{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2011:MNBKFQGYRL4YJ7SROVM7YLXVKZ","short_pith_number":"pith:MNBKFQGY","canonical_record":{"source":{"id":"1109.4909","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2011-09-22T18:41:00Z","cross_cats_sorted":[],"title_canon_sha256":"7284657fd0343be70e6f273cb3dc1b2b3f383035bc03ba2c776b9bc0560b69a9","abstract_canon_sha256":"74f3390d75742aa7a63ca22089b6704ed1c4945c8cdf8823d707450cc273f7c6"},"schema_version":"1.0"},"canonical_sha256":"6342a2c0d88af984fe517559fc2ef5567471f429cf227673374a0bb0d5dc7412","source":{"kind":"arxiv","id":"1109.4909","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1109.4909","created_at":"2026-05-18T04:12:32Z"},{"alias_kind":"arxiv_version","alias_value":"1109.4909v1","created_at":"2026-05-18T04:12:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1109.4909","created_at":"2026-05-18T04:12:32Z"},{"alias_kind":"pith_short_12","alias_value":"MNBKFQGYRL4Y","created_at":"2026-05-18T12:26:34Z"},{"alias_kind":"pith_short_16","alias_value":"MNBKFQGYRL4YJ7SR","created_at":"2026-05-18T12:26:34Z"},{"alias_kind":"pith_short_8","alias_value":"MNBKFQGY","created_at":"2026-05-18T12:26:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2011:MNBKFQGYRL4YJ7SROVM7YLXVKZ","target":"record","payload":{"canonical_record":{"source":{"id":"1109.4909","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2011-09-22T18:41:00Z","cross_cats_sorted":[],"title_canon_sha256":"7284657fd0343be70e6f273cb3dc1b2b3f383035bc03ba2c776b9bc0560b69a9","abstract_canon_sha256":"74f3390d75742aa7a63ca22089b6704ed1c4945c8cdf8823d707450cc273f7c6"},"schema_version":"1.0"},"canonical_sha256":"6342a2c0d88af984fe517559fc2ef5567471f429cf227673374a0bb0d5dc7412","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T04:12:32.697088Z","signature_b64":"sUtPKRkMP0JU5Tu6dMU0t0kegAytP9Dco47Iv1wpfTMHDaC87oHNeyToFvQjxep9iBXvbMnB1EmxROrQJ9aiBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6342a2c0d88af984fe517559fc2ef5567471f429cf227673374a0bb0d5dc7412","last_reissued_at":"2026-05-18T04:12:32.696446Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T04:12:32.696446Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1109.4909","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":"2026-05-18T04:12:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+tjfjIPdz5YA4Dzizg+jWYriPDZk2SRsa4hZc3OMfdvuHEyg7v5NsbD/CJRaWlLvd8uHXZRU6+CoXmfjer4KCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T01:00:22.117826Z"},"content_sha256":"5d0f49796d323a54b4d00a4fef181196385bce30a6567d3698c909345dde424b","schema_version":"1.0","event_id":"sha256:5d0f49796d323a54b4d00a4fef181196385bce30a6567d3698c909345dde424b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2011:MNBKFQGYRL4YJ7SROVM7YLXVKZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Allen Y. Yang, Chris Slaughter, Costa Checkles, Justin Bagwell, Luis Sentis, Sriram Vishwanath","submitted_at":"2011-09-22T18:41:00Z","abstract_excerpt":"Motivated by an emerging theory of robust low-rank matrix representation, in this paper, we introduce a novel solution for online rigid-body motion registration. The goal is to develop algorithmic techniques that enable a robust, real-time motion registration solution suitable for low-cost, portable 3-D camera devices. Assuming 3-D image features are tracked via a standard tracker, the algorithm first utilizes Robust PCA to initialize a low-rank shape representation of the rigid body. Robust PCA finds the global optimal solution of the initialization, while its complexity is comparable to sing"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1109.4909","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":""},"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":"2026-05-18T04:12:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zIHc5+R6WL1HdptufKLWIae6ViMVVzotlZpNGlrYaAVGmpygfU1bejMuRNTGUCkQPxraBPQg121aCh1Uz8LtCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T01:00:22.118548Z"},"content_sha256":"f9c655d5d56c77ba5a27002b4e3f8dbf666bec51a740c3533b8ddd83f71eb804","schema_version":"1.0","event_id":"sha256:f9c655d5d56c77ba5a27002b4e3f8dbf666bec51a740c3533b8ddd83f71eb804"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MNBKFQGYRL4YJ7SROVM7YLXVKZ/bundle.json","state_url":"https://pith.science/pith/MNBKFQGYRL4YJ7SROVM7YLXVKZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MNBKFQGYRL4YJ7SROVM7YLXVKZ/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":"2026-05-31T01:00:22Z","links":{"resolver":"https://pith.science/pith/MNBKFQGYRL4YJ7SROVM7YLXVKZ","bundle":"https://pith.science/pith/MNBKFQGYRL4YJ7SROVM7YLXVKZ/bundle.json","state":"https://pith.science/pith/MNBKFQGYRL4YJ7SROVM7YLXVKZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MNBKFQGYRL4YJ7SROVM7YLXVKZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2011:MNBKFQGYRL4YJ7SROVM7YLXVKZ","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":"74f3390d75742aa7a63ca22089b6704ed1c4945c8cdf8823d707450cc273f7c6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2011-09-22T18:41:00Z","title_canon_sha256":"7284657fd0343be70e6f273cb3dc1b2b3f383035bc03ba2c776b9bc0560b69a9"},"schema_version":"1.0","source":{"id":"1109.4909","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1109.4909","created_at":"2026-05-18T04:12:32Z"},{"alias_kind":"arxiv_version","alias_value":"1109.4909v1","created_at":"2026-05-18T04:12:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1109.4909","created_at":"2026-05-18T04:12:32Z"},{"alias_kind":"pith_short_12","alias_value":"MNBKFQGYRL4Y","created_at":"2026-05-18T12:26:34Z"},{"alias_kind":"pith_short_16","alias_value":"MNBKFQGYRL4YJ7SR","created_at":"2026-05-18T12:26:34Z"},{"alias_kind":"pith_short_8","alias_value":"MNBKFQGY","created_at":"2026-05-18T12:26:34Z"}],"graph_snapshots":[{"event_id":"sha256:f9c655d5d56c77ba5a27002b4e3f8dbf666bec51a740c3533b8ddd83f71eb804","target":"graph","created_at":"2026-05-18T04:12:32Z","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"},"paper":{"abstract_excerpt":"Motivated by an emerging theory of robust low-rank matrix representation, in this paper, we introduce a novel solution for online rigid-body motion registration. The goal is to develop algorithmic techniques that enable a robust, real-time motion registration solution suitable for low-cost, portable 3-D camera devices. Assuming 3-D image features are tracked via a standard tracker, the algorithm first utilizes Robust PCA to initialize a low-rank shape representation of the rigid body. Robust PCA finds the global optimal solution of the initialization, while its complexity is comparable to sing","authors_text":"Allen Y. Yang, Chris Slaughter, Costa Checkles, Justin Bagwell, Luis Sentis, Sriram Vishwanath","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2011-09-22T18:41:00Z","title":"Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1109.4909","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":"sha256:5d0f49796d323a54b4d00a4fef181196385bce30a6567d3698c909345dde424b","target":"record","created_at":"2026-05-18T04:12:32Z","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":"74f3390d75742aa7a63ca22089b6704ed1c4945c8cdf8823d707450cc273f7c6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2011-09-22T18:41:00Z","title_canon_sha256":"7284657fd0343be70e6f273cb3dc1b2b3f383035bc03ba2c776b9bc0560b69a9"},"schema_version":"1.0","source":{"id":"1109.4909","kind":"arxiv","version":1}},"canonical_sha256":"6342a2c0d88af984fe517559fc2ef5567471f429cf227673374a0bb0d5dc7412","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6342a2c0d88af984fe517559fc2ef5567471f429cf227673374a0bb0d5dc7412","first_computed_at":"2026-05-18T04:12:32.696446Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T04:12:32.696446Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sUtPKRkMP0JU5Tu6dMU0t0kegAytP9Dco47Iv1wpfTMHDaC87oHNeyToFvQjxep9iBXvbMnB1EmxROrQJ9aiBg==","signature_status":"signed_v1","signed_at":"2026-05-18T04:12:32.697088Z","signed_message":"canonical_sha256_bytes"},"source_id":"1109.4909","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5d0f49796d323a54b4d00a4fef181196385bce30a6567d3698c909345dde424b","sha256:f9c655d5d56c77ba5a27002b4e3f8dbf666bec51a740c3533b8ddd83f71eb804"],"state_sha256":"4b9fd92e242395ebc97e4e3e48161d157075cb02c3b264f006af2838e586c2dc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8C8C/lBUh1kEItp/xqp7JGjqT8hdmeI8svr8jmntv0wfe5Fs/sWuFX2F/r7Bt1250Di5A4I5JqGRjdHyPro9Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T01:00:22.122748Z","bundle_sha256":"88cc7278444f94bbf1ccfdfb3a5d58ff83a4734db693d1490b1a036096aa118d"}}