{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:MH3MNIJU5HW3EKIUSH2TT3FNY4","short_pith_number":"pith:MH3MNIJU","canonical_record":{"source":{"id":"2404.04677","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-04-06T16:48:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"b039d9fd70affbe0ec7f3fa795b78aa1b56dc252cbd547eca6970f1f33d5570b","abstract_canon_sha256":"f61bc81f452718ae53b59ee6a8606c463af57f0974cbc3c55f605160056982e0"},"schema_version":"1.0"},"canonical_sha256":"61f6c6a134e9edb2291491f539ecadc71b2f487c47605df5134f9a6ea18a7c8d","source":{"kind":"arxiv","id":"2404.04677","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.04677","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"arxiv_version","alias_value":"2404.04677v1","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.04677","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"pith_short_12","alias_value":"MH3MNIJU5HW3","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"pith_short_16","alias_value":"MH3MNIJU5HW3EKIU","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"pith_short_8","alias_value":"MH3MNIJU","created_at":"2026-07-05T08:05:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:MH3MNIJU5HW3EKIUSH2TT3FNY4","target":"record","payload":{"canonical_record":{"source":{"id":"2404.04677","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-04-06T16:48:08Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"b039d9fd70affbe0ec7f3fa795b78aa1b56dc252cbd547eca6970f1f33d5570b","abstract_canon_sha256":"f61bc81f452718ae53b59ee6a8606c463af57f0974cbc3c55f605160056982e0"},"schema_version":"1.0"},"canonical_sha256":"61f6c6a134e9edb2291491f539ecadc71b2f487c47605df5134f9a6ea18a7c8d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:05:20.267350Z","signature_b64":"sm42taZRbToJJlAPE8+Y9GsxhKpXUdcZajz9Z/Q96hO2UKhrMparwC9I/FXwvLifttH1k4U/lUZepDm4hojQCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"61f6c6a134e9edb2291491f539ecadc71b2f487c47605df5134f9a6ea18a7c8d","last_reissued_at":"2026-07-05T08:05:20.266955Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:05:20.266955Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2404.04677","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":"2026-07-05T08:05:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DGJEJtV0lC0u3y4HRfwPyE7wECBKw4yIejYswfF8IpJ0enaHBeVZGUqc10+OrBBwqEOwCo5YqQe491LQJek0Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T10:34:39.202541Z"},"content_sha256":"861a2a9026433bf2a67898dd74f49f5b782a2bd463db4c68eb2ea1c62d52ffc0","schema_version":"1.0","event_id":"sha256:861a2a9026433bf2a67898dd74f49f5b782a2bd463db4c68eb2ea1c62d52ffc0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:MH3MNIJU5HW3EKIUSH2TT3FNY4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Salient Sparse Visual Odometry With Pose-Only Supervision","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Chen Wang, Jianfei Yang, Kangcheng Liu, Lihua Xie, Shenghai Yuan, Siyu Chen","submitted_at":"2024-04-06T16:48:08Z","abstract_excerpt":"Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like variable lighting and motion blur. Deep learning-based VO, though more adaptable, can face generalization problems in new environments. Addressing these drawbacks, this paper presents a novel hybrid visual odometry (VO) framework that leverages pose-only supervision, offering a balanced solution between robustness and the need for extensive labeling. We propose"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.04677","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/2404.04677/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":"2026-07-05T08:05:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WfAvK5DZ3G7KovcIxQP9MZ7dpmlbFxi0L21ro1gXKsnCoddgapLiX5LTk1D4o1XL9HSonmaV/1LO25+QPZI6Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T10:34:39.203984Z"},"content_sha256":"31a83d3503cbdfc5ac5b56db8a92cc0895c190cdb3206af14c9ad8d15642a64c","schema_version":"1.0","event_id":"sha256:31a83d3503cbdfc5ac5b56db8a92cc0895c190cdb3206af14c9ad8d15642a64c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MH3MNIJU5HW3EKIUSH2TT3FNY4/bundle.json","state_url":"https://pith.science/pith/MH3MNIJU5HW3EKIUSH2TT3FNY4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MH3MNIJU5HW3EKIUSH2TT3FNY4/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":"2026-08-14T10:34:39Z","links":{"resolver":"https://pith.science/pith/MH3MNIJU5HW3EKIUSH2TT3FNY4","bundle":"https://pith.science/pith/MH3MNIJU5HW3EKIUSH2TT3FNY4/bundle.json","state":"https://pith.science/pith/MH3MNIJU5HW3EKIUSH2TT3FNY4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MH3MNIJU5HW3EKIUSH2TT3FNY4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MH3MNIJU5HW3EKIUSH2TT3FNY4","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":"f61bc81f452718ae53b59ee6a8606c463af57f0974cbc3c55f605160056982e0","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-04-06T16:48:08Z","title_canon_sha256":"b039d9fd70affbe0ec7f3fa795b78aa1b56dc252cbd547eca6970f1f33d5570b"},"schema_version":"1.0","source":{"id":"2404.04677","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.04677","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"arxiv_version","alias_value":"2404.04677v1","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.04677","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"pith_short_12","alias_value":"MH3MNIJU5HW3","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"pith_short_16","alias_value":"MH3MNIJU5HW3EKIU","created_at":"2026-07-05T08:05:20Z"},{"alias_kind":"pith_short_8","alias_value":"MH3MNIJU","created_at":"2026-07-05T08:05:20Z"}],"graph_snapshots":[{"event_id":"sha256:31a83d3503cbdfc5ac5b56db8a92cc0895c190cdb3206af14c9ad8d15642a64c","target":"graph","created_at":"2026-07-05T08:05:20Z","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/2404.04677/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like variable lighting and motion blur. Deep learning-based VO, though more adaptable, can face generalization problems in new environments. Addressing these drawbacks, this paper presents a novel hybrid visual odometry (VO) framework that leverages pose-only supervision, offering a balanced solution between robustness and the need for extensive labeling. We propose","authors_text":"Chen Wang, Jianfei Yang, Kangcheng Liu, Lihua Xie, Shenghai Yuan, Siyu Chen","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-04-06T16:48:08Z","title":"Salient Sparse Visual Odometry With Pose-Only Supervision"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.04677","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":"sha256:861a2a9026433bf2a67898dd74f49f5b782a2bd463db4c68eb2ea1c62d52ffc0","target":"record","created_at":"2026-07-05T08:05:20Z","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":"f61bc81f452718ae53b59ee6a8606c463af57f0974cbc3c55f605160056982e0","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-04-06T16:48:08Z","title_canon_sha256":"b039d9fd70affbe0ec7f3fa795b78aa1b56dc252cbd547eca6970f1f33d5570b"},"schema_version":"1.0","source":{"id":"2404.04677","kind":"arxiv","version":1}},"canonical_sha256":"61f6c6a134e9edb2291491f539ecadc71b2f487c47605df5134f9a6ea18a7c8d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"61f6c6a134e9edb2291491f539ecadc71b2f487c47605df5134f9a6ea18a7c8d","first_computed_at":"2026-07-05T08:05:20.266955Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:05:20.266955Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sm42taZRbToJJlAPE8+Y9GsxhKpXUdcZajz9Z/Q96hO2UKhrMparwC9I/FXwvLifttH1k4U/lUZepDm4hojQCA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:05:20.267350Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.04677","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:861a2a9026433bf2a67898dd74f49f5b782a2bd463db4c68eb2ea1c62d52ffc0","sha256:31a83d3503cbdfc5ac5b56db8a92cc0895c190cdb3206af14c9ad8d15642a64c"],"state_sha256":"ab5b46a1ff23e09a395180067c49725f5ccb68ac6004398964d7ffa958050c32"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z8OxTyeiCUZy5Je75jnq58bsTVaCktgnCRNYIEiVLgkzMc5zg0w6K0ZW9bYFJjIc6Mxmf4bF9s1CAOTHlUoWCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T10:34:39.213415Z","bundle_sha256":"aa82ed1d38be9f715cf06f5d6f7b4dbbf81298c758fab00d4b9113a066c75a30"}}