{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:RDALRCNAQO4AH3DNCYJ7RKA3EH","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":"5e2b900e49d5989722dacc612e0d3678305be69504d24c2ed9a4d56ae9806b6c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T09:59:49Z","title_canon_sha256":"35b47dd55e422e933a7acbf0a9310f2c503a5ff2fe045e0a5d4038a5251d985b"},"schema_version":"1.0","source":{"id":"2411.13988","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.13988","created_at":"2026-07-05T09:38:39Z"},{"alias_kind":"arxiv_version","alias_value":"2411.13988v1","created_at":"2026-07-05T09:38:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.13988","created_at":"2026-07-05T09:38:39Z"},{"alias_kind":"pith_short_12","alias_value":"RDALRCNAQO4A","created_at":"2026-07-05T09:38:39Z"},{"alias_kind":"pith_short_16","alias_value":"RDALRCNAQO4AH3DN","created_at":"2026-07-05T09:38:39Z"},{"alias_kind":"pith_short_8","alias_value":"RDALRCNA","created_at":"2026-07-05T09:38:39Z"}],"graph_snapshots":[{"event_id":"sha256:ce47057bada305e620c67e7001331feed0e06cc8e0d32e2cf8fc37450f8d1b2f","target":"graph","created_at":"2026-07-05T09:38:39Z","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/2411.13988/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper delves into the potential of DU-VIO, a dehazing-aided hybrid multi-rate multi-modal Visual-Inertial Odometry (VIO) estimation framework, designed to thrive in the challenging realm of extreme underwater environments. The cutting-edge DU-VIO framework is incorporating a GAN-based pre-processing module and a hybrid CNN-LSTM module for precise pose estimation, using visibility-enhanced underwater images and raw IMU data. Accurate pose estimation is paramount for various underwater robotics and exploration applications. However, underwater visibility is often compromised by suspended pa","authors_text":"Fakhreddine Zayer, Giulia De Masi, Hamad Karki, Jorge Dias, Sajid Javed, Taimur Hassan, Vidya Sudevan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T09:59:49Z","title":"Dehazing-aided Multi-Rate Multi-Modal Pose Estimation Framework for Mitigating Visual Disturbances in Extreme Underwater Domain"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.13988","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:d7644e9deb1f32f1914377c6befec9989fe88b76bc756731614ec1d49179b5b3","target":"record","created_at":"2026-07-05T09:38:39Z","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":"5e2b900e49d5989722dacc612e0d3678305be69504d24c2ed9a4d56ae9806b6c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T09:59:49Z","title_canon_sha256":"35b47dd55e422e933a7acbf0a9310f2c503a5ff2fe045e0a5d4038a5251d985b"},"schema_version":"1.0","source":{"id":"2411.13988","kind":"arxiv","version":1}},"canonical_sha256":"88c0b889a083b803ec6d1613f8a81b21fc493bf94983f14e61990a6358640208","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"88c0b889a083b803ec6d1613f8a81b21fc493bf94983f14e61990a6358640208","first_computed_at":"2026-07-05T09:38:39.927684Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:38:39.927684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KQd4plCG4Hha3ZffiNcs1sxae5nvFPcBNMu+qUGfesi9b5PwFWW96SQJ+7bGPNxJrUgcNa9K4gaIauL/Lzi9BA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:38:39.928102Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.13988","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d7644e9deb1f32f1914377c6befec9989fe88b76bc756731614ec1d49179b5b3","sha256:ce47057bada305e620c67e7001331feed0e06cc8e0d32e2cf8fc37450f8d1b2f"],"state_sha256":"f108e1741e7b69a718d001c283c4dd2de5a1946e4375cf6caf535f934d4ddd91"}