{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:OZG4JIYXVS3CD4O5O75VAXPSQF","short_pith_number":"pith:OZG4JIYX","canonical_record":{"source":{"id":"2012.00987","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-02T06:20:54Z","cross_cats_sorted":[],"title_canon_sha256":"f7ca7957e753687e3ff440e485c92d7cde363a2e0d8073290257baf9c76198a2","abstract_canon_sha256":"1a69742c52397526fa80fab113023b0f322bea80e80e9774d37b5579a33622c1"},"schema_version":"1.0"},"canonical_sha256":"764dc4a317acb621f1dd77fb505df28163c5393c472b1361432dccb85f9fa372","source":{"kind":"arxiv","id":"2012.00987","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.00987","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"arxiv_version","alias_value":"2012.00987v2","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.00987","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"pith_short_12","alias_value":"OZG4JIYXVS3C","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"pith_short_16","alias_value":"OZG4JIYXVS3CD4O5","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"pith_short_8","alias_value":"OZG4JIYX","created_at":"2026-07-05T02:39:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:OZG4JIYXVS3CD4O5O75VAXPSQF","target":"record","payload":{"canonical_record":{"source":{"id":"2012.00987","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-02T06:20:54Z","cross_cats_sorted":[],"title_canon_sha256":"f7ca7957e753687e3ff440e485c92d7cde363a2e0d8073290257baf9c76198a2","abstract_canon_sha256":"1a69742c52397526fa80fab113023b0f322bea80e80e9774d37b5579a33622c1"},"schema_version":"1.0"},"canonical_sha256":"764dc4a317acb621f1dd77fb505df28163c5393c472b1361432dccb85f9fa372","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:39:43.483105Z","signature_b64":"+Ekf25FQM8sYoSjHaa2TAEtQ1+PT5FHgAOCakBp7otj6uERCLwnU3JC2VQaZNZ2YolX0D9EyTxAHSxlOTA8dDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"764dc4a317acb621f1dd77fb505df28163c5393c472b1361432dccb85f9fa372","last_reissued_at":"2026-07-05T02:39:43.482533Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:39:43.482533Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2012.00987","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":"2026-07-05T02:39:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7FRGT1LpvpEclDq5a49ez8d9/dMkAy/BriYBFZjCenh8Rbd2zKUD7gw6turmKLwSmKNiZjzF/7MoZWjN3fPsBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T08:12:49.788804Z"},"content_sha256":"2d2fe7c880db3761db6c3cb55ca62388e5e9b3d4aff26ac2d5744901b3086a22","schema_version":"1.0","event_id":"sha256:2d2fe7c880db3761db6c3cb55ca62388e5e9b3d4aff26ac2d5744901b3086a22"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:OZG4JIYXVS3CD4O5O75VAXPSQF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PV-RAFT: Point-Voxel Correlation Fields for Scene Flow Estimation of Point Clouds","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Jie Zhou, Jiwen Lu, Yi Wei, Yongming Rao, Ziyi Wang","submitted_at":"2020-12-02T06:20:54Z","abstract_excerpt":"In this paper, we propose a Point-Voxel Recurrent All-Pairs Field Transforms (PV-RAFT) method to estimate scene flow from point clouds. Since point clouds are irregular and unordered, it is challenging to efficiently extract features from all-pairs fields in the 3D space, where all-pairs correlations play important roles in scene flow estimation. To tackle this problem, we present point-voxel correlation fields, which capture both local and long-range dependencies of point pairs. To capture point-based correlations, we adopt the K-Nearest Neighbors search that preserves fine-grained informatio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.00987","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/2012.00987/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":"2026-07-05T02:39:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jdDlsyXM7XNA82A8OQunOgyLgGzje1wvplop5ijbk+5dl9XPLfN2izkRWmgJUTw88KAGuvMwVeNb0fl/yOn/Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T08:12:49.789438Z"},"content_sha256":"c93c80e53cb1552acd6e0f770d3799dbdd16e34873adcccaffe1fdfe21513e75","schema_version":"1.0","event_id":"sha256:c93c80e53cb1552acd6e0f770d3799dbdd16e34873adcccaffe1fdfe21513e75"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OZG4JIYXVS3CD4O5O75VAXPSQF/bundle.json","state_url":"https://pith.science/pith/OZG4JIYXVS3CD4O5O75VAXPSQF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OZG4JIYXVS3CD4O5O75VAXPSQF/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":"2026-08-14T08:12:49Z","links":{"resolver":"https://pith.science/pith/OZG4JIYXVS3CD4O5O75VAXPSQF","bundle":"https://pith.science/pith/OZG4JIYXVS3CD4O5O75VAXPSQF/bundle.json","state":"https://pith.science/pith/OZG4JIYXVS3CD4O5O75VAXPSQF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OZG4JIYXVS3CD4O5O75VAXPSQF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:OZG4JIYXVS3CD4O5O75VAXPSQF","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":"1a69742c52397526fa80fab113023b0f322bea80e80e9774d37b5579a33622c1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-02T06:20:54Z","title_canon_sha256":"f7ca7957e753687e3ff440e485c92d7cde363a2e0d8073290257baf9c76198a2"},"schema_version":"1.0","source":{"id":"2012.00987","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.00987","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"arxiv_version","alias_value":"2012.00987v2","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.00987","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"pith_short_12","alias_value":"OZG4JIYXVS3C","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"pith_short_16","alias_value":"OZG4JIYXVS3CD4O5","created_at":"2026-07-05T02:39:43Z"},{"alias_kind":"pith_short_8","alias_value":"OZG4JIYX","created_at":"2026-07-05T02:39:43Z"}],"graph_snapshots":[{"event_id":"sha256:c93c80e53cb1552acd6e0f770d3799dbdd16e34873adcccaffe1fdfe21513e75","target":"graph","created_at":"2026-07-05T02:39:43Z","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/2012.00987/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a Point-Voxel Recurrent All-Pairs Field Transforms (PV-RAFT) method to estimate scene flow from point clouds. Since point clouds are irregular and unordered, it is challenging to efficiently extract features from all-pairs fields in the 3D space, where all-pairs correlations play important roles in scene flow estimation. To tackle this problem, we present point-voxel correlation fields, which capture both local and long-range dependencies of point pairs. To capture point-based correlations, we adopt the K-Nearest Neighbors search that preserves fine-grained informatio","authors_text":"Jie Zhou, Jiwen Lu, Yi Wei, Yongming Rao, Ziyi Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-02T06:20:54Z","title":"PV-RAFT: Point-Voxel Correlation Fields for Scene Flow Estimation of Point Clouds"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.00987","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":"sha256:2d2fe7c880db3761db6c3cb55ca62388e5e9b3d4aff26ac2d5744901b3086a22","target":"record","created_at":"2026-07-05T02:39:43Z","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":"1a69742c52397526fa80fab113023b0f322bea80e80e9774d37b5579a33622c1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-02T06:20:54Z","title_canon_sha256":"f7ca7957e753687e3ff440e485c92d7cde363a2e0d8073290257baf9c76198a2"},"schema_version":"1.0","source":{"id":"2012.00987","kind":"arxiv","version":2}},"canonical_sha256":"764dc4a317acb621f1dd77fb505df28163c5393c472b1361432dccb85f9fa372","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"764dc4a317acb621f1dd77fb505df28163c5393c472b1361432dccb85f9fa372","first_computed_at":"2026-07-05T02:39:43.482533Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:39:43.482533Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+Ekf25FQM8sYoSjHaa2TAEtQ1+PT5FHgAOCakBp7otj6uERCLwnU3JC2VQaZNZ2YolX0D9EyTxAHSxlOTA8dDg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:39:43.483105Z","signed_message":"canonical_sha256_bytes"},"source_id":"2012.00987","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2d2fe7c880db3761db6c3cb55ca62388e5e9b3d4aff26ac2d5744901b3086a22","sha256:c93c80e53cb1552acd6e0f770d3799dbdd16e34873adcccaffe1fdfe21513e75"],"state_sha256":"37410b83cdffd4d3c9425c30e01d94c72f1f2699af3c233928d4f0027c14b20f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DC/p2ujvF1mh5OYgh86ngTzNXWkTcquIncjghquVHN26xUlAECkCLu8YLenuRYBIQIb2eaBUkt6EHsIaZCpxBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T08:12:49.796027Z","bundle_sha256":"115c6d31a4ce440d06669c69c06d712d9d735453c81cb9546696980b28f28fa9"}}