{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:M5GF737J5ESY3BWRQFM57BA4UM","short_pith_number":"pith:M5GF737J","canonical_record":{"source":{"id":"2406.05969","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T02:06:54Z","cross_cats_sorted":[],"title_canon_sha256":"69460f29e31a5107971b5cfdee01fb406b897a74d519e112342464ba764f0d96","abstract_canon_sha256":"e46f881fe05e388fcba032eb59038d78d9eb21bbb4fd26c8aa51fb5ab1185d24"},"schema_version":"1.0"},"canonical_sha256":"674c5fefe9e9258d86d18159df841ca3150371c5161f683f4db11a5f77343276","source":{"kind":"arxiv","id":"2406.05969","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.05969","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"arxiv_version","alias_value":"2406.05969v3","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.05969","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"pith_short_12","alias_value":"M5GF737J5ESY","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"pith_short_16","alias_value":"M5GF737J5ESY3BWR","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"pith_short_8","alias_value":"M5GF737J","created_at":"2026-07-05T09:10:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:M5GF737J5ESY3BWRQFM57BA4UM","target":"record","payload":{"canonical_record":{"source":{"id":"2406.05969","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T02:06:54Z","cross_cats_sorted":[],"title_canon_sha256":"69460f29e31a5107971b5cfdee01fb406b897a74d519e112342464ba764f0d96","abstract_canon_sha256":"e46f881fe05e388fcba032eb59038d78d9eb21bbb4fd26c8aa51fb5ab1185d24"},"schema_version":"1.0"},"canonical_sha256":"674c5fefe9e9258d86d18159df841ca3150371c5161f683f4db11a5f77343276","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:10:00.473806Z","signature_b64":"bNrEBLv+P9ok2P/5/UC/QQIz74J/mpiqxAwC5U/loKXfv3KZ/tB1mQB6f5lh/ag0PQc5w3I6qkrMA0J3rWJHAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"674c5fefe9e9258d86d18159df841ca3150371c5161f683f4db11a5f77343276","last_reissued_at":"2026-07-05T09:10:00.473357Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:10:00.473357Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.05969","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:10:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"khKXPHoomZReC+/F3oqTW/k3wDD2eay6W/TyEktf45KIjumQlipJGj8vrM0m9rJ9647dNR5YSY57oU+wWFGqAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T12:16:14.489734Z"},"content_sha256":"ee045b5000c68f49ef089b6d1ec2a53eb08f02dbd5895e239efce1063eb9f57b","schema_version":"1.0","event_id":"sha256:ee045b5000c68f49ef089b6d1ec2a53eb08f02dbd5895e239efce1063eb9f57b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:M5GF737J5ESY3BWRQFM57BA4UM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual-Inertial SLAM as Simple as A, B, VINS","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Guoquan Huang, Nathaniel Merrill","submitted_at":"2024-06-10T02:06:54Z","abstract_excerpt":"We present AB-VINS, a different kind of visual-inertial SLAM system. Unlike most popular VINS methods which only use hand-crafted techniques, AB-VINS makes use of three different deep neural networks. Instead of estimating sparse feature positions, AB-VINS only estimates the scale and bias parameters (a and b) of monocular depth maps, as well as other terms to correct the depth using multi-view information, which results in a compressed feature state. Despite being an optimization-based system, the front-end motion tracking thread of AB-VINS surpasses the efficiency of a state-of-the-art filte"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.05969","kind":"arxiv","version":3},"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/2406.05969/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":"2026-07-05T09:10:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PwgMP+0vV1Ta9Hk1k6uhs+Yh3SBFMMuWvh/TBVBGy5d22w2n1YWh+iINlG23M/AJZ1tdLlI9/WY4Q6gMrXskCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T12:16:14.490104Z"},"content_sha256":"7a6d98e097e82c96301fe8191fbb04d4889b005bf097927ece96fba6cc5ec274","schema_version":"1.0","event_id":"sha256:7a6d98e097e82c96301fe8191fbb04d4889b005bf097927ece96fba6cc5ec274"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/M5GF737J5ESY3BWRQFM57BA4UM/bundle.json","state_url":"https://pith.science/pith/M5GF737J5ESY3BWRQFM57BA4UM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/M5GF737J5ESY3BWRQFM57BA4UM/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":"2026-07-07T12:16:14Z","links":{"resolver":"https://pith.science/pith/M5GF737J5ESY3BWRQFM57BA4UM","bundle":"https://pith.science/pith/M5GF737J5ESY3BWRQFM57BA4UM/bundle.json","state":"https://pith.science/pith/M5GF737J5ESY3BWRQFM57BA4UM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/M5GF737J5ESY3BWRQFM57BA4UM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:M5GF737J5ESY3BWRQFM57BA4UM","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":"e46f881fe05e388fcba032eb59038d78d9eb21bbb4fd26c8aa51fb5ab1185d24","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T02:06:54Z","title_canon_sha256":"69460f29e31a5107971b5cfdee01fb406b897a74d519e112342464ba764f0d96"},"schema_version":"1.0","source":{"id":"2406.05969","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.05969","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"arxiv_version","alias_value":"2406.05969v3","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.05969","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"pith_short_12","alias_value":"M5GF737J5ESY","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"pith_short_16","alias_value":"M5GF737J5ESY3BWR","created_at":"2026-07-05T09:10:00Z"},{"alias_kind":"pith_short_8","alias_value":"M5GF737J","created_at":"2026-07-05T09:10:00Z"}],"graph_snapshots":[{"event_id":"sha256:7a6d98e097e82c96301fe8191fbb04d4889b005bf097927ece96fba6cc5ec274","target":"graph","created_at":"2026-07-05T09:10:00Z","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/2406.05969/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present AB-VINS, a different kind of visual-inertial SLAM system. Unlike most popular VINS methods which only use hand-crafted techniques, AB-VINS makes use of three different deep neural networks. Instead of estimating sparse feature positions, AB-VINS only estimates the scale and bias parameters (a and b) of monocular depth maps, as well as other terms to correct the depth using multi-view information, which results in a compressed feature state. Despite being an optimization-based system, the front-end motion tracking thread of AB-VINS surpasses the efficiency of a state-of-the-art filte","authors_text":"Guoquan Huang, Nathaniel Merrill","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T02:06:54Z","title":"Visual-Inertial SLAM as Simple as A, B, VINS"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.05969","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:ee045b5000c68f49ef089b6d1ec2a53eb08f02dbd5895e239efce1063eb9f57b","target":"record","created_at":"2026-07-05T09:10:00Z","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":"e46f881fe05e388fcba032eb59038d78d9eb21bbb4fd26c8aa51fb5ab1185d24","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T02:06:54Z","title_canon_sha256":"69460f29e31a5107971b5cfdee01fb406b897a74d519e112342464ba764f0d96"},"schema_version":"1.0","source":{"id":"2406.05969","kind":"arxiv","version":3}},"canonical_sha256":"674c5fefe9e9258d86d18159df841ca3150371c5161f683f4db11a5f77343276","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"674c5fefe9e9258d86d18159df841ca3150371c5161f683f4db11a5f77343276","first_computed_at":"2026-07-05T09:10:00.473357Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:10:00.473357Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bNrEBLv+P9ok2P/5/UC/QQIz74J/mpiqxAwC5U/loKXfv3KZ/tB1mQB6f5lh/ag0PQc5w3I6qkrMA0J3rWJHAw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:10:00.473806Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.05969","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ee045b5000c68f49ef089b6d1ec2a53eb08f02dbd5895e239efce1063eb9f57b","sha256:7a6d98e097e82c96301fe8191fbb04d4889b005bf097927ece96fba6cc5ec274"],"state_sha256":"49cda726af60652e17e8830f85e54453213e4403207c4005cb6250191e0ac71e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LgoS8FRyXlIZJCbakbTs1RUo8DaZ6cfBxdysAwXdxniCrPW7fgV8/M1Lm6zo/jknC1rQsiwnn/05tvWkGhmFBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T12:16:14.492363Z","bundle_sha256":"a3c6ff469712d231887eb795d58ad5da418ee10f2299d9c873469797d6e12a8b"}}