{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:KI4YJGNYHUIPQUBQZ5PVLTT6Q2","short_pith_number":"pith:KI4YJGNY","canonical_record":{"source":{"id":"1907.10219","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-24T03:07:45Z","cross_cats_sorted":[],"title_canon_sha256":"d78054b6ff8a791b33b2a333729db07892f967e044c2e49dd2ef9d0e61dcc99d","abstract_canon_sha256":"f2f41fd94de4065da662d72de6bb549ff9da75598872d705c39c78993adcb690"},"schema_version":"1.0"},"canonical_sha256":"52398499b83d10f85030cf5f55ce7e86b049f23d8ddd26c520104b1d34a7ae2b","source":{"kind":"arxiv","id":"1907.10219","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.10219","created_at":"2026-05-17T23:39:38Z"},{"alias_kind":"arxiv_version","alias_value":"1907.10219v1","created_at":"2026-05-17T23:39:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.10219","created_at":"2026-05-17T23:39:38Z"},{"alias_kind":"pith_short_12","alias_value":"KI4YJGNYHUIP","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KI4YJGNYHUIPQUBQ","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KI4YJGNY","created_at":"2026-05-18T12:33:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:KI4YJGNYHUIPQUBQZ5PVLTT6Q2","target":"record","payload":{"canonical_record":{"source":{"id":"1907.10219","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-24T03:07:45Z","cross_cats_sorted":[],"title_canon_sha256":"d78054b6ff8a791b33b2a333729db07892f967e044c2e49dd2ef9d0e61dcc99d","abstract_canon_sha256":"f2f41fd94de4065da662d72de6bb549ff9da75598872d705c39c78993adcb690"},"schema_version":"1.0"},"canonical_sha256":"52398499b83d10f85030cf5f55ce7e86b049f23d8ddd26c520104b1d34a7ae2b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:39:38.603497Z","signature_b64":"jSfI0xlvos/NghskVue1CBbFLZx4B6Nj+yFMWhG7NUP+UXImFVD4tU/kAUXlqj8b5DmckehBRC63aHGGbJleDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"52398499b83d10f85030cf5f55ce7e86b049f23d8ddd26c520104b1d34a7ae2b","last_reissued_at":"2026-05-17T23:39:38.602966Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:39:38.602966Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.10219","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":"2026-05-17T23:39:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6/ibJRZcldwVH+gck/HFybqchjaH0Gj28sK78eClIgEt8cjGvkEHpOnrG4ycGjFFmGoGBrjvHvrq60RW7mC8BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T11:30:54.325792Z"},"content_sha256":"2c27918bfb9bef22c2e9872e26bfa91cb081039e7666f04aa028b2c568962aac","schema_version":"1.0","event_id":"sha256:2c27918bfb9bef22c2e9872e26bfa91cb081039e7666f04aa028b2c568962aac"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:KI4YJGNYHUIPQUBQZ5PVLTT6Q2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Efficient Circle-Based Camera Pose Tracking Free of PnP","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Fulin Tang, Yihong Wu","submitted_at":"2019-07-24T03:07:45Z","abstract_excerpt":"Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in the marker images for matching to space points. Then, PnP and RANSAC are used to compute the camera pose. If cameras move fast or are far away from markers, matching is easy to generate errors and even RANSAC cannot remove incorrect matching. Then, the result by PnP cannot have good performance. To solve this problem, we design circular markers and represent 6"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.10219","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":""},"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":"2026-05-17T23:39:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JbbLHiWcq/COo+3KFeq+xRPt86v5OXTXpdF4nv358FOOifN8Eb/cLxRcOk7+qKT6T1gRd2VRTnWqOGdEVMMIBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T11:30:54.326325Z"},"content_sha256":"850223f4eb39b1284f069d48ea95fb89dfc2778fb50f1c8eec248a71cd8190c7","schema_version":"1.0","event_id":"sha256:850223f4eb39b1284f069d48ea95fb89dfc2778fb50f1c8eec248a71cd8190c7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KI4YJGNYHUIPQUBQZ5PVLTT6Q2/bundle.json","state_url":"https://pith.science/pith/KI4YJGNYHUIPQUBQZ5PVLTT6Q2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KI4YJGNYHUIPQUBQZ5PVLTT6Q2/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":"2026-08-06T11:30:54Z","links":{"resolver":"https://pith.science/pith/KI4YJGNYHUIPQUBQZ5PVLTT6Q2","bundle":"https://pith.science/pith/KI4YJGNYHUIPQUBQZ5PVLTT6Q2/bundle.json","state":"https://pith.science/pith/KI4YJGNYHUIPQUBQZ5PVLTT6Q2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KI4YJGNYHUIPQUBQZ5PVLTT6Q2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:KI4YJGNYHUIPQUBQZ5PVLTT6Q2","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":"f2f41fd94de4065da662d72de6bb549ff9da75598872d705c39c78993adcb690","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-24T03:07:45Z","title_canon_sha256":"d78054b6ff8a791b33b2a333729db07892f967e044c2e49dd2ef9d0e61dcc99d"},"schema_version":"1.0","source":{"id":"1907.10219","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.10219","created_at":"2026-05-17T23:39:38Z"},{"alias_kind":"arxiv_version","alias_value":"1907.10219v1","created_at":"2026-05-17T23:39:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.10219","created_at":"2026-05-17T23:39:38Z"},{"alias_kind":"pith_short_12","alias_value":"KI4YJGNYHUIP","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KI4YJGNYHUIPQUBQ","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KI4YJGNY","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:850223f4eb39b1284f069d48ea95fb89dfc2778fb50f1c8eec248a71cd8190c7","target":"graph","created_at":"2026-05-17T23:39:38Z","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":"Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in the marker images for matching to space points. Then, PnP and RANSAC are used to compute the camera pose. If cameras move fast or are far away from markers, matching is easy to generate errors and even RANSAC cannot remove incorrect matching. Then, the result by PnP cannot have good performance. To solve this problem, we design circular markers and represent 6","authors_text":"Fulin Tang, Yihong Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-24T03:07:45Z","title":"Efficient Circle-Based Camera Pose Tracking Free of PnP"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.10219","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":"sha256:2c27918bfb9bef22c2e9872e26bfa91cb081039e7666f04aa028b2c568962aac","target":"record","created_at":"2026-05-17T23:39:38Z","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":"f2f41fd94de4065da662d72de6bb549ff9da75598872d705c39c78993adcb690","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-07-24T03:07:45Z","title_canon_sha256":"d78054b6ff8a791b33b2a333729db07892f967e044c2e49dd2ef9d0e61dcc99d"},"schema_version":"1.0","source":{"id":"1907.10219","kind":"arxiv","version":1}},"canonical_sha256":"52398499b83d10f85030cf5f55ce7e86b049f23d8ddd26c520104b1d34a7ae2b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"52398499b83d10f85030cf5f55ce7e86b049f23d8ddd26c520104b1d34a7ae2b","first_computed_at":"2026-05-17T23:39:38.602966Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:39:38.602966Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jSfI0xlvos/NghskVue1CBbFLZx4B6Nj+yFMWhG7NUP+UXImFVD4tU/kAUXlqj8b5DmckehBRC63aHGGbJleDA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:39:38.603497Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.10219","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2c27918bfb9bef22c2e9872e26bfa91cb081039e7666f04aa028b2c568962aac","sha256:850223f4eb39b1284f069d48ea95fb89dfc2778fb50f1c8eec248a71cd8190c7"],"state_sha256":"393a2b7428e32c257770a95a77dec58308eb0004876b122255321dfccc54d1d3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gusj8ThvdtmhWgneEUKlzrVf4gK2M4r/BnAFp1PMOFME0iO4lMA2xU6LLN7yHq/wydMBzTJRA81ezif3R7sZCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T11:30:54.331418Z","bundle_sha256":"22a69e7a126704057364fe43189a068d574a17e75ed5768db7eb4f997584387e"}}