{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:KMQUUTLBENAZHJA5RDSRT5JLGQ","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":"72c70392e7ec0fb0ae7aaf007c6a3a2e1251f6071b5a1b555a6526e2c45df15a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-28T12:23:53Z","title_canon_sha256":"6cd88cc5a4ed360abbe3030b5c36ae62176513146454d82e7f5ee53695d1c60b"},"schema_version":"1.0","source":{"id":"1902.11046","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.11046","created_at":"2026-05-17T23:43:09Z"},{"alias_kind":"arxiv_version","alias_value":"1902.11046v3","created_at":"2026-05-17T23:43:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.11046","created_at":"2026-05-17T23:43:09Z"},{"alias_kind":"pith_short_12","alias_value":"KMQUUTLBENAZ","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KMQUUTLBENAZHJA5","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KMQUUTLB","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:fffea2b179c4c64e2b7f1a2d393f46bd805675d66108cb926874f42d31a69605","target":"graph","created_at":"2026-05-17T23:43:09Z","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":"In this paper, we present a deep learning-based network, GCNv2, for generation of keypoints and descriptors. GCNv2 is built on our previous method, GCN, a network trained for 3D projective geometry. GCNv2 is designed with a binary descriptor vector as the ORB feature so that it can easily replace ORB in systems such as ORB-SLAM2. GCNv2 significantly improves the computational efficiency over GCN that was only able to run on desktop hardware. We show how a modified version of ORB-SLAM2 using GCNv2 features runs on a Jetson TX2, an embedded low-power platform. Experimental results show that GCNv","authors_text":"Jiexiong Tang, John Folkesson, Ludvig Ericson, Patric Jensfelt","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-28T12:23:53Z","title":"GCNv2: Efficient Correspondence Prediction for Real-Time SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.11046","kind":"arxiv","version":3},"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":"sha256:2e01464a10eb0669e1e3081cc1cc4b2a5a8061a88f3615d7f032035839bdf0f5","target":"record","created_at":"2026-05-17T23:43:09Z","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":"72c70392e7ec0fb0ae7aaf007c6a3a2e1251f6071b5a1b555a6526e2c45df15a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-28T12:23:53Z","title_canon_sha256":"6cd88cc5a4ed360abbe3030b5c36ae62176513146454d82e7f5ee53695d1c60b"},"schema_version":"1.0","source":{"id":"1902.11046","kind":"arxiv","version":3}},"canonical_sha256":"53214a4d61234193a41d88e519f52b343d38211fe30cc14bcb79402d9f79361b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"53214a4d61234193a41d88e519f52b343d38211fe30cc14bcb79402d9f79361b","first_computed_at":"2026-05-17T23:43:09.001413Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:43:09.001413Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pZnLtsgVDOHPX54c1wmz/2ADNFJDpdAux0aP+U0YiephawT+ghOYkelr6QYjUmA8y1SPYX0/LEQyTa/ZqHJmCw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:43:09.001844Z","signed_message":"canonical_sha256_bytes"},"source_id":"1902.11046","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2e01464a10eb0669e1e3081cc1cc4b2a5a8061a88f3615d7f032035839bdf0f5","sha256:fffea2b179c4c64e2b7f1a2d393f46bd805675d66108cb926874f42d31a69605"],"state_sha256":"fcaa9aa8f45aa158117d3e467e63a9c218d7e1f0a43eb428d3b284bb0c359592"}