{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:O6PWMHV5NKHFHEFO4HPBHHIILO","short_pith_number":"pith:O6PWMHV5","canonical_record":{"source":{"id":"2106.03505","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-06-07T10:53:27Z","cross_cats_sorted":[],"title_canon_sha256":"89e2224ea2383cd587f70abe18968c5ef81be071453f3768673853a7169d6274","abstract_canon_sha256":"825251336a4c9d58be8f1207dcbf4aec39d4083eb716c965c462f5e121089adc"},"schema_version":"1.0"},"canonical_sha256":"779f661ebd6a8e5390aee1de139d085b99c1af1218d1c5a1cca0adc8a81b6964","source":{"kind":"arxiv","id":"2106.03505","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.03505","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"arxiv_version","alias_value":"2106.03505v1","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.03505","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"pith_short_12","alias_value":"O6PWMHV5NKHF","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"pith_short_16","alias_value":"O6PWMHV5NKHFHEFO","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"pith_short_8","alias_value":"O6PWMHV5","created_at":"2026-07-05T02:46:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:O6PWMHV5NKHFHEFO4HPBHHIILO","target":"record","payload":{"canonical_record":{"source":{"id":"2106.03505","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-06-07T10:53:27Z","cross_cats_sorted":[],"title_canon_sha256":"89e2224ea2383cd587f70abe18968c5ef81be071453f3768673853a7169d6274","abstract_canon_sha256":"825251336a4c9d58be8f1207dcbf4aec39d4083eb716c965c462f5e121089adc"},"schema_version":"1.0"},"canonical_sha256":"779f661ebd6a8e5390aee1de139d085b99c1af1218d1c5a1cca0adc8a81b6964","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:46:50.180458Z","signature_b64":"8mufPBaUHrybI4m5Fe+eXac65Dz8WOZYL7q7KtRfH9dQJn+1i5ZJYLEEtMZuuZsVOIpjJq7H2pUGQnwbuf7oDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"779f661ebd6a8e5390aee1de139d085b99c1af1218d1c5a1cca0adc8a81b6964","last_reissued_at":"2026-07-05T02:46:50.180012Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:46:50.180012Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2106.03505","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":"2026-07-05T02:46:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1GnMv2hoXPrbhbmmUxmwTjvHHPBL6c9DM9Br/KKCOx7uea8Z8Jc19JIDYcRbX6frKGL+22tm7TZrzG0YIlYHDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-02T12:51:10.375629Z"},"content_sha256":"7e1c4d5a3ba92111571b9b3d9de106412b7bc5e1a48a3f374afc7937dcfca09f","schema_version":"1.0","event_id":"sha256:7e1c4d5a3ba92111571b9b3d9de106412b7bc5e1a48a3f374afc7937dcfca09f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:O6PWMHV5NKHFHEFO4HPBHHIILO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-supervised Depth Estimation Leveraging Global Perception and Geometric Smoothness Using On-board Videos","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"S.C. Wong, Shaocheng Jia, Wei Yao, Xin Pei","submitted_at":"2021-06-07T10:53:27Z","abstract_excerpt":"Self-supervised depth estimation has drawn much attention in recent years as it does not require labeled data but image sequences. Moreover, it can be conveniently used in various applications, such as autonomous driving, robotics, realistic navigation, and smart cities. However, extracting global contextual information from images and predicting a geometrically natural depth map remain challenging. In this paper, we present DLNet for pixel-wise depth estimation, which simultaneously extracts global and local features with the aid of our depth Linformer block. This block consists of the Linfor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.03505","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/2106.03505/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":"2026-07-05T02:46:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ummIWO8TYwxliUhRfHqdOrlb0NiWLx90jOGpPXqjzJYrwPdR3hc+7tsIh0enlgWjuV1OYlPBNXtoP4+thG93Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-02T12:51:10.376162Z"},"content_sha256":"f851ca872c5660b795ec50635ff1353091a93775a40b7b6f739b42cb3157ed34","schema_version":"1.0","event_id":"sha256:f851ca872c5660b795ec50635ff1353091a93775a40b7b6f739b42cb3157ed34"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/O6PWMHV5NKHFHEFO4HPBHHIILO/bundle.json","state_url":"https://pith.science/pith/O6PWMHV5NKHFHEFO4HPBHHIILO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/O6PWMHV5NKHFHEFO4HPBHHIILO/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":"2026-08-02T12:51:10Z","links":{"resolver":"https://pith.science/pith/O6PWMHV5NKHFHEFO4HPBHHIILO","bundle":"https://pith.science/pith/O6PWMHV5NKHFHEFO4HPBHHIILO/bundle.json","state":"https://pith.science/pith/O6PWMHV5NKHFHEFO4HPBHHIILO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/O6PWMHV5NKHFHEFO4HPBHHIILO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:O6PWMHV5NKHFHEFO4HPBHHIILO","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":"825251336a4c9d58be8f1207dcbf4aec39d4083eb716c965c462f5e121089adc","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-06-07T10:53:27Z","title_canon_sha256":"89e2224ea2383cd587f70abe18968c5ef81be071453f3768673853a7169d6274"},"schema_version":"1.0","source":{"id":"2106.03505","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.03505","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"arxiv_version","alias_value":"2106.03505v1","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.03505","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"pith_short_12","alias_value":"O6PWMHV5NKHF","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"pith_short_16","alias_value":"O6PWMHV5NKHFHEFO","created_at":"2026-07-05T02:46:50Z"},{"alias_kind":"pith_short_8","alias_value":"O6PWMHV5","created_at":"2026-07-05T02:46:50Z"}],"graph_snapshots":[{"event_id":"sha256:f851ca872c5660b795ec50635ff1353091a93775a40b7b6f739b42cb3157ed34","target":"graph","created_at":"2026-07-05T02:46:50Z","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/2106.03505/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Self-supervised depth estimation has drawn much attention in recent years as it does not require labeled data but image sequences. Moreover, it can be conveniently used in various applications, such as autonomous driving, robotics, realistic navigation, and smart cities. However, extracting global contextual information from images and predicting a geometrically natural depth map remain challenging. In this paper, we present DLNet for pixel-wise depth estimation, which simultaneously extracts global and local features with the aid of our depth Linformer block. This block consists of the Linfor","authors_text":"S.C. Wong, Shaocheng Jia, Wei Yao, Xin Pei","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-06-07T10:53:27Z","title":"Self-supervised Depth Estimation Leveraging Global Perception and Geometric Smoothness Using On-board Videos"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.03505","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":"sha256:7e1c4d5a3ba92111571b9b3d9de106412b7bc5e1a48a3f374afc7937dcfca09f","target":"record","created_at":"2026-07-05T02:46:50Z","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":"825251336a4c9d58be8f1207dcbf4aec39d4083eb716c965c462f5e121089adc","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-06-07T10:53:27Z","title_canon_sha256":"89e2224ea2383cd587f70abe18968c5ef81be071453f3768673853a7169d6274"},"schema_version":"1.0","source":{"id":"2106.03505","kind":"arxiv","version":1}},"canonical_sha256":"779f661ebd6a8e5390aee1de139d085b99c1af1218d1c5a1cca0adc8a81b6964","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"779f661ebd6a8e5390aee1de139d085b99c1af1218d1c5a1cca0adc8a81b6964","first_computed_at":"2026-07-05T02:46:50.180012Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:46:50.180012Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8mufPBaUHrybI4m5Fe+eXac65Dz8WOZYL7q7KtRfH9dQJn+1i5ZJYLEEtMZuuZsVOIpjJq7H2pUGQnwbuf7oDA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:46:50.180458Z","signed_message":"canonical_sha256_bytes"},"source_id":"2106.03505","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7e1c4d5a3ba92111571b9b3d9de106412b7bc5e1a48a3f374afc7937dcfca09f","sha256:f851ca872c5660b795ec50635ff1353091a93775a40b7b6f739b42cb3157ed34"],"state_sha256":"c4d1491800b429f1933a64ff13543d81f7f66dce4488432ae66e70017a7818c3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"liX5bNCBgY0jCBn4eiAnxfKoOnaOti4G5tZVXBD+/9bo5F9ApvykV4RI927YumXV6dhpKstKAJHTr0gemKspBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-02T12:51:10.381468Z","bundle_sha256":"2cad1e19981b3536bd56d53307f2ba568082a4d353ad92163c19de74944fb83b"}}