{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:Q7YICQN57IHOPT63SNOEVNWE45","short_pith_number":"pith:Q7YICQN5","canonical_record":{"source":{"id":"2403.06877","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-11T16:31:25Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"21dd5bb69c122f51a2bb2456667b8ee31b42ccbbec75e5adfa7eb48cd77d62ea","abstract_canon_sha256":"72c43256130abef585305ff50883e3a94071716b54a7e7149044c404b23190f4"},"schema_version":"1.0"},"canonical_sha256":"87f08141bdfa0ee7cfdb935c4ab6c4e7685799ad9e497ef22b43fdf04b8013ff","source":{"kind":"arxiv","id":"2403.06877","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.06877","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"arxiv_version","alias_value":"2403.06877v1","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.06877","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"pith_short_12","alias_value":"Q7YICQN57IHO","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"pith_short_16","alias_value":"Q7YICQN57IHOPT63","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"pith_short_8","alias_value":"Q7YICQN5","created_at":"2026-07-05T10:15:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:Q7YICQN57IHOPT63SNOEVNWE45","target":"record","payload":{"canonical_record":{"source":{"id":"2403.06877","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-11T16:31:25Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"21dd5bb69c122f51a2bb2456667b8ee31b42ccbbec75e5adfa7eb48cd77d62ea","abstract_canon_sha256":"72c43256130abef585305ff50883e3a94071716b54a7e7149044c404b23190f4"},"schema_version":"1.0"},"canonical_sha256":"87f08141bdfa0ee7cfdb935c4ab6c4e7685799ad9e497ef22b43fdf04b8013ff","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:15:15.850708Z","signature_b64":"GB2kOXpMden0VPu7h8xzPpAv2pEuTGBFwh/dlGc4SWGtRXjCFnuYYbCBBl6AysAmU8fZFAD5dfqeCtBIZ/YoBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"87f08141bdfa0ee7cfdb935c4ab6c4e7685799ad9e497ef22b43fdf04b8013ff","last_reissued_at":"2026-07-05T10:15:15.850168Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:15:15.850168Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.06877","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":"2026-07-05T10:15:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uf9Zz5V9a1z51UqcqfjszSRAhtGmHknm8sloOZbM1oEy339w/kXf0R/HZXM1C/yuUeVeR+qE9vfpGiCMOyJVAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:51:09.075607Z"},"content_sha256":"c419a049ef63dcd3ff2f0e6f39d7248b2e2c962a160c430c18132a8ad6f2aeba","schema_version":"1.0","event_id":"sha256:c419a049ef63dcd3ff2f0e6f39d7248b2e2c962a160c430c18132a8ad6f2aeba"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:Q7YICQN57IHOPT63SNOEVNWE45","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Lanke Frank Tarimo Fu, Matias Mattamala, Maurice Fallon, Nived Chebrolu, Yash Bhalgat, Yifu Tao","submitted_at":"2024-03-11T16:31:25Z","abstract_excerpt":"We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photo-realistic textures. This system adapts the state-of-the-art neural radiance field (NeRF) representation to also incorporate lidar data which adds strong geometric constraints on the depth and surface normals. We exploit the trajectory from a real-time lidar SLAM system to bootstrap a Structure-from-Motion (SfM) procedure to both significantly reduce the computation time and to provide metric scale which is "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.06877","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/2403.06877/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":"2026-07-05T10:15:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/wG96y01VvHK5PI8kUrmH+cwKY0I+noz07RaQwUDcNymhsUqQkrqye53uBAr0UE0t5oThlyl+9vZPovUWmA0Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:51:09.076109Z"},"content_sha256":"17af2dbd925079ee47d6e6f756e646e5b9385b041633579bdd4834cc9ebf8553","schema_version":"1.0","event_id":"sha256:17af2dbd925079ee47d6e6f756e646e5b9385b041633579bdd4834cc9ebf8553"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Q7YICQN57IHOPT63SNOEVNWE45/bundle.json","state_url":"https://pith.science/pith/Q7YICQN57IHOPT63SNOEVNWE45/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Q7YICQN57IHOPT63SNOEVNWE45/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":"2026-08-16T14:51:09Z","links":{"resolver":"https://pith.science/pith/Q7YICQN57IHOPT63SNOEVNWE45","bundle":"https://pith.science/pith/Q7YICQN57IHOPT63SNOEVNWE45/bundle.json","state":"https://pith.science/pith/Q7YICQN57IHOPT63SNOEVNWE45/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Q7YICQN57IHOPT63SNOEVNWE45/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:Q7YICQN57IHOPT63SNOEVNWE45","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":"72c43256130abef585305ff50883e3a94071716b54a7e7149044c404b23190f4","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-11T16:31:25Z","title_canon_sha256":"21dd5bb69c122f51a2bb2456667b8ee31b42ccbbec75e5adfa7eb48cd77d62ea"},"schema_version":"1.0","source":{"id":"2403.06877","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.06877","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"arxiv_version","alias_value":"2403.06877v1","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.06877","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"pith_short_12","alias_value":"Q7YICQN57IHO","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"pith_short_16","alias_value":"Q7YICQN57IHOPT63","created_at":"2026-07-05T10:15:15Z"},{"alias_kind":"pith_short_8","alias_value":"Q7YICQN5","created_at":"2026-07-05T10:15:15Z"}],"graph_snapshots":[{"event_id":"sha256:17af2dbd925079ee47d6e6f756e646e5b9385b041633579bdd4834cc9ebf8553","target":"graph","created_at":"2026-07-05T10:15:15Z","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/2403.06877/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photo-realistic textures. This system adapts the state-of-the-art neural radiance field (NeRF) representation to also incorporate lidar data which adds strong geometric constraints on the depth and surface normals. We exploit the trajectory from a real-time lidar SLAM system to bootstrap a Structure-from-Motion (SfM) procedure to both significantly reduce the computation time and to provide metric scale which is ","authors_text":"Lanke Frank Tarimo Fu, Matias Mattamala, Maurice Fallon, Nived Chebrolu, Yash Bhalgat, Yifu Tao","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-11T16:31:25Z","title":"SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.06877","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:c419a049ef63dcd3ff2f0e6f39d7248b2e2c962a160c430c18132a8ad6f2aeba","target":"record","created_at":"2026-07-05T10:15:15Z","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":"72c43256130abef585305ff50883e3a94071716b54a7e7149044c404b23190f4","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-11T16:31:25Z","title_canon_sha256":"21dd5bb69c122f51a2bb2456667b8ee31b42ccbbec75e5adfa7eb48cd77d62ea"},"schema_version":"1.0","source":{"id":"2403.06877","kind":"arxiv","version":1}},"canonical_sha256":"87f08141bdfa0ee7cfdb935c4ab6c4e7685799ad9e497ef22b43fdf04b8013ff","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"87f08141bdfa0ee7cfdb935c4ab6c4e7685799ad9e497ef22b43fdf04b8013ff","first_computed_at":"2026-07-05T10:15:15.850168Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:15:15.850168Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GB2kOXpMden0VPu7h8xzPpAv2pEuTGBFwh/dlGc4SWGtRXjCFnuYYbCBBl6AysAmU8fZFAD5dfqeCtBIZ/YoBw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:15:15.850708Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.06877","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c419a049ef63dcd3ff2f0e6f39d7248b2e2c962a160c430c18132a8ad6f2aeba","sha256:17af2dbd925079ee47d6e6f756e646e5b9385b041633579bdd4834cc9ebf8553"],"state_sha256":"abf9d79c8dc8a7b3d2bc7bf639d64e0f68135857643efa0b19ab780429f6342f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+pigsXApNRRQipjfXsC9AQY12rNiW6+B+z2uE9N8OoeUzaU4AtVNSu6iH0bIBefOUWORzfr/8b3UGrz2yziBBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T14:51:09.080969Z","bundle_sha256":"be01183f5a3eaabcd835f11d1d3cc3128374e9d571fc4f12c4186a0ecebc66d1"}}