{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:LC2MQLWR6MLJFJVEPR6JY4RVTE","short_pith_number":"pith:LC2MQLWR","schema_version":"1.0","canonical_sha256":"58b4c82ed1f31692a6a47c7c9c72359937dbceed43c8435f13a9e6c7f7b8714b","source":{"kind":"arxiv","id":"1809.09149","version":2},"attestation_state":"computed","paper":{"title":"Real-Time Monocular Object-Model Aware Sparse SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ian Reid, Kejie Li, Mehdi Hosseinzadeh, Yasir Latif","submitted_at":"2018-09-24T18:23:32Z","abstract_excerpt":"Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art object detection methods provide rich information about entities present in the scene from a single image. This work incorporates a real-time deep-learned object detector to the monocular SLAM framework for representing generic objects as quadrics that permit detections to be seamlessly integrated while allowing the real-time performance. Finer recon"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1809.09149","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-24T18:23:32Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"950ea46fccaefa408a4478bc9a513a0e1c2cdf8e23f455cc00dc00af645d580e","abstract_canon_sha256":"42efb7c12091b3caa790316fffb0696054be6004704db1157f5650d74b5f1e9a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:51:58.859574Z","signature_b64":"+Iwx43YymTb8nRAYg3Op3FqISK0VImck29rLliRbj1NRQA6EttQaZaSa/UCzeMGklGk6bcA1T/e0KYfbA9MvAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"58b4c82ed1f31692a6a47c7c9c72359937dbceed43c8435f13a9e6c7f7b8714b","last_reissued_at":"2026-05-17T23:51:58.859220Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:51:58.859220Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Real-Time Monocular Object-Model Aware Sparse SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ian Reid, Kejie Li, Mehdi Hosseinzadeh, Yasir Latif","submitted_at":"2018-09-24T18:23:32Z","abstract_excerpt":"Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art object detection methods provide rich information about entities present in the scene from a single image. This work incorporates a real-time deep-learned object detector to the monocular SLAM framework for representing generic objects as quadrics that permit detections to be seamlessly integrated while allowing the real-time performance. Finer recon"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.09149","kind":"arxiv","version":2},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1809.09149","created_at":"2026-05-17T23:51:58.859274+00:00"},{"alias_kind":"arxiv_version","alias_value":"1809.09149v2","created_at":"2026-05-17T23:51:58.859274+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.09149","created_at":"2026-05-17T23:51:58.859274+00:00"},{"alias_kind":"pith_short_12","alias_value":"LC2MQLWR6MLJ","created_at":"2026-05-18T12:32:33.847187+00:00"},{"alias_kind":"pith_short_16","alias_value":"LC2MQLWR6MLJFJVE","created_at":"2026-05-18T12:32:33.847187+00:00"},{"alias_kind":"pith_short_8","alias_value":"LC2MQLWR","created_at":"2026-05-18T12:32:33.847187+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE","json":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE.json","graph_json":"https://pith.science/api/pith-number/LC2MQLWR6MLJFJVEPR6JY4RVTE/graph.json","events_json":"https://pith.science/api/pith-number/LC2MQLWR6MLJFJVEPR6JY4RVTE/events.json","paper":"https://pith.science/paper/LC2MQLWR"},"agent_actions":{"view_html":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE","download_json":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE.json","view_paper":"https://pith.science/paper/LC2MQLWR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1809.09149&json=true","fetch_graph":"https://pith.science/api/pith-number/LC2MQLWR6MLJFJVEPR6JY4RVTE/graph.json","fetch_events":"https://pith.science/api/pith-number/LC2MQLWR6MLJFJVEPR6JY4RVTE/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE/action/timestamp_anchor","attest_storage":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE/action/storage_attestation","attest_author":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE/action/author_attestation","sign_citation":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE/action/citation_signature","submit_replication":"https://pith.science/pith/LC2MQLWR6MLJFJVEPR6JY4RVTE/action/replication_record"}},"created_at":"2026-05-17T23:51:58.859274+00:00","updated_at":"2026-05-17T23:51:58.859274+00:00"}