{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:NBMPJWUKGS7VBTD2UXQQNCVVOS","short_pith_number":"pith:NBMPJWUK","schema_version":"1.0","canonical_sha256":"6858f4da8a34bf50cc7aa5e1068ab574a595f8d94ce60146ad5896b022d8a1d8","source":{"kind":"arxiv","id":"2209.05167","version":3},"attestation_state":"computed","paper":{"title":"LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Fei Gao, Hao Shi, Jian Bai, Kailun Yang, Kaiwei Wang, Peng Li, Ze Wang","submitted_at":"2022-09-12T11:51:20Z","abstract_excerpt":"Simultaneous Localization And Mapping (SLAM) has become a crucial aspect in the fields of autonomous driving and robotics. One crucial component of visual SLAM is the Field-of-View (FoV) of the camera, as a larger FoV allows for a wider range of surrounding elements and features to be perceived. However, when the FoV of the camera reaches the negative half-plane, traditional methods for representing image feature points using [u,v,1]^T become ineffective. While the panoramic FoV is advantageous for loop closure, its benefits are not easily realized under large-attitude-angle differences where "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2209.05167","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-12T11:51:20Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"3865b106d3c39da15d9bd8b7449512d2a5083d9627f6f7f5c673d2f14cffe8ce","abstract_canon_sha256":"657951e5ee4fce298652222d4aa004cfd1898015ab10b4936cc7fb6e23237da1"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:59:49.973096Z","signature_b64":"tLO6NUq7gq2ouRoYyGqt3eciDrRBcGQeCR510JKtAUatTgJLDDN3QUMlFbYHF8J9fOqW39DahmQbA67zc/ewBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6858f4da8a34bf50cc7aa5e1068ab574a595f8d94ce60146ad5896b022d8a1d8","last_reissued_at":"2026-07-05T06:59:49.972695Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:59:49.972695Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Fei Gao, Hao Shi, Jian Bai, Kailun Yang, Kaiwei Wang, Peng Li, Ze Wang","submitted_at":"2022-09-12T11:51:20Z","abstract_excerpt":"Simultaneous Localization And Mapping (SLAM) has become a crucial aspect in the fields of autonomous driving and robotics. One crucial component of visual SLAM is the Field-of-View (FoV) of the camera, as a larger FoV allows for a wider range of surrounding elements and features to be perceived. However, when the FoV of the camera reaches the negative half-plane, traditional methods for representing image feature points using [u,v,1]^T become ineffective. While the panoramic FoV is advantageous for loop closure, its benefits are not easily realized under large-attitude-angle differences where "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.05167","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/2209.05167/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2209.05167","created_at":"2026-07-05T06:59:49.972752+00:00"},{"alias_kind":"arxiv_version","alias_value":"2209.05167v3","created_at":"2026-07-05T06:59:49.972752+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.05167","created_at":"2026-07-05T06:59:49.972752+00:00"},{"alias_kind":"pith_short_12","alias_value":"NBMPJWUKGS7V","created_at":"2026-07-05T06:59:49.972752+00:00"},{"alias_kind":"pith_short_16","alias_value":"NBMPJWUKGS7VBTD2","created_at":"2026-07-05T06:59:49.972752+00:00"},{"alias_kind":"pith_short_8","alias_value":"NBMPJWUK","created_at":"2026-07-05T06:59:49.972752+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS","json":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS.json","graph_json":"https://pith.science/api/pith-number/NBMPJWUKGS7VBTD2UXQQNCVVOS/graph.json","events_json":"https://pith.science/api/pith-number/NBMPJWUKGS7VBTD2UXQQNCVVOS/events.json","paper":"https://pith.science/paper/NBMPJWUK"},"agent_actions":{"view_html":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS","download_json":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS.json","view_paper":"https://pith.science/paper/NBMPJWUK","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2209.05167&json=true","fetch_graph":"https://pith.science/api/pith-number/NBMPJWUKGS7VBTD2UXQQNCVVOS/graph.json","fetch_events":"https://pith.science/api/pith-number/NBMPJWUKGS7VBTD2UXQQNCVVOS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS/action/storage_attestation","attest_author":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS/action/author_attestation","sign_citation":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS/action/citation_signature","submit_replication":"https://pith.science/pith/NBMPJWUKGS7VBTD2UXQQNCVVOS/action/replication_record"}},"created_at":"2026-07-05T06:59:49.972752+00:00","updated_at":"2026-07-05T06:59:49.972752+00:00"}