{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:PDLM7P6CVLKV24NBRL4GNLNJKM","short_pith_number":"pith:PDLM7P6C","canonical_record":{"source":{"id":"2007.14628","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-29T06:35:45Z","cross_cats_sorted":[],"title_canon_sha256":"daf69a69e3f80d94179bda623731ae50cf728856a435b2f73e0481a4738c6d0b","abstract_canon_sha256":"710b20a2fca4efbcf1f4fe33e216b8b28a25be92dd37bd9e5571cc39c2e95e60"},"schema_version":"1.0"},"canonical_sha256":"78d6cfbfc2aad55d71a18af866ada9530721e41a1ffc98a7c88813106b2aa6a0","source":{"kind":"arxiv","id":"2007.14628","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.14628","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"arxiv_version","alias_value":"2007.14628v2","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.14628","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"pith_short_12","alias_value":"PDLM7P6CVLKV","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"pith_short_16","alias_value":"PDLM7P6CVLKV24NB","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"pith_short_8","alias_value":"PDLM7P6C","created_at":"2026-07-05T01:33:41Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:PDLM7P6CVLKV24NBRL4GNLNJKM","target":"record","payload":{"canonical_record":{"source":{"id":"2007.14628","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-29T06:35:45Z","cross_cats_sorted":[],"title_canon_sha256":"daf69a69e3f80d94179bda623731ae50cf728856a435b2f73e0481a4738c6d0b","abstract_canon_sha256":"710b20a2fca4efbcf1f4fe33e216b8b28a25be92dd37bd9e5571cc39c2e95e60"},"schema_version":"1.0"},"canonical_sha256":"78d6cfbfc2aad55d71a18af866ada9530721e41a1ffc98a7c88813106b2aa6a0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:33:41.774142Z","signature_b64":"hc4py/wlgzGlmQRcVO+gHlsYW3xfsOmxkcObyOueQI1r0KHSdE2hQm18ry4ouoJfyJKBaqlYJw8sHI+F+gtuAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"78d6cfbfc2aad55d71a18af866ada9530721e41a1ffc98a7c88813106b2aa6a0","last_reissued_at":"2026-07-05T01:33:41.773780Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:33:41.773780Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2007.14628","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":"2026-07-05T01:33:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5eBeWiNhYq01adpCJb1NbRlKyCZ1DkVsgkhMrQGnHVD9NzpMnkh+iq13zDbo6m9DJhY81+qPBMeq1YClmvwvDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:20:50.339380Z"},"content_sha256":"1379ab6710cfc3b26c3e8de134a7d79249d169d492109d6ce5f3aca78e7ccd7e","schema_version":"1.0","event_id":"sha256:1379ab6710cfc3b26c3e8de134a7d79249d169d492109d6ce5f3aca78e7ccd7e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:PDLM7P6CVLKV24NBRL4GNLNJKM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Solving the Blind Perspective-n-Point Problem End-To-End With Robust Differentiable Geometric Optimization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Dylan Campbell, Liu Liu, Stephen Gould","submitted_at":"2020-07-29T06:35:45Z","abstract_excerpt":"Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and correspondences simultaneously is extremely challenging since the search space is very large. Fortunately it is a coupled problem: the pose can be found easily given the correspondences and vice versa. Existing approaches assume that noisy correspondences are provided, that a good pose prior is available, or that the problem size is small. We instead propos"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.14628","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/2007.14628/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":"2026-07-05T01:33:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bNIYTCrI3bMbbKwGZ2L/7hO21Lu8GarEUkDgNdyEAqtfL/exM13wCrmHAtKr18ogAx0pzjG2ypAwI+WuDFvbCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:20:50.339934Z"},"content_sha256":"d4080e35bdcd471a4ab9886a6d81fe60d86e4e0428b7f3ec9f7b45b612d852e9","schema_version":"1.0","event_id":"sha256:d4080e35bdcd471a4ab9886a6d81fe60d86e4e0428b7f3ec9f7b45b612d852e9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PDLM7P6CVLKV24NBRL4GNLNJKM/bundle.json","state_url":"https://pith.science/pith/PDLM7P6CVLKV24NBRL4GNLNJKM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PDLM7P6CVLKV24NBRL4GNLNJKM/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":"2026-07-06T16:20:50Z","links":{"resolver":"https://pith.science/pith/PDLM7P6CVLKV24NBRL4GNLNJKM","bundle":"https://pith.science/pith/PDLM7P6CVLKV24NBRL4GNLNJKM/bundle.json","state":"https://pith.science/pith/PDLM7P6CVLKV24NBRL4GNLNJKM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PDLM7P6CVLKV24NBRL4GNLNJKM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:PDLM7P6CVLKV24NBRL4GNLNJKM","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":"710b20a2fca4efbcf1f4fe33e216b8b28a25be92dd37bd9e5571cc39c2e95e60","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-29T06:35:45Z","title_canon_sha256":"daf69a69e3f80d94179bda623731ae50cf728856a435b2f73e0481a4738c6d0b"},"schema_version":"1.0","source":{"id":"2007.14628","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.14628","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"arxiv_version","alias_value":"2007.14628v2","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.14628","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"pith_short_12","alias_value":"PDLM7P6CVLKV","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"pith_short_16","alias_value":"PDLM7P6CVLKV24NB","created_at":"2026-07-05T01:33:41Z"},{"alias_kind":"pith_short_8","alias_value":"PDLM7P6C","created_at":"2026-07-05T01:33:41Z"}],"graph_snapshots":[{"event_id":"sha256:d4080e35bdcd471a4ab9886a6d81fe60d86e4e0428b7f3ec9f7b45b612d852e9","target":"graph","created_at":"2026-07-05T01:33:41Z","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/2007.14628/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and correspondences simultaneously is extremely challenging since the search space is very large. Fortunately it is a coupled problem: the pose can be found easily given the correspondences and vice versa. Existing approaches assume that noisy correspondences are provided, that a good pose prior is available, or that the problem size is small. We instead propos","authors_text":"Dylan Campbell, Liu Liu, Stephen Gould","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-29T06:35:45Z","title":"Solving the Blind Perspective-n-Point Problem End-To-End With Robust Differentiable Geometric Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.14628","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":"sha256:1379ab6710cfc3b26c3e8de134a7d79249d169d492109d6ce5f3aca78e7ccd7e","target":"record","created_at":"2026-07-05T01:33:41Z","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":"710b20a2fca4efbcf1f4fe33e216b8b28a25be92dd37bd9e5571cc39c2e95e60","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-29T06:35:45Z","title_canon_sha256":"daf69a69e3f80d94179bda623731ae50cf728856a435b2f73e0481a4738c6d0b"},"schema_version":"1.0","source":{"id":"2007.14628","kind":"arxiv","version":2}},"canonical_sha256":"78d6cfbfc2aad55d71a18af866ada9530721e41a1ffc98a7c88813106b2aa6a0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"78d6cfbfc2aad55d71a18af866ada9530721e41a1ffc98a7c88813106b2aa6a0","first_computed_at":"2026-07-05T01:33:41.773780Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:33:41.773780Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hc4py/wlgzGlmQRcVO+gHlsYW3xfsOmxkcObyOueQI1r0KHSdE2hQm18ry4ouoJfyJKBaqlYJw8sHI+F+gtuAw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:33:41.774142Z","signed_message":"canonical_sha256_bytes"},"source_id":"2007.14628","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1379ab6710cfc3b26c3e8de134a7d79249d169d492109d6ce5f3aca78e7ccd7e","sha256:d4080e35bdcd471a4ab9886a6d81fe60d86e4e0428b7f3ec9f7b45b612d852e9"],"state_sha256":"56e14bef585f2afb573c449fe906ac311ec8133ddb8bc09ab300d307b5c5fdbf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V3JycgZ+2BoXKgB1bSFpORx19/sxBQCakvUGWLn0QyDqp7INKkCUg3kOrADm2GVgdeLcEUoaloDesPgRERlEBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T16:20:50.341796Z","bundle_sha256":"57f0597a2fd547211009fbb8b7d312a6b15c9e01c068d50d5bd687872cffea13"}}