{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:N4ZQN37BGUQYLKKQJ2WOEOKSEI","short_pith_number":"pith:N4ZQN37B","canonical_record":{"source":{"id":"1909.07545","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-17T01:48:06Z","cross_cats_sorted":["cs.CV","eess.IV"],"title_canon_sha256":"790984adcafaf0a564217c126bafbc3291938a0deebf7f55fb13ab1dee27f4d1","abstract_canon_sha256":"791187449f3d5cb0a33002181dac71028267b64941ac2b19be645761a022ff74"},"schema_version":"1.0"},"canonical_sha256":"6f3306efe1352185a9504eace23952220f493a2c5823d540a9839a963d78eed3","source":{"kind":"arxiv","id":"1909.07545","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.07545","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"arxiv_version","alias_value":"1909.07545v1","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.07545","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"pith_short_12","alias_value":"N4ZQN37BGUQY","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"pith_short_16","alias_value":"N4ZQN37BGUQYLKKQ","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"pith_short_8","alias_value":"N4ZQN37B","created_at":"2026-07-05T00:04:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:N4ZQN37BGUQYLKKQJ2WOEOKSEI","target":"record","payload":{"canonical_record":{"source":{"id":"1909.07545","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-17T01:48:06Z","cross_cats_sorted":["cs.CV","eess.IV"],"title_canon_sha256":"790984adcafaf0a564217c126bafbc3291938a0deebf7f55fb13ab1dee27f4d1","abstract_canon_sha256":"791187449f3d5cb0a33002181dac71028267b64941ac2b19be645761a022ff74"},"schema_version":"1.0"},"canonical_sha256":"6f3306efe1352185a9504eace23952220f493a2c5823d540a9839a963d78eed3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:04:58.371797Z","signature_b64":"ReJ6nzd35hnBkLH3dQctEG2uIQsXLCG+6Z9TUEvFADclRZ4zQiVKkZlNM72/py/bPgDcjlttb3HuLbTDBjwhAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6f3306efe1352185a9504eace23952220f493a2c5823d540a9839a963d78eed3","last_reissued_at":"2026-07-05T00:04:58.371307Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:04:58.371307Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1909.07545","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":"2026-07-05T00:04:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Tj7SM/2fUfX58L8fTHx+3Ox7PtgQ2z20pHpMUH72LD1KZtIesCdTp4am5ljbGFRq92sC3r/34GCi38dsVVqlAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T14:34:25.651117Z"},"content_sha256":"9a572df6ceae2390aa80261d680126d0920a6f68da1454ca168526bfa70108f6","schema_version":"1.0","event_id":"sha256:9a572df6ceae2390aa80261d680126d0920a6f68da1454ca168526bfa70108f6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:N4ZQN37BGUQYLKKQJ2WOEOKSEI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time Variational Fisheye Stereo without Rectification and Undistortion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","eess.IV"],"primary_cat":"cs.RO","authors_text":"Menandro Roxas, Takeshi Oishi","submitted_at":"2019-09-17T01:48:06Z","abstract_excerpt":"Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and undistortion. We extend the conventional variational stereo method by constraining the correspondence search along the epipolar curve using a trajectory field induced by camera motion. We also propose a fast way of generating the trajectory field without increasing the processing time compared to conventional rectified methods. With our implementation, we were a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.07545","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/1909.07545/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":"2026-07-05T00:04:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5D6R6oEOaPJVTK4bzFoVCLzGPALFxcNdqklY2bhJ3zmhYifvEE5m7y0U5u5y7t4DZXmXlhuXxoca0RxATcxXAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T14:34:25.651694Z"},"content_sha256":"00b2bc92bbe93ee8fcacda9df63d48f1b858d2e286b72128e4d385325e8515a7","schema_version":"1.0","event_id":"sha256:00b2bc92bbe93ee8fcacda9df63d48f1b858d2e286b72128e4d385325e8515a7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N4ZQN37BGUQYLKKQJ2WOEOKSEI/bundle.json","state_url":"https://pith.science/pith/N4ZQN37BGUQYLKKQJ2WOEOKSEI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N4ZQN37BGUQYLKKQJ2WOEOKSEI/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":"2026-08-11T14:34:25Z","links":{"resolver":"https://pith.science/pith/N4ZQN37BGUQYLKKQJ2WOEOKSEI","bundle":"https://pith.science/pith/N4ZQN37BGUQYLKKQJ2WOEOKSEI/bundle.json","state":"https://pith.science/pith/N4ZQN37BGUQYLKKQJ2WOEOKSEI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N4ZQN37BGUQYLKKQJ2WOEOKSEI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:N4ZQN37BGUQYLKKQJ2WOEOKSEI","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":"791187449f3d5cb0a33002181dac71028267b64941ac2b19be645761a022ff74","cross_cats_sorted":["cs.CV","eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-17T01:48:06Z","title_canon_sha256":"790984adcafaf0a564217c126bafbc3291938a0deebf7f55fb13ab1dee27f4d1"},"schema_version":"1.0","source":{"id":"1909.07545","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.07545","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"arxiv_version","alias_value":"1909.07545v1","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.07545","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"pith_short_12","alias_value":"N4ZQN37BGUQY","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"pith_short_16","alias_value":"N4ZQN37BGUQYLKKQ","created_at":"2026-07-05T00:04:58Z"},{"alias_kind":"pith_short_8","alias_value":"N4ZQN37B","created_at":"2026-07-05T00:04:58Z"}],"graph_snapshots":[{"event_id":"sha256:00b2bc92bbe93ee8fcacda9df63d48f1b858d2e286b72128e4d385325e8515a7","target":"graph","created_at":"2026-07-05T00:04:58Z","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/1909.07545/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and undistortion. We extend the conventional variational stereo method by constraining the correspondence search along the epipolar curve using a trajectory field induced by camera motion. We also propose a fast way of generating the trajectory field without increasing the processing time compared to conventional rectified methods. With our implementation, we were a","authors_text":"Menandro Roxas, Takeshi Oishi","cross_cats":["cs.CV","eess.IV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-17T01:48:06Z","title":"Real-Time Variational Fisheye Stereo without Rectification and Undistortion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.07545","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":"sha256:9a572df6ceae2390aa80261d680126d0920a6f68da1454ca168526bfa70108f6","target":"record","created_at":"2026-07-05T00:04:58Z","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":"791187449f3d5cb0a33002181dac71028267b64941ac2b19be645761a022ff74","cross_cats_sorted":["cs.CV","eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-17T01:48:06Z","title_canon_sha256":"790984adcafaf0a564217c126bafbc3291938a0deebf7f55fb13ab1dee27f4d1"},"schema_version":"1.0","source":{"id":"1909.07545","kind":"arxiv","version":1}},"canonical_sha256":"6f3306efe1352185a9504eace23952220f493a2c5823d540a9839a963d78eed3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6f3306efe1352185a9504eace23952220f493a2c5823d540a9839a963d78eed3","first_computed_at":"2026-07-05T00:04:58.371307Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:04:58.371307Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ReJ6nzd35hnBkLH3dQctEG2uIQsXLCG+6Z9TUEvFADclRZ4zQiVKkZlNM72/py/bPgDcjlttb3HuLbTDBjwhAw==","signature_status":"signed_v1","signed_at":"2026-07-05T00:04:58.371797Z","signed_message":"canonical_sha256_bytes"},"source_id":"1909.07545","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9a572df6ceae2390aa80261d680126d0920a6f68da1454ca168526bfa70108f6","sha256:00b2bc92bbe93ee8fcacda9df63d48f1b858d2e286b72128e4d385325e8515a7"],"state_sha256":"9ba006b31ba537547d6317819969733c0282bc5da9547aef1de48db11888e2c5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BKrUx3QehDfdF1MOuKTghfvbdjyl9AhLUgRhsjXs4yz1sKkmRU5baeOJUdatGOuPNP0uXTWnD/Q1+l2jy1V9AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T14:34:25.658421Z","bundle_sha256":"51e8927d30ea92233ab0a707c59f3fd953cd1e195aceb55003ae3fea027e95c3"}}