{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:OQXTN4OUR272EMRDV6DEZ27DL3","short_pith_number":"pith:OQXTN4OU","canonical_record":{"source":{"id":"2202.06688","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-02-14T13:26:09Z","cross_cats_sorted":[],"title_canon_sha256":"3f26c2d5ee14414f7be783ac8271dec32182ab29e30ba49b953877a43c3fb285","abstract_canon_sha256":"d387cf38b11ab8f75698ae5d82af47baee8448b7240a049ee58d1327dc6520a2"},"schema_version":"1.0"},"canonical_sha256":"742f36f1d48ebfa23223af864cebe35ef8039e3af18b899fc5f5ae65445c0cf3","source":{"kind":"arxiv","id":"2202.06688","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.06688","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"arxiv_version","alias_value":"2202.06688v2","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.06688","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"pith_short_12","alias_value":"OQXTN4OUR272","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"OQXTN4OUR272EMRD","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"OQXTN4OU","created_at":"2026-07-05T06:31:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:OQXTN4OUR272EMRDV6DEZ27DL3","target":"record","payload":{"canonical_record":{"source":{"id":"2202.06688","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-02-14T13:26:09Z","cross_cats_sorted":[],"title_canon_sha256":"3f26c2d5ee14414f7be783ac8271dec32182ab29e30ba49b953877a43c3fb285","abstract_canon_sha256":"d387cf38b11ab8f75698ae5d82af47baee8448b7240a049ee58d1327dc6520a2"},"schema_version":"1.0"},"canonical_sha256":"742f36f1d48ebfa23223af864cebe35ef8039e3af18b899fc5f5ae65445c0cf3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:31:03.283541Z","signature_b64":"FQcFX8f9bUKuPku2uC56zQWKZ9ucg81qyB9hfToIwbtEVC9baLDOex7/hN+aNc4qbDg77+UV+X4kmGQYaFO/Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"742f36f1d48ebfa23223af864cebe35ef8039e3af18b899fc5f5ae65445c0cf3","last_reissued_at":"2026-07-05T06:31:03.283067Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:31:03.283067Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2202.06688","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:31:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MuAFmy2aQZ3z/EfLZ0KbgHYxHxv8g9c/pJ8bSekjmA+0tnCWpjBbfPW0pm3+XZNCTBqEZMZ7lw05qPAZMdVSAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T19:07:57.437316Z"},"content_sha256":"055764b893626eed7d9805a07b2cb47c0af48ec1c07f1df1026cb3ff592b6e12","schema_version":"1.0","event_id":"sha256:055764b893626eed7d9805a07b2cb47c0af48ec1c07f1df1026cb3ff592b6e12"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:OQXTN4OUR272EMRDV6DEZ27DL3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Geometric Transformer for Fast and Robust Point Cloud Registration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Changjian Wang, Hao Yu, Kai Xu, Yulan Guo, Yuxing Peng, Zheng Qin","submitted_at":"2022-02-14T13:26:09Z","abstract_excerpt":"We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in registration. They seek correspondences over downsampled superpoints, which are then propagated to dense points. Superpoints are matched based on whether their neighboring patches overlap. Such sparse and loose matching requires contextual features capturing the geometric structure of the point clouds. We propose Geometric Transformer to learn geometric feature "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.06688","kind":"arxiv","version":2},"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/2202.06688/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":"2026-07-05T06:31:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p2YKVj7o/dYvz/3A9XC23ExYY2Q5zIFBe/7A3loFibSYaih1/7R45eoMUtvjmQ8INpTOCxAY8bYkUQ7EJAQ+BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T19:07:57.437687Z"},"content_sha256":"345f03350748301ebc028068ebef2d4811f8d24e967c803794bd756ed5241738","schema_version":"1.0","event_id":"sha256:345f03350748301ebc028068ebef2d4811f8d24e967c803794bd756ed5241738"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OQXTN4OUR272EMRDV6DEZ27DL3/bundle.json","state_url":"https://pith.science/pith/OQXTN4OUR272EMRDV6DEZ27DL3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OQXTN4OUR272EMRDV6DEZ27DL3/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":"2026-08-11T19:07:57Z","links":{"resolver":"https://pith.science/pith/OQXTN4OUR272EMRDV6DEZ27DL3","bundle":"https://pith.science/pith/OQXTN4OUR272EMRDV6DEZ27DL3/bundle.json","state":"https://pith.science/pith/OQXTN4OUR272EMRDV6DEZ27DL3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OQXTN4OUR272EMRDV6DEZ27DL3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:OQXTN4OUR272EMRDV6DEZ27DL3","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":"d387cf38b11ab8f75698ae5d82af47baee8448b7240a049ee58d1327dc6520a2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-02-14T13:26:09Z","title_canon_sha256":"3f26c2d5ee14414f7be783ac8271dec32182ab29e30ba49b953877a43c3fb285"},"schema_version":"1.0","source":{"id":"2202.06688","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.06688","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"arxiv_version","alias_value":"2202.06688v2","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.06688","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"pith_short_12","alias_value":"OQXTN4OUR272","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"OQXTN4OUR272EMRD","created_at":"2026-07-05T06:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"OQXTN4OU","created_at":"2026-07-05T06:31:03Z"}],"graph_snapshots":[{"event_id":"sha256:345f03350748301ebc028068ebef2d4811f8d24e967c803794bd756ed5241738","target":"graph","created_at":"2026-07-05T06:31:03Z","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/2202.06688/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in registration. They seek correspondences over downsampled superpoints, which are then propagated to dense points. Superpoints are matched based on whether their neighboring patches overlap. Such sparse and loose matching requires contextual features capturing the geometric structure of the point clouds. We propose Geometric Transformer to learn geometric feature ","authors_text":"Changjian Wang, Hao Yu, Kai Xu, Yulan Guo, Yuxing Peng, Zheng Qin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-02-14T13:26:09Z","title":"Geometric Transformer for Fast and Robust Point Cloud Registration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.06688","kind":"arxiv","version":2},"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":"sha256:055764b893626eed7d9805a07b2cb47c0af48ec1c07f1df1026cb3ff592b6e12","target":"record","created_at":"2026-07-05T06:31:03Z","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":"d387cf38b11ab8f75698ae5d82af47baee8448b7240a049ee58d1327dc6520a2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-02-14T13:26:09Z","title_canon_sha256":"3f26c2d5ee14414f7be783ac8271dec32182ab29e30ba49b953877a43c3fb285"},"schema_version":"1.0","source":{"id":"2202.06688","kind":"arxiv","version":2}},"canonical_sha256":"742f36f1d48ebfa23223af864cebe35ef8039e3af18b899fc5f5ae65445c0cf3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"742f36f1d48ebfa23223af864cebe35ef8039e3af18b899fc5f5ae65445c0cf3","first_computed_at":"2026-07-05T06:31:03.283067Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:31:03.283067Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FQcFX8f9bUKuPku2uC56zQWKZ9ucg81qyB9hfToIwbtEVC9baLDOex7/hN+aNc4qbDg77+UV+X4kmGQYaFO/Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:31:03.283541Z","signed_message":"canonical_sha256_bytes"},"source_id":"2202.06688","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:055764b893626eed7d9805a07b2cb47c0af48ec1c07f1df1026cb3ff592b6e12","sha256:345f03350748301ebc028068ebef2d4811f8d24e967c803794bd756ed5241738"],"state_sha256":"807ed212fb8e0fd997fa3d59c69031295cd93dba977a755957b803a1acf95dfa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hnr/GXRon/0/kl8Ov89hFPnDmBBSh4CG0Gs7Tj+KsZa07SwvvBriiimZDqS2WoqEUGJQQFdbDfoOPMu98n3CAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T19:07:57.440302Z","bundle_sha256":"454313ca483703b9915adf9feeb7b8a4fce3c2c2c6c3ec2d28383714b023de39"}}