{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:SDV37W5HXF6TNOA4SUMLBF2YOQ","short_pith_number":"pith:SDV37W5H","canonical_record":{"source":{"id":"1711.08654","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-11-23T11:23:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"fd64d89e3edaac78a36c0c8f879b2a132d6f94cec55a7799043ed9a63b1f3f25","abstract_canon_sha256":"0d0b418418f91e2f8e933a3dfb74062291a328fac7867bc9673ddeb410001434"},"schema_version":"1.0"},"canonical_sha256":"90ebbfdba7b97d36b81c9518b09758742d8cd3b9d31b656c87e86ab1e4ccd8e3","source":{"kind":"arxiv","id":"1711.08654","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1711.08654","created_at":"2026-05-18T00:29:44Z"},{"alias_kind":"arxiv_version","alias_value":"1711.08654v1","created_at":"2026-05-18T00:29:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1711.08654","created_at":"2026-05-18T00:29:44Z"},{"alias_kind":"pith_short_12","alias_value":"SDV37W5HXF6T","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"SDV37W5HXF6TNOA4","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"SDV37W5H","created_at":"2026-05-18T12:31:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:SDV37W5HXF6TNOA4SUMLBF2YOQ","target":"record","payload":{"canonical_record":{"source":{"id":"1711.08654","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-11-23T11:23:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"fd64d89e3edaac78a36c0c8f879b2a132d6f94cec55a7799043ed9a63b1f3f25","abstract_canon_sha256":"0d0b418418f91e2f8e933a3dfb74062291a328fac7867bc9673ddeb410001434"},"schema_version":"1.0"},"canonical_sha256":"90ebbfdba7b97d36b81c9518b09758742d8cd3b9d31b656c87e86ab1e4ccd8e3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:29:44.467651Z","signature_b64":"R16DpZuMDpBRR0ro7w8yeUVVnSoK/9jxc1sQ3jser7aUo9b+QKUoKd1+AnZAgILyDhTek9gkP5X1aR6VSrYxDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"90ebbfdba7b97d36b81c9518b09758742d8cd3b9d31b656c87e86ab1e4ccd8e3","last_reissued_at":"2026-05-18T00:29:44.467115Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:29:44.467115Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1711.08654","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":"2026-05-18T00:29:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zWrV7DEyjPdCQvpBMpimrqJPEBMKtg2cxXx88WFvg8pViDM8lSOzBAciEt8E9ruQXd9CPXtmn3GME3K/3JL1CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T01:45:38.511389Z"},"content_sha256":"446b3a2b1949ea4c2307747a491e46a15bd54e3e47abc82ff3b738c714f7b87a","schema_version":"1.0","event_id":"sha256:446b3a2b1949ea4c2307747a491e46a15bd54e3e47abc82ff3b738c714f7b87a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:SDV37W5HXF6TNOA4SUMLBF2YOQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust Visual SLAM with Point and Line Features","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Guoquan Huang, Xiaojia Xie, Xingxing Zuo, Yong Liu","submitted_at":"2017-11-23T11:23:22Z","abstract_excerpt":"In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection, and bundle adjustment of both point and line features. In particular, as the main theoretical contributions of this paper, we, for the first time, employ the orthonormal representation as the minimal parameterization to model line features along with point features in visual SLAM and analytically derive the Jacobians of the re-projection errors with respect"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1711.08654","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":""},"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":"2026-05-18T00:29:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uY96/phx7c3TVJTcigqRE9urmnU/Etw3LHQhumu9DclVbyrqz+uIbgaCg7L8j+zoq1qlEhyZ9REo4wjX8eEeBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T01:45:38.511737Z"},"content_sha256":"2d78490a8ed1778062a2fb6dac2001c6818d0f3dee915f618b6e9d62b45201b1","schema_version":"1.0","event_id":"sha256:2d78490a8ed1778062a2fb6dac2001c6818d0f3dee915f618b6e9d62b45201b1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SDV37W5HXF6TNOA4SUMLBF2YOQ/bundle.json","state_url":"https://pith.science/pith/SDV37W5HXF6TNOA4SUMLBF2YOQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SDV37W5HXF6TNOA4SUMLBF2YOQ/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":"2026-06-02T01:45:38Z","links":{"resolver":"https://pith.science/pith/SDV37W5HXF6TNOA4SUMLBF2YOQ","bundle":"https://pith.science/pith/SDV37W5HXF6TNOA4SUMLBF2YOQ/bundle.json","state":"https://pith.science/pith/SDV37W5HXF6TNOA4SUMLBF2YOQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SDV37W5HXF6TNOA4SUMLBF2YOQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:SDV37W5HXF6TNOA4SUMLBF2YOQ","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":"0d0b418418f91e2f8e933a3dfb74062291a328fac7867bc9673ddeb410001434","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-11-23T11:23:22Z","title_canon_sha256":"fd64d89e3edaac78a36c0c8f879b2a132d6f94cec55a7799043ed9a63b1f3f25"},"schema_version":"1.0","source":{"id":"1711.08654","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1711.08654","created_at":"2026-05-18T00:29:44Z"},{"alias_kind":"arxiv_version","alias_value":"1711.08654v1","created_at":"2026-05-18T00:29:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1711.08654","created_at":"2026-05-18T00:29:44Z"},{"alias_kind":"pith_short_12","alias_value":"SDV37W5HXF6T","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"SDV37W5HXF6TNOA4","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"SDV37W5H","created_at":"2026-05-18T12:31:43Z"}],"graph_snapshots":[{"event_id":"sha256:2d78490a8ed1778062a2fb6dac2001c6818d0f3dee915f618b6e9d62b45201b1","target":"graph","created_at":"2026-05-18T00:29:44Z","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"},"paper":{"abstract_excerpt":"In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection, and bundle adjustment of both point and line features. In particular, as the main theoretical contributions of this paper, we, for the first time, employ the orthonormal representation as the minimal parameterization to model line features along with point features in visual SLAM and analytically derive the Jacobians of the re-projection errors with respect","authors_text":"Guoquan Huang, Xiaojia Xie, Xingxing Zuo, Yong Liu","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-11-23T11:23:22Z","title":"Robust Visual SLAM with Point and Line Features"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1711.08654","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":"sha256:446b3a2b1949ea4c2307747a491e46a15bd54e3e47abc82ff3b738c714f7b87a","target":"record","created_at":"2026-05-18T00:29:44Z","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":"0d0b418418f91e2f8e933a3dfb74062291a328fac7867bc9673ddeb410001434","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-11-23T11:23:22Z","title_canon_sha256":"fd64d89e3edaac78a36c0c8f879b2a132d6f94cec55a7799043ed9a63b1f3f25"},"schema_version":"1.0","source":{"id":"1711.08654","kind":"arxiv","version":1}},"canonical_sha256":"90ebbfdba7b97d36b81c9518b09758742d8cd3b9d31b656c87e86ab1e4ccd8e3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"90ebbfdba7b97d36b81c9518b09758742d8cd3b9d31b656c87e86ab1e4ccd8e3","first_computed_at":"2026-05-18T00:29:44.467115Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:29:44.467115Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"R16DpZuMDpBRR0ro7w8yeUVVnSoK/9jxc1sQ3jser7aUo9b+QKUoKd1+AnZAgILyDhTek9gkP5X1aR6VSrYxDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:29:44.467651Z","signed_message":"canonical_sha256_bytes"},"source_id":"1711.08654","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:446b3a2b1949ea4c2307747a491e46a15bd54e3e47abc82ff3b738c714f7b87a","sha256:2d78490a8ed1778062a2fb6dac2001c6818d0f3dee915f618b6e9d62b45201b1"],"state_sha256":"0491110c186f4d7b89661b6495d419e033a254e1c22500649f6b257525eb739e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cGq45Cv7meeVCJCLxK+QblUPwPE93DishmTLo0Iqx02ZqTRs2Jr7CxnQ9EHY21Vvo/ndNUONFd4rh4u1mEXqCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T01:45:38.513727Z","bundle_sha256":"404f38f060ffb85682258159c929b7a7e29d116876cc70fa489b3f514a64df92"}}