{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:L5XDRCET26XXUE7W5UDDSPZ4KU","short_pith_number":"pith:L5XDRCET","canonical_record":{"source":{"id":"2110.06558","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-13T08:15:08Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"83472b865e0d82d4309186c94012192602dcd8ef2b6b2d085bcd3a2fb27c8b6e","abstract_canon_sha256":"dc41f1bc33591df627605dac030d1235a09d47b05c2ce4291d83560d77a3fc80"},"schema_version":"1.0"},"canonical_sha256":"5f6e388893d7af7a13f6ed06393f3c5536c73b8f3485d6ab6cf0eb5d793b07d3","source":{"kind":"arxiv","id":"2110.06558","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.06558","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"arxiv_version","alias_value":"2110.06558v1","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.06558","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"pith_short_12","alias_value":"L5XDRCET26XX","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"pith_short_16","alias_value":"L5XDRCET26XXUE7W","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"pith_short_8","alias_value":"L5XDRCET","created_at":"2026-07-05T03:22:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:L5XDRCET26XXUE7W5UDDSPZ4KU","target":"record","payload":{"canonical_record":{"source":{"id":"2110.06558","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-13T08:15:08Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"83472b865e0d82d4309186c94012192602dcd8ef2b6b2d085bcd3a2fb27c8b6e","abstract_canon_sha256":"dc41f1bc33591df627605dac030d1235a09d47b05c2ce4291d83560d77a3fc80"},"schema_version":"1.0"},"canonical_sha256":"5f6e388893d7af7a13f6ed06393f3c5536c73b8f3485d6ab6cf0eb5d793b07d3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:22:27.238502Z","signature_b64":"9M0Drq7Fj/FR/7WJVIKjd3vY+irBViKkyRM0vaHbp4653oNsLNuQXQE0vwSPex5wnHZUEDtR23zW4JLc60ViAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5f6e388893d7af7a13f6ed06393f3c5536c73b8f3485d6ab6cf0eb5d793b07d3","last_reissued_at":"2026-07-05T03:22:27.238139Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:22:27.238139Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.06558","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":"2026-07-05T03:22:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4M8jCpLiAPtlWXVS7UTv8Eau9Xc3fk2/q8GgNp/aehYnxkaZGPAdHibiqk04IYNHuWOFa69JUOmlNOhQqzy5Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T18:10:27.673336Z"},"content_sha256":"8ec09b75d30f50a46880a12ed2fbb21e443d015d081eb62892e846aaf851fe97","schema_version":"1.0","event_id":"sha256:8ec09b75d30f50a46880a12ed2fbb21e443d015d081eb62892e846aaf851fe97"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:L5XDRCET26XXUE7W5UDDSPZ4KU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LENS: Localization enhanced by NeRF synthesis","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Arnaud de La Fortelle, Arthur Moreau, Bogdan Stanciulescu, Dzmitry Tsishkou, Nathan Piasco","submitted_at":"2021-10-13T08:15:08Z","abstract_excerpt":"Neural Radiance Fields (NeRF) have recently demonstrated photo-realistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement of camera pose regression thanks to an additional synthetic dataset rendered by the NeRF class of algorithm. To avoid spawning novel views in irrelevant places we selected virtual camera locations from NeRF internal representation of the 3D geometry of the scene. We further improved localization accuracy of pose regressors using synthesized realistic and geom"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.06558","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2110.06558/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T03:22:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"50z987aTBaFIGUuyzrqPsq61shPIGzy+B4fzU3c8LX70+a1owXHGTGw50RUxqVxqf++vDIBo28aHsNpUZd5zAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T18:10:27.674182Z"},"content_sha256":"3d8601ff66290f71b9cb689de80b455dfb8326c041130cfde78ff2cb890fe7f4","schema_version":"1.0","event_id":"sha256:3d8601ff66290f71b9cb689de80b455dfb8326c041130cfde78ff2cb890fe7f4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/L5XDRCET26XXUE7W5UDDSPZ4KU/bundle.json","state_url":"https://pith.science/pith/L5XDRCET26XXUE7W5UDDSPZ4KU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/L5XDRCET26XXUE7W5UDDSPZ4KU/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":"2026-08-04T18:10:27Z","links":{"resolver":"https://pith.science/pith/L5XDRCET26XXUE7W5UDDSPZ4KU","bundle":"https://pith.science/pith/L5XDRCET26XXUE7W5UDDSPZ4KU/bundle.json","state":"https://pith.science/pith/L5XDRCET26XXUE7W5UDDSPZ4KU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/L5XDRCET26XXUE7W5UDDSPZ4KU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:L5XDRCET26XXUE7W5UDDSPZ4KU","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":"dc41f1bc33591df627605dac030d1235a09d47b05c2ce4291d83560d77a3fc80","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-13T08:15:08Z","title_canon_sha256":"83472b865e0d82d4309186c94012192602dcd8ef2b6b2d085bcd3a2fb27c8b6e"},"schema_version":"1.0","source":{"id":"2110.06558","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.06558","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"arxiv_version","alias_value":"2110.06558v1","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.06558","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"pith_short_12","alias_value":"L5XDRCET26XX","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"pith_short_16","alias_value":"L5XDRCET26XXUE7W","created_at":"2026-07-05T03:22:27Z"},{"alias_kind":"pith_short_8","alias_value":"L5XDRCET","created_at":"2026-07-05T03:22:27Z"}],"graph_snapshots":[{"event_id":"sha256:3d8601ff66290f71b9cb689de80b455dfb8326c041130cfde78ff2cb890fe7f4","target":"graph","created_at":"2026-07-05T03:22:27Z","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/2110.06558/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Neural Radiance Fields (NeRF) have recently demonstrated photo-realistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement of camera pose regression thanks to an additional synthetic dataset rendered by the NeRF class of algorithm. To avoid spawning novel views in irrelevant places we selected virtual camera locations from NeRF internal representation of the 3D geometry of the scene. We further improved localization accuracy of pose regressors using synthesized realistic and geom","authors_text":"Arnaud de La Fortelle, Arthur Moreau, Bogdan Stanciulescu, Dzmitry Tsishkou, Nathan Piasco","cross_cats":["cs.AI","cs.LG","cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-13T08:15:08Z","title":"LENS: Localization enhanced by NeRF synthesis"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.06558","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":"sha256:8ec09b75d30f50a46880a12ed2fbb21e443d015d081eb62892e846aaf851fe97","target":"record","created_at":"2026-07-05T03:22:27Z","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":"dc41f1bc33591df627605dac030d1235a09d47b05c2ce4291d83560d77a3fc80","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-13T08:15:08Z","title_canon_sha256":"83472b865e0d82d4309186c94012192602dcd8ef2b6b2d085bcd3a2fb27c8b6e"},"schema_version":"1.0","source":{"id":"2110.06558","kind":"arxiv","version":1}},"canonical_sha256":"5f6e388893d7af7a13f6ed06393f3c5536c73b8f3485d6ab6cf0eb5d793b07d3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5f6e388893d7af7a13f6ed06393f3c5536c73b8f3485d6ab6cf0eb5d793b07d3","first_computed_at":"2026-07-05T03:22:27.238139Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:22:27.238139Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9M0Drq7Fj/FR/7WJVIKjd3vY+irBViKkyRM0vaHbp4653oNsLNuQXQE0vwSPex5wnHZUEDtR23zW4JLc60ViAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:22:27.238502Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.06558","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8ec09b75d30f50a46880a12ed2fbb21e443d015d081eb62892e846aaf851fe97","sha256:3d8601ff66290f71b9cb689de80b455dfb8326c041130cfde78ff2cb890fe7f4"],"state_sha256":"fcf0578ecfe0eba537e7ce4449cc060b4f9d587c4367485a89b21238e8ac51a7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+BN53gk7JuOtsK6dh2lvBEiyACsJBB+77zakN6/C+Q9og8iequYehyKWZLLdlP+a2eomwUZQyWdObXNkX+ZmBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T18:10:27.681649Z","bundle_sha256":"e5ab1f733b95c254265667d9cc17f1d092754383068301bfe18f208cd3fc585a"}}