{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:KGAZGEKMOL4BQRGKEFXXMIRR2N","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":"08ee84dd928a743655e90ed0e2a125a490b80698afe8b6cf860f9487051518ce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-09-07T11:43:11Z","title_canon_sha256":"0714cc6e0f1a5a492c69bbb02b674e397e21228628f421c8b6c59439e4cc1791"},"schema_version":"1.0","source":{"id":"2509.06023","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.06023","created_at":"2026-07-05T12:06:28Z"},{"alias_kind":"arxiv_version","alias_value":"2509.06023v1","created_at":"2026-07-05T12:06:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.06023","created_at":"2026-07-05T12:06:28Z"},{"alias_kind":"pith_short_12","alias_value":"KGAZGEKMOL4B","created_at":"2026-07-05T12:06:28Z"},{"alias_kind":"pith_short_16","alias_value":"KGAZGEKMOL4BQRGK","created_at":"2026-07-05T12:06:28Z"},{"alias_kind":"pith_short_8","alias_value":"KGAZGEKM","created_at":"2026-07-05T12:06:28Z"}],"graph_snapshots":[{"event_id":"sha256:a75c54b2f06b0446b2bbc82e17357e64308ff8dda99c793854f44bf6fd601233","target":"graph","created_at":"2026-07-05T12:06:28Z","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/2509.06023/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully leverage temporal information, and require extensive manual tuning to handle diverse sensor configurations. To address these problems, we introduce DVLO4D, a novel visual-LiDAR odometry framework that leverages sparse spatial-temporal fusion to enhance accuracy and robustness. Our approach proposes three key innovations: (1) Sparse Query Fusion, which utilizes spa","authors_text":"George Vosselman, Hao Cheng, Jiangtao Li, Jiuming Liu, Mengmeng Liu, Michael Ying Yang, Sander Oude Elberink, Yunpeng Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-09-07T11:43:11Z","title":"DVLO4D: Deep Visual-Lidar Odometry with Sparse Spatial-temporal Fusion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.06023","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:f4d9ef3121aece96986e2a672712428798e89c077d59bdf7d67596b749b2fb74","target":"record","created_at":"2026-07-05T12:06:28Z","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":"08ee84dd928a743655e90ed0e2a125a490b80698afe8b6cf860f9487051518ce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-09-07T11:43:11Z","title_canon_sha256":"0714cc6e0f1a5a492c69bbb02b674e397e21228628f421c8b6c59439e4cc1791"},"schema_version":"1.0","source":{"id":"2509.06023","kind":"arxiv","version":1}},"canonical_sha256":"518193114c72f81844ca216f762231d35c84dde105be6d9868eb28474f956000","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"518193114c72f81844ca216f762231d35c84dde105be6d9868eb28474f956000","first_computed_at":"2026-07-05T12:06:28.461376Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:06:28.461376Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VnZz2+4JHXyqeot2oTs7j1uJeHWam+54Tw2aKZRGz7Tc/KVuiixflj/45Q3WMbgh/Q3cdR2JSFqjPVJwdqCADg==","signature_status":"signed_v1","signed_at":"2026-07-05T12:06:28.461846Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.06023","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f4d9ef3121aece96986e2a672712428798e89c077d59bdf7d67596b749b2fb74","sha256:a75c54b2f06b0446b2bbc82e17357e64308ff8dda99c793854f44bf6fd601233"],"state_sha256":"6d3a7223baf8ed63e8536d985d9f9898a9a02dfa42f8c3beebcd877a2cdeb96e"}