{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:MGX4NBY6SBPW2WUKSX46YEJNGJ","short_pith_number":"pith:MGX4NBY6","canonical_record":{"source":{"id":"2404.01150","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T14:50:03Z","cross_cats_sorted":[],"title_canon_sha256":"69cb357b262fa61e5a41f832b92eaf906e15eddd8be4fd98280aa399d3f2e0bb","abstract_canon_sha256":"1829c2f9db2f9456dd1188bdad833a5b954fb119b9bf0e35c8aa326886c1299e"},"schema_version":"1.0"},"canonical_sha256":"61afc6871e905f6d5a8a95f9ec112d324385a7d6f578f2a284ce0bcbb424b64f","source":{"kind":"arxiv","id":"2404.01150","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.01150","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"arxiv_version","alias_value":"2404.01150v1","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.01150","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"pith_short_12","alias_value":"MGX4NBY6SBPW","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"pith_short_16","alias_value":"MGX4NBY6SBPW2WUK","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"pith_short_8","alias_value":"MGX4NBY6","created_at":"2026-07-05T08:03:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:MGX4NBY6SBPW2WUKSX46YEJNGJ","target":"record","payload":{"canonical_record":{"source":{"id":"2404.01150","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T14:50:03Z","cross_cats_sorted":[],"title_canon_sha256":"69cb357b262fa61e5a41f832b92eaf906e15eddd8be4fd98280aa399d3f2e0bb","abstract_canon_sha256":"1829c2f9db2f9456dd1188bdad833a5b954fb119b9bf0e35c8aa326886c1299e"},"schema_version":"1.0"},"canonical_sha256":"61afc6871e905f6d5a8a95f9ec112d324385a7d6f578f2a284ce0bcbb424b64f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:03:01.608907Z","signature_b64":"pSk8J3xBpnU88lqUx7VPDIbw/MY1hraB1Bio2tt47OpeY4Wf5ex/RJjD64XsNIecDrUd/rGTZrhw1Hjv+XoqBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"61afc6871e905f6d5a8a95f9ec112d324385a7d6f578f2a284ce0bcbb424b64f","last_reissued_at":"2026-07-05T08:03:01.608411Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:03:01.608411Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2404.01150","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":"2026-07-05T08:03:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"50RpkqQ569Q4NMH4QQGB4bGT71qk9Trb95U92UG350YKtKuNi2xfizuk7rLpWwhSwTkJ54fhus9Iw6zbKKkyDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T16:21:53.698816Z"},"content_sha256":"a831fc55469cb65fcdcabbd6f87994790bf051c89b82493fe20f2f7a53a52542","schema_version":"1.0","event_id":"sha256:a831fc55469cb65fcdcabbd6f87994790bf051c89b82493fe20f2f7a53a52542"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:MGX4NBY6SBPW2WUKSX46YEJNGJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual-inertial state estimation based on Chebyshev polynomial optimization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hongyu Zhang, Maoran Zhu, Qi Cai, Yuanxin Wu","submitted_at":"2024-04-01T14:50:03Z","abstract_excerpt":"This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are used to calculate linear acceleration and angular velocity, which, along with inertial measurements, constitute dynamic constraints. This is coupled with a visual measurement model to construct a visual-inertial bundle adjustment formulation. Simulation and public dataset experiments show that the proposed method has better accuracy than the discrete-form prei"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.01150","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/2404.01150/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":"2026-07-05T08:03:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BWTvzMT96mxx+WycAoFDc6KBqXZF0wQjRaIW4iAiRvSr/oVUw9W/+pQW0gJUQAm57iz6XL4wHOIKuQPxngAvDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T16:21:53.699394Z"},"content_sha256":"7a73c4583c1bcafcc2940156ce38710bf01dc44872305a8515c4278a40d3bbec","schema_version":"1.0","event_id":"sha256:7a73c4583c1bcafcc2940156ce38710bf01dc44872305a8515c4278a40d3bbec"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MGX4NBY6SBPW2WUKSX46YEJNGJ/bundle.json","state_url":"https://pith.science/pith/MGX4NBY6SBPW2WUKSX46YEJNGJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MGX4NBY6SBPW2WUKSX46YEJNGJ/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":"2026-08-23T16:21:53Z","links":{"resolver":"https://pith.science/pith/MGX4NBY6SBPW2WUKSX46YEJNGJ","bundle":"https://pith.science/pith/MGX4NBY6SBPW2WUKSX46YEJNGJ/bundle.json","state":"https://pith.science/pith/MGX4NBY6SBPW2WUKSX46YEJNGJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MGX4NBY6SBPW2WUKSX46YEJNGJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MGX4NBY6SBPW2WUKSX46YEJNGJ","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":"1829c2f9db2f9456dd1188bdad833a5b954fb119b9bf0e35c8aa326886c1299e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T14:50:03Z","title_canon_sha256":"69cb357b262fa61e5a41f832b92eaf906e15eddd8be4fd98280aa399d3f2e0bb"},"schema_version":"1.0","source":{"id":"2404.01150","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.01150","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"arxiv_version","alias_value":"2404.01150v1","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.01150","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"pith_short_12","alias_value":"MGX4NBY6SBPW","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"pith_short_16","alias_value":"MGX4NBY6SBPW2WUK","created_at":"2026-07-05T08:03:01Z"},{"alias_kind":"pith_short_8","alias_value":"MGX4NBY6","created_at":"2026-07-05T08:03:01Z"}],"graph_snapshots":[{"event_id":"sha256:7a73c4583c1bcafcc2940156ce38710bf01dc44872305a8515c4278a40d3bbec","target":"graph","created_at":"2026-07-05T08:03:01Z","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/2404.01150/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are used to calculate linear acceleration and angular velocity, which, along with inertial measurements, constitute dynamic constraints. This is coupled with a visual measurement model to construct a visual-inertial bundle adjustment formulation. Simulation and public dataset experiments show that the proposed method has better accuracy than the discrete-form prei","authors_text":"Hongyu Zhang, Maoran Zhu, Qi Cai, Yuanxin Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T14:50:03Z","title":"Visual-inertial state estimation based on Chebyshev polynomial optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.01150","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:a831fc55469cb65fcdcabbd6f87994790bf051c89b82493fe20f2f7a53a52542","target":"record","created_at":"2026-07-05T08:03:01Z","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":"1829c2f9db2f9456dd1188bdad833a5b954fb119b9bf0e35c8aa326886c1299e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T14:50:03Z","title_canon_sha256":"69cb357b262fa61e5a41f832b92eaf906e15eddd8be4fd98280aa399d3f2e0bb"},"schema_version":"1.0","source":{"id":"2404.01150","kind":"arxiv","version":1}},"canonical_sha256":"61afc6871e905f6d5a8a95f9ec112d324385a7d6f578f2a284ce0bcbb424b64f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"61afc6871e905f6d5a8a95f9ec112d324385a7d6f578f2a284ce0bcbb424b64f","first_computed_at":"2026-07-05T08:03:01.608411Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:03:01.608411Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pSk8J3xBpnU88lqUx7VPDIbw/MY1hraB1Bio2tt47OpeY4Wf5ex/RJjD64XsNIecDrUd/rGTZrhw1Hjv+XoqBg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:03:01.608907Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.01150","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a831fc55469cb65fcdcabbd6f87994790bf051c89b82493fe20f2f7a53a52542","sha256:7a73c4583c1bcafcc2940156ce38710bf01dc44872305a8515c4278a40d3bbec"],"state_sha256":"deb4e9ea76f7c08d7fba384e24d4c7b46d9f72a15677963f44d0975e2ce766b8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2qeknO/FtO8aTf/7gv8tQDfd1WODZoTIjDOnPLdFtVWm3XV7zCbXBZPxP2uO1JL/Q83Z6kG2DuWQSH/Od11BAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T16:21:53.703788Z","bundle_sha256":"187b79be5846152cbfc927b6ed8d440810096119d7203cd8742e693338c0da83"}}