{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:PJCBTC2BNYKQRMSWWNTZ4EOXS6","short_pith_number":"pith:PJCBTC2B","canonical_record":{"source":{"id":"2409.05310","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-09T03:42:12Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"aab960196f5b7a36b7660b238e62bebd0f655d675b3c1f7f54242c1eb9f46b46","abstract_canon_sha256":"b56e37944692d408458048c35cb576ee707eab2ffe492e0c657434d1f101342f"},"schema_version":"1.0"},"canonical_sha256":"7a44198b416e1508b256b3679e11d797a859cf3312a9b769b6204e852dc7a1ed","source":{"kind":"arxiv","id":"2409.05310","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.05310","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"arxiv_version","alias_value":"2409.05310v1","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.05310","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"pith_short_12","alias_value":"PJCBTC2BNYKQ","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"pith_short_16","alias_value":"PJCBTC2BNYKQRMSW","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"pith_short_8","alias_value":"PJCBTC2B","created_at":"2026-07-05T09:04:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:PJCBTC2BNYKQRMSWWNTZ4EOXS6","target":"record","payload":{"canonical_record":{"source":{"id":"2409.05310","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-09T03:42:12Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"aab960196f5b7a36b7660b238e62bebd0f655d675b3c1f7f54242c1eb9f46b46","abstract_canon_sha256":"b56e37944692d408458048c35cb576ee707eab2ffe492e0c657434d1f101342f"},"schema_version":"1.0"},"canonical_sha256":"7a44198b416e1508b256b3679e11d797a859cf3312a9b769b6204e852dc7a1ed","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:04:47.551141Z","signature_b64":"4p9Ad3L4ZNk92w3lFcTOLIjqRExug6Ru9tcpjtqrhZnMMP2LHt1LJbQDNAj2+CZnlCBZxqARUUvq1qPzouZFCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7a44198b416e1508b256b3679e11d797a859cf3312a9b769b6204e852dc7a1ed","last_reissued_at":"2026-07-05T09:04:47.550725Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:04:47.550725Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.05310","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":"2026-07-05T09:04:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bQi56Lrtu8+PdIKl5wBo5a5SJb5UxQAJsCbn0N9lNIpueWbykWWkMfOncEi70HV3K0ZAuyX8mZV+G6JxPLNtAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T10:44:20.298482Z"},"content_sha256":"51e0202bd5b7297079d78c7c10a85dde0b40d589b55fa09a12b6e8489ff89694","schema_version":"1.0","event_id":"sha256:51e0202bd5b7297079d78c7c10a85dde0b40d589b55fa09a12b6e8489ff89694"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:PJCBTC2BNYKQRMSWWNTZ4EOXS6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Bowen Wang, Chunran Zheng, Fu Zhang, Jianheng Liu, Yixi Cai, Yunfei Wan","submitted_at":"2024-09-09T03:42:12Z","abstract_excerpt":"This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to recover both appearance and structural information from posed images and point clouds. We address the structural visible gap between NeRF and NDF by utilizing a visible-aware occupancy map to classify space into the free, occupied, visible unknown, and background regions. This classification facilitates the recovery of a complete appearance and structure of the scene. We unify the training of the NDF and NeRF using "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.05310","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/2409.05310/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":"2026-07-05T09:04:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vEyf2Tfa+o2Ecrw8FnLoBuSoBdsJeO1mjfPX8oMTX35+eJb2HsVhB/7eP/H+AkQGIbR3S0TKvlZIw5BclcyLCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T10:44:20.298852Z"},"content_sha256":"938d6f8553e45fdbce6d6480744468ad96161debe0c9fcc92ff8d677a428104d","schema_version":"1.0","event_id":"sha256:938d6f8553e45fdbce6d6480744468ad96161debe0c9fcc92ff8d677a428104d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PJCBTC2BNYKQRMSWWNTZ4EOXS6/bundle.json","state_url":"https://pith.science/pith/PJCBTC2BNYKQRMSWWNTZ4EOXS6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PJCBTC2BNYKQRMSWWNTZ4EOXS6/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":"2026-07-06T10:44:20Z","links":{"resolver":"https://pith.science/pith/PJCBTC2BNYKQRMSWWNTZ4EOXS6","bundle":"https://pith.science/pith/PJCBTC2BNYKQRMSWWNTZ4EOXS6/bundle.json","state":"https://pith.science/pith/PJCBTC2BNYKQRMSWWNTZ4EOXS6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PJCBTC2BNYKQRMSWWNTZ4EOXS6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:PJCBTC2BNYKQRMSWWNTZ4EOXS6","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":"b56e37944692d408458048c35cb576ee707eab2ffe492e0c657434d1f101342f","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-09T03:42:12Z","title_canon_sha256":"aab960196f5b7a36b7660b238e62bebd0f655d675b3c1f7f54242c1eb9f46b46"},"schema_version":"1.0","source":{"id":"2409.05310","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.05310","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"arxiv_version","alias_value":"2409.05310v1","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.05310","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"pith_short_12","alias_value":"PJCBTC2BNYKQ","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"pith_short_16","alias_value":"PJCBTC2BNYKQRMSW","created_at":"2026-07-05T09:04:47Z"},{"alias_kind":"pith_short_8","alias_value":"PJCBTC2B","created_at":"2026-07-05T09:04:47Z"}],"graph_snapshots":[{"event_id":"sha256:938d6f8553e45fdbce6d6480744468ad96161debe0c9fcc92ff8d677a428104d","target":"graph","created_at":"2026-07-05T09:04:47Z","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/2409.05310/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to recover both appearance and structural information from posed images and point clouds. We address the structural visible gap between NeRF and NDF by utilizing a visible-aware occupancy map to classify space into the free, occupied, visible unknown, and background regions. This classification facilitates the recovery of a complete appearance and structure of the scene. We unify the training of the NDF and NeRF using ","authors_text":"Bowen Wang, Chunran Zheng, Fu Zhang, Jianheng Liu, Yixi Cai, Yunfei Wan","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-09T03:42:12Z","title":"Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.05310","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":"sha256:51e0202bd5b7297079d78c7c10a85dde0b40d589b55fa09a12b6e8489ff89694","target":"record","created_at":"2026-07-05T09:04:47Z","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":"b56e37944692d408458048c35cb576ee707eab2ffe492e0c657434d1f101342f","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-09T03:42:12Z","title_canon_sha256":"aab960196f5b7a36b7660b238e62bebd0f655d675b3c1f7f54242c1eb9f46b46"},"schema_version":"1.0","source":{"id":"2409.05310","kind":"arxiv","version":1}},"canonical_sha256":"7a44198b416e1508b256b3679e11d797a859cf3312a9b769b6204e852dc7a1ed","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7a44198b416e1508b256b3679e11d797a859cf3312a9b769b6204e852dc7a1ed","first_computed_at":"2026-07-05T09:04:47.550725Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:04:47.550725Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4p9Ad3L4ZNk92w3lFcTOLIjqRExug6Ru9tcpjtqrhZnMMP2LHt1LJbQDNAj2+CZnlCBZxqARUUvq1qPzouZFCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:04:47.551141Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.05310","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:51e0202bd5b7297079d78c7c10a85dde0b40d589b55fa09a12b6e8489ff89694","sha256:938d6f8553e45fdbce6d6480744468ad96161debe0c9fcc92ff8d677a428104d"],"state_sha256":"414ae4b457d0c6a58793c5dac76f116e06a5c58ddf2888d3cd1b26a90beac00b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6MdKVlvjB+LFKkUkFpPENoa8o29x73utMHkP0XEi/AZHD17QlPO0sA2pyUe4eJxxzceQ9b8TmkbljQVeeedtBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T10:44:20.300764Z","bundle_sha256":"6dfe53425b74a2f68c06f55304197df1c235068b95825f01392e6d5f116eba11"}}