{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:RDYWY5T4URR4NAGIN2T3HS2H2Z","short_pith_number":"pith:RDYWY5T4","canonical_record":{"source":{"id":"2403.11639","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T10:21:05Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5e85babddba53f0369729af48b33d424ba9b49f5a5685962ae3112e28746262a","abstract_canon_sha256":"7a00af540a6f97f20bc52bbc78f1f41086fe71f663a0daa377e3d69f1d8fda1a"},"schema_version":"1.0"},"canonical_sha256":"88f16c767ca463c680c86ea7b3cb47d64501ad4c7fc6478dd87b9b7515c4951c","source":{"kind":"arxiv","id":"2403.11639","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.11639","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"arxiv_version","alias_value":"2403.11639v2","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.11639","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"pith_short_12","alias_value":"RDYWY5T4URR4","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"pith_short_16","alias_value":"RDYWY5T4URR4NAGI","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"pith_short_8","alias_value":"RDYWY5T4","created_at":"2026-07-05T09:59:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:RDYWY5T4URR4NAGIN2T3HS2H2Z","target":"record","payload":{"canonical_record":{"source":{"id":"2403.11639","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T10:21:05Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5e85babddba53f0369729af48b33d424ba9b49f5a5685962ae3112e28746262a","abstract_canon_sha256":"7a00af540a6f97f20bc52bbc78f1f41086fe71f663a0daa377e3d69f1d8fda1a"},"schema_version":"1.0"},"canonical_sha256":"88f16c767ca463c680c86ea7b3cb47d64501ad4c7fc6478dd87b9b7515c4951c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:59:44.976273Z","signature_b64":"2FMZ3FBou5vywloz+UQo5Doi6UCgknMhKKj4ySecOnagFFfkIJnHWhm5R2N7m6zJuINACbrXL3olfDRtDHlJCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"88f16c767ca463c680c86ea7b3cb47d64501ad4c7fc6478dd87b9b7515c4951c","last_reissued_at":"2026-07-05T09:59:44.975810Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:59:44.975810Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.11639","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":"2026-07-05T09:59:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FXpNWdv/zCiVAXBFFNUysARXr8Ls+f2urBBqZtItT+o+m9YY0ckVy4IqASn/LZ82QZSYyOZxISCrlGQOKAotBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T07:45:48.571796Z"},"content_sha256":"ff1c3d0406c243cdaa50eff19f2721fced73579d80de4bca0f8d386adb85029b","schema_version":"1.0","event_id":"sha256:ff1c3d0406c243cdaa50eff19f2721fced73579d80de4bca0f8d386adb85029b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:RDYWY5T4URR4NAGIN2T3HS2H2Z","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Accurate and Real-time Relative Pose Estimation from Triple Point-line Images by Decoupling Rotation and Translation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"BinJian Xie, Bo Xu, Hao Wei, Yihong Wu, Yijia He, Zewen Xu","submitted_at":"2024-03-18T10:21:05Z","abstract_excerpt":"Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately solve three-view relative motion only with 2D observations of points and lines in real time has not been fully explored. In this paper, we propose a novel three-view pose solver based on rotation-translation decoupled estimation. First, a high-precision rotation estimation method based on normal vector coplanarity constraints that consider the uncertainty of "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.11639","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/2403.11639/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":"2026-07-05T09:59:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"irJgpNFIa3t3YEzyttPNhK0tbjlWUWuZH9a8XNpk1I4SzWBY/4YbVhYA4mY+OzaGNteynrHpFCZoHTN1Qi10AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T07:45:48.572184Z"},"content_sha256":"5bcbbc27deae3fd52dd53b8cf4b635b322fc12792a761e75fa1405fd9a35f350","schema_version":"1.0","event_id":"sha256:5bcbbc27deae3fd52dd53b8cf4b635b322fc12792a761e75fa1405fd9a35f350"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RDYWY5T4URR4NAGIN2T3HS2H2Z/bundle.json","state_url":"https://pith.science/pith/RDYWY5T4URR4NAGIN2T3HS2H2Z/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RDYWY5T4URR4NAGIN2T3HS2H2Z/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":"2026-07-24T07:45:48Z","links":{"resolver":"https://pith.science/pith/RDYWY5T4URR4NAGIN2T3HS2H2Z","bundle":"https://pith.science/pith/RDYWY5T4URR4NAGIN2T3HS2H2Z/bundle.json","state":"https://pith.science/pith/RDYWY5T4URR4NAGIN2T3HS2H2Z/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RDYWY5T4URR4NAGIN2T3HS2H2Z/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:RDYWY5T4URR4NAGIN2T3HS2H2Z","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":"7a00af540a6f97f20bc52bbc78f1f41086fe71f663a0daa377e3d69f1d8fda1a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T10:21:05Z","title_canon_sha256":"5e85babddba53f0369729af48b33d424ba9b49f5a5685962ae3112e28746262a"},"schema_version":"1.0","source":{"id":"2403.11639","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.11639","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"arxiv_version","alias_value":"2403.11639v2","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.11639","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"pith_short_12","alias_value":"RDYWY5T4URR4","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"pith_short_16","alias_value":"RDYWY5T4URR4NAGI","created_at":"2026-07-05T09:59:44Z"},{"alias_kind":"pith_short_8","alias_value":"RDYWY5T4","created_at":"2026-07-05T09:59:44Z"}],"graph_snapshots":[{"event_id":"sha256:5bcbbc27deae3fd52dd53b8cf4b635b322fc12792a761e75fa1405fd9a35f350","target":"graph","created_at":"2026-07-05T09:59:44Z","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/2403.11639/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately solve three-view relative motion only with 2D observations of points and lines in real time has not been fully explored. In this paper, we propose a novel three-view pose solver based on rotation-translation decoupled estimation. First, a high-precision rotation estimation method based on normal vector coplanarity constraints that consider the uncertainty of ","authors_text":"BinJian Xie, Bo Xu, Hao Wei, Yihong Wu, Yijia He, Zewen Xu","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T10:21:05Z","title":"An Accurate and Real-time Relative Pose Estimation from Triple Point-line Images by Decoupling Rotation and Translation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.11639","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:ff1c3d0406c243cdaa50eff19f2721fced73579d80de4bca0f8d386adb85029b","target":"record","created_at":"2026-07-05T09:59:44Z","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":"7a00af540a6f97f20bc52bbc78f1f41086fe71f663a0daa377e3d69f1d8fda1a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T10:21:05Z","title_canon_sha256":"5e85babddba53f0369729af48b33d424ba9b49f5a5685962ae3112e28746262a"},"schema_version":"1.0","source":{"id":"2403.11639","kind":"arxiv","version":2}},"canonical_sha256":"88f16c767ca463c680c86ea7b3cb47d64501ad4c7fc6478dd87b9b7515c4951c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"88f16c767ca463c680c86ea7b3cb47d64501ad4c7fc6478dd87b9b7515c4951c","first_computed_at":"2026-07-05T09:59:44.975810Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:59:44.975810Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2FMZ3FBou5vywloz+UQo5Doi6UCgknMhKKj4ySecOnagFFfkIJnHWhm5R2N7m6zJuINACbrXL3olfDRtDHlJCA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:59:44.976273Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.11639","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ff1c3d0406c243cdaa50eff19f2721fced73579d80de4bca0f8d386adb85029b","sha256:5bcbbc27deae3fd52dd53b8cf4b635b322fc12792a761e75fa1405fd9a35f350"],"state_sha256":"bafbd60a21b69ec77eb096c0074e2a548864055677d5a4e190edb9e962ce33fa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xB41ajcgEcjlvjeKGAVgKGWi8LQpB3m1J94LGL2Y/xmFT3FJu+bdf9VjOIndvXZZSARmewB9FUyhBmAkRVoEBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-24T07:45:48.574407Z","bundle_sha256":"07f8e728fe61a2d2dfcbab9b3bca56d5d04f04537d7bca7f693beaa76828a3b8"}}