{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:O57FLEYDA5V3GQK5FGHRTWMNLQ","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":"d43041c0b59f3c108617a0171b09c777813bb712ca77650228222469fe975cc2","cross_cats_sorted":["cs.RO","eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-08-04T15:48:31Z","title_canon_sha256":"d9fe579a17ae0c16b5257e81f7d3e97b1ff0cb15ae0e904800f7f9cda583d12f"},"schema_version":"1.0","source":{"id":"1908.01367","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.01367","created_at":"2026-07-04T23:51:29Z"},{"alias_kind":"arxiv_version","alias_value":"1908.01367v1","created_at":"2026-07-04T23:51:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.01367","created_at":"2026-07-04T23:51:29Z"},{"alias_kind":"pith_short_12","alias_value":"O57FLEYDA5V3","created_at":"2026-07-04T23:51:29Z"},{"alias_kind":"pith_short_16","alias_value":"O57FLEYDA5V3GQK5","created_at":"2026-07-04T23:51:29Z"},{"alias_kind":"pith_short_8","alias_value":"O57FLEYD","created_at":"2026-07-04T23:51:29Z"}],"graph_snapshots":[{"event_id":"sha256:db9baa0d4d61fcc990c9c49542612ecaa6f3f6a18a5559534e60b0c02ce44df0","target":"graph","created_at":"2026-07-04T23:51:29Z","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/1908.01367/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"For ego-motion estimation, the feature representation of the scenes is crucial. Previous methods indicate that both the low-level and semantic feature-based methods can achieve promising results. Therefore, the incorporation of hierarchical feature representation may benefit from both methods. From this perspective, we propose a novel direct feature odometry framework, named DFO, for depth estimation and hierarchical feature representation learning from monocular videos. By exploiting the metric distance, our framework is able to learn the hierarchical feature representation without supervisio","authors_text":"Chengju Liu, Xiaochuan Yin","cross_cats":["cs.RO","eess.IV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-08-04T15:48:31Z","title":"Unsupervised Learning of Depth and Deep Representation for Visual Odometry from Monocular Videos in a Metric Space"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.01367","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:bd606f9c8ab7160c28bb528529dd62e926781aa77c45809d425308704a9cee74","target":"record","created_at":"2026-07-04T23:51:29Z","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":"d43041c0b59f3c108617a0171b09c777813bb712ca77650228222469fe975cc2","cross_cats_sorted":["cs.RO","eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-08-04T15:48:31Z","title_canon_sha256":"d9fe579a17ae0c16b5257e81f7d3e97b1ff0cb15ae0e904800f7f9cda583d12f"},"schema_version":"1.0","source":{"id":"1908.01367","kind":"arxiv","version":1}},"canonical_sha256":"777e559303076bb3415d298f19d98d5c2aaacaeae4858f0d57dafae586b131b8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"777e559303076bb3415d298f19d98d5c2aaacaeae4858f0d57dafae586b131b8","first_computed_at":"2026-07-04T23:51:29.632692Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:51:29.632692Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZF6P+oddX7lRnTyFwDwKp+Zxrmi2h8rPaeaRcz7Ln85kS1Ej0UdR3yO2LvGCDty/qWEcC0c+OrBmb8HzrYjdAQ==","signature_status":"signed_v1","signed_at":"2026-07-04T23:51:29.633039Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.01367","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bd606f9c8ab7160c28bb528529dd62e926781aa77c45809d425308704a9cee74","sha256:db9baa0d4d61fcc990c9c49542612ecaa6f3f6a18a5559534e60b0c02ce44df0"],"state_sha256":"bba1605986383fb115471956c1eccc1e70f9443e98f8e0be0312eccff2caf04f"}