWX5CQ","short_pith_number":"pith:HS5SVZQT","canonical_record":{"source":{"id":"2607.08408","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-07-09T12:34:55Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"df0ae2e267315363a4be4cd9100078bd64872f59313b94a825c438da738cc855","abstract_canon_sha256":"07f978a508f93578ba2fb57779c3e817235b2a2ad13e3d61713899ccd9e8af7e"},"schema_version":"1.0"},"canonical_sha256":"3cbb2ae6131cb22dd04f7309675afd1402d1fd7fabbd89508108d93a15581685","source":{"kind":"arxiv","id":"2607.08408","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.08408","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"arxiv_version","alias_value":"2607.08408v1","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.08408","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"pith_short_12","alias_value":"HS5SVZQTDSZC","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"pith_short_16","alias_value":"HS5SVZQTDSZC3UCP","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"pith_short_8","alias_value":"HS5SVZQT","created_at":"2026-07-10T01:19:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:HS5SVZQTDSZC3UCPOMEWOWX5CQ","target":"record","payload":{"canonical_record":{"source":{"id":"2607.08408","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-07-09T12:34:55Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"df0ae2e267315363a4be4cd9100078bd64872f59313b94a825c438da738cc855","abstract_canon_sha256":"07f978a508f93578ba2fb57779c3e817235b2a2ad13e3d61713899ccd9e8af7e"},"schema_version":"1.0"},"canonical_sha256":"3cbb2ae6131cb22dd04f7309675afd1402d1fd7fabbd89508108d93a15581685","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-10T01:19:49.664434Z","signature_b64":"m2Mw/UncGc9sqoB0LOBqJie+9FIxMWnccBz2FGOLZwAkn1RPiSNhboxHUqOeluPjuptQ6o7Zifwo345sFvISDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3cbb2ae6131cb22dd04f7309675afd1402d1fd7fabbd89508108d93a15581685","last_reissued_at":"2026-07-10T01:19:49.664009Z","signature_status":"signed_v1","first_computed_at":"2026-07-10T01:19:49.664009Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.08408","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":"2026-07-10T01:19:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B7MNSfzEJxRvWFthoPAZgqTtDCeFXV+KKILqQLKDQyK+6TwJUZqDIygBVJsLeihrbRzhOGfLshH3NgvOmgDWAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:35:52.154136Z"},"content_sha256":"0f7b0cedf7a112574058f57fb78a3946486268bbc2d048178f3911acbfd23b3d","schema_version":"1.0","event_id":"sha256:0f7b0cedf7a112574058f57fb78a3946486268bbc2d048178f3911acbfd23b3d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:HS5SVZQTDSZC3UCPOMEWOWX5CQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Track2Map: Online Deformable SLAM with Motion-Aware Pose Optimization in Robotic Surgery","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.CV","authors_text":"Adam Schmidt, Danail Stoyanov, Evangelos Mazomenos, Francisco Vasconcelos, Omid Mohareri, Sierra Bonilla, Sophia Bano, Tianyi Song, Xinwei Ju","submitted_at":"2026-07-09T12:34:55Z","abstract_excerpt":"Gaussian splatting is the current state-of-the-art for dense, deformable 3D anatomy reconstruction in robot-assisted minimally invasive surgery (RAMIS); however, most pipelines are offline and depend on accurate camera trajectory priors (often from robotic kinematics), limiting applicability when priors are missing or noisy. To address these limitations, we propose Track2Map, an online 3D Gaussian Splatting pipeline that jointly optimizes camera trajectory and 3D deformable scene representation directly from surgical video. Track2Map is therefore capable of robust 3D reconstructions when camer"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.08408","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/2607.08408/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":"2026-07-10T01:19:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uVWH7vcQe4mgoDL5a5lo9aJpuPMcURqrssH7sDvp/Kdhto4G06FbrXJ+GDskRrxsLwuj//jwsVErhsAqzK1dBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:35:52.154898Z"},"content_sha256":"579f048b3e5f03e8e2aaa8b286c0573a1d9bdae30587556fee6da4eccfd39294","schema_version":"1.0","event_id":"sha256:579f048b3e5f03e8e2aaa8b286c0573a1d9bdae30587556fee6da4eccfd39294"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HS5SVZQTDSZC3UCPOMEWOWX5CQ/bundle.json","state_url":"https://pith.science/pith/HS5SVZQTDSZC3UCPOMEWOWX5CQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HS5SVZQTDSZC3UCPOMEWOWX5CQ/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":"2026-08-01T05:35:52Z","links":{"resolver":"https://pith.science/pith/HS5SVZQTDSZC3UCPOMEWOWX5CQ","bundle":"https://pith.science/pith/HS5SVZQTDSZC3UCPOMEWOWX5CQ/bundle.json","state":"https://pith.science/pith/HS5SVZQTDSZC3UCPOMEWOWX5CQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HS5SVZQTDSZC3UCPOMEWOWX5CQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:HS5SVZQTDSZC3UCPOMEWOWX5CQ","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":"07f978a508f93578ba2fb57779c3e817235b2a2ad13e3d61713899ccd9e8af7e","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-07-09T12:34:55Z","title_canon_sha256":"df0ae2e267315363a4be4cd9100078bd64872f59313b94a825c438da738cc855"},"schema_version":"1.0","source":{"id":"2607.08408","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.08408","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"arxiv_version","alias_value":"2607.08408v1","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.08408","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"pith_short_12","alias_value":"HS5SVZQTDSZC","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"pith_short_16","alias_value":"HS5SVZQTDSZC3UCP","created_at":"2026-07-10T01:19:49Z"},{"alias_kind":"pith_short_8","alias_value":"HS5SVZQT","created_at":"2026-07-10T01:19:49Z"}],"graph_snapshots":[{"event_id":"sha256:579f048b3e5f03e8e2aaa8b286c0573a1d9bdae30587556fee6da4eccfd39294","target":"graph","created_at":"2026-07-10T01:19:49Z","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/2607.08408/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Gaussian splatting is the current state-of-the-art for dense, deformable 3D anatomy reconstruction in robot-assisted minimally invasive surgery (RAMIS); however, most pipelines are offline and depend on accurate camera trajectory priors (often from robotic kinematics), limiting applicability when priors are missing or noisy. To address these limitations, we propose Track2Map, an online 3D Gaussian Splatting pipeline that jointly optimizes camera trajectory and 3D deformable scene representation directly from surgical video. Track2Map is therefore capable of robust 3D reconstructions when camer","authors_text":"Adam Schmidt, Danail Stoyanov, Evangelos Mazomenos, Francisco Vasconcelos, Omid Mohareri, Sierra Bonilla, Sophia Bano, Tianyi Song, Xinwei Ju","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-07-09T12:34:55Z","title":"Track2Map: Online Deformable SLAM with Motion-Aware Pose Optimization in Robotic Surgery"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.08408","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":"sha256:0f7b0cedf7a112574058f57fb78a3946486268bbc2d048178f3911acbfd23b3d","target":"record","created_at":"2026-07-10T01:19:49Z","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":"07f978a508f93578ba2fb57779c3e817235b2a2ad13e3d61713899ccd9e8af7e","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-07-09T12:34:55Z","title_canon_sha256":"df0ae2e267315363a4be4cd9100078bd64872f59313b94a825c438da738cc855"},"schema_version":"1.0","source":{"id":"2607.08408","kind":"arxiv","version":1}},"canonical_sha256":"3cbb2ae6131cb22dd04f7309675afd1402d1fd7fabbd89508108d93a15581685","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3cbb2ae6131cb22dd04f7309675afd1402d1fd7fabbd89508108d93a15581685","first_computed_at":"2026-07-10T01:19:49.664009Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-10T01:19:49.664009Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"m2Mw/UncGc9sqoB0LOBqJie+9FIxMWnccBz2FGOLZwAkn1RPiSNhboxHUqOeluPjuptQ6o7Zifwo345sFvISDA==","signature_status":"signed_v1","signed_at":"2026-07-10T01:19:49.664434Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.08408","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0f7b0cedf7a112574058f57fb78a3946486268bbc2d048178f3911acbfd23b3d","sha256:579f048b3e5f03e8e2aaa8b286c0573a1d9bdae30587556fee6da4eccfd39294"],"state_sha256":"e6ff8cb260c2869c7f85654d598148b69e984d706d05269d6ac14ba3a0ae5907"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ex56yz2Gb8QC63OKRb66X4XNWOiO6L31A9XwufgGG3lH/ARh96RsWN0SNIrg0a4n7Rb8KYyjIMNUjR+5wgNwBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T05:35:52.160573Z","bundle_sha256":"b265819e48362e91789e1cf41a5cd94900cf9a2e074f4f6463a528f2ab0f1ae5"}}