{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:I3WK65YSUKI7DCIRYMOR4H7NQD","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":"73cf97e97d2e8b394f779e975efdf99f979d5b9af4c1d98341a22ff77ca71977","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-04-23T20:53:05Z","title_canon_sha256":"cc5d3270086c0f930abd57c03879830b39c96a7f69ae0253cd0123000af860c9"},"schema_version":"1.0","source":{"id":"2304.11748","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.11748","created_at":"2026-07-05T08:38:01Z"},{"alias_kind":"arxiv_version","alias_value":"2304.11748v2","created_at":"2026-07-05T08:38:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.11748","created_at":"2026-07-05T08:38:01Z"},{"alias_kind":"pith_short_12","alias_value":"I3WK65YSUKI7","created_at":"2026-07-05T08:38:01Z"},{"alias_kind":"pith_short_16","alias_value":"I3WK65YSUKI7DCIR","created_at":"2026-07-05T08:38:01Z"},{"alias_kind":"pith_short_8","alias_value":"I3WK65YS","created_at":"2026-07-05T08:38:01Z"}],"graph_snapshots":[{"event_id":"sha256:971b841f305c2c18e0c55af4bc09b5b3de9dc5316dc452a6d9fa714035eef070","target":"graph","created_at":"2026-07-05T08:38:01Z","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/2304.11748/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing point-line-based SLAM methods mainly use Pl\\\"ucker matrix or orthogonal representation to represent a line, which needs to calculate at least four variables to determine a line. Given the numerous line features to determine in each frame, the overly flexible line representation increases the computation burden and comprises the accuracy of the results. In this pap","authors_text":"Deying Li, Shuo Wang, Wanting Li, Xuewei Bai, Yongcai Wang, Yu Shao","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-04-23T20:53:05Z","title":"IDLS: Inverse Depth Line based Visual-Inertial SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.11748","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":"sha256:0d8984169ce9d4428a44a43ccb91f11c6951a0df566f5fe42a847add49e46374","target":"record","created_at":"2026-07-05T08:38:01Z","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":"73cf97e97d2e8b394f779e975efdf99f979d5b9af4c1d98341a22ff77ca71977","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-04-23T20:53:05Z","title_canon_sha256":"cc5d3270086c0f930abd57c03879830b39c96a7f69ae0253cd0123000af860c9"},"schema_version":"1.0","source":{"id":"2304.11748","kind":"arxiv","version":2}},"canonical_sha256":"46ecaf7712a291f18911c31d1e1fed80ea64ed3ef2eec34dc5f1422ad8a60692","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"46ecaf7712a291f18911c31d1e1fed80ea64ed3ef2eec34dc5f1422ad8a60692","first_computed_at":"2026-07-05T08:38:01.800906Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:38:01.800906Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"f6RaSdY6LPoxH3oRsRawerbihmfBZoy0h3IndkdvFxC/rB2F9hUaPz5ui6MQ4i/3t05I9UYWuw9fROKIFLIqDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:38:01.801465Z","signed_message":"canonical_sha256_bytes"},"source_id":"2304.11748","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0d8984169ce9d4428a44a43ccb91f11c6951a0df566f5fe42a847add49e46374","sha256:971b841f305c2c18e0c55af4bc09b5b3de9dc5316dc452a6d9fa714035eef070"],"state_sha256":"143ce01567698f1a2eaa703808fac21afced40308deb67e65c34cfec3a5e6213"}