{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:ILHT3DIXALHOD5P4UNDI7Q23DI","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":"a2d8d7418a8335007916e83edfcf9c600541576fd447f80ed236525772601d29","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-04-02T20:02:14Z","title_canon_sha256":"91f9dd61bf92092cff3e38e4061535f30d0fa77c42b86e681387726f72839352"},"schema_version":"1.0","source":{"id":"1904.01645","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.01645","created_at":"2026-05-17T23:43:23Z"},{"alias_kind":"arxiv_version","alias_value":"1904.01645v2","created_at":"2026-05-17T23:43:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.01645","created_at":"2026-05-17T23:43:23Z"},{"alias_kind":"pith_short_12","alias_value":"ILHT3DIXALHO","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"ILHT3DIXALHOD5P4","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"ILHT3DIX","created_at":"2026-05-18T12:33:18Z"}],"graph_snapshots":[{"event_id":"sha256:eb98a7ce1af3dd97ce2c726e2b229bdfc2a688b2c792a0f932cf1f4f9f44b0b7","target":"graph","created_at":"2026-05-17T23:43:23Z","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":"Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks. Typically, local optimization methods susceptible to returning suboptimal local minima are used to solve the rotation averaging problem. A new wave of approaches that leverage convex relaxations have provided the first formal guarantees of global optimality for state estimation techniques involving SO(3). However, most of these guarantees are only applicable when the measurement error introduced by noise is within a certain bound that depends on the problem instance's structure. In this ","authors_text":"Filip Maric, Jonathan Kelly, Matthew Giamou, Valentin Peretroukhin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-04-02T20:02:14Z","title":"Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.01645","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":"sha256:606418f979ba71c9beb0e64fd79e08911ab2c01b3ee163a52cde656708d7b5c9","target":"record","created_at":"2026-05-17T23:43:23Z","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":"a2d8d7418a8335007916e83edfcf9c600541576fd447f80ed236525772601d29","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-04-02T20:02:14Z","title_canon_sha256":"91f9dd61bf92092cff3e38e4061535f30d0fa77c42b86e681387726f72839352"},"schema_version":"1.0","source":{"id":"1904.01645","kind":"arxiv","version":2}},"canonical_sha256":"42cf3d8d1702cee1f5fca3468fc35b1a1983aec46b215c39be5fedb9b678c15e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"42cf3d8d1702cee1f5fca3468fc35b1a1983aec46b215c39be5fedb9b678c15e","first_computed_at":"2026-05-17T23:43:23.072109Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:43:23.072109Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SztwmJWs/yz6/X3dH+qKQLYKwM+x0m45jF+fh1ZJlWsz5v5Do0ZvN9BWpPeI8WeLenRPYbd8mGLHrbM8D9beAg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:43:23.072863Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.01645","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:606418f979ba71c9beb0e64fd79e08911ab2c01b3ee163a52cde656708d7b5c9","sha256:eb98a7ce1af3dd97ce2c726e2b229bdfc2a688b2c792a0f932cf1f4f9f44b0b7"],"state_sha256":"fd096abfdbe5c88c8b056ca0c92c176ea943e8dae9307a5e7a3c73ea2e3f2212"}