{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:SOSTWXK4V3NC5QQPMSBDFFADCU","short_pith_number":"pith:SOSTWXK4","canonical_record":{"source":{"id":"1704.07072","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-04-24T07:52:41Z","cross_cats_sorted":[],"title_canon_sha256":"c1b988adc49cbe57ce0b63ddd3f236d4da3517469b40495d36a306e846ffab9c","abstract_canon_sha256":"d946ea13817f839494b3a753cce55f08c5fd30020f82ed2bcf97a8d4ea8fb000"},"schema_version":"1.0"},"canonical_sha256":"93a53b5d5caeda2ec20f6482329403150b691a76e566d678976e0ac5abb7c185","source":{"kind":"arxiv","id":"1704.07072","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1704.07072","created_at":"2026-05-18T00:36:31Z"},{"alias_kind":"arxiv_version","alias_value":"1704.07072v4","created_at":"2026-05-18T00:36:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1704.07072","created_at":"2026-05-18T00:36:31Z"},{"alias_kind":"pith_short_12","alias_value":"SOSTWXK4V3NC","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"SOSTWXK4V3NC5QQP","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"SOSTWXK4","created_at":"2026-05-18T12:31:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:SOSTWXK4V3NC5QQPMSBDFFADCU","target":"record","payload":{"canonical_record":{"source":{"id":"1704.07072","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-04-24T07:52:41Z","cross_cats_sorted":[],"title_canon_sha256":"c1b988adc49cbe57ce0b63ddd3f236d4da3517469b40495d36a306e846ffab9c","abstract_canon_sha256":"d946ea13817f839494b3a753cce55f08c5fd30020f82ed2bcf97a8d4ea8fb000"},"schema_version":"1.0"},"canonical_sha256":"93a53b5d5caeda2ec20f6482329403150b691a76e566d678976e0ac5abb7c185","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:36:31.906693Z","signature_b64":"jnANvxRE5Etf+sh48SmMTFAowgnoPhQgcwr7NAPYdFBFvLYAr+4aQT8URI9KQxTpuNpzQ27PtpTOI932RWlnBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"93a53b5d5caeda2ec20f6482329403150b691a76e566d678976e0ac5abb7c185","last_reissued_at":"2026-05-18T00:36:31.906082Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:36:31.906082Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1704.07072","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:36:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VGQhzVSzc+eM2WosVo0lrh2Ns1qxZzzk11K34kXoG0+nAztb929zanPwvdOBZxaJ8HRsHVBTRdVYri5ADOgGBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T09:58:58.428851Z"},"content_sha256":"a1eb21ef64c9c53215d30e92e59f0fe0e1816a4b00155b214519cd6930911abc","schema_version":"1.0","event_id":"sha256:a1eb21ef64c9c53215d30e92e59f0fe0e1816a4b00155b214519cd6930911abc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:SOSTWXK4V3NC5QQPMSBDFFADCU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Benjamin Busam, Nassir Navab, Tolga Birdal","submitted_at":"2017-04-24T07:52:41Z","abstract_excerpt":"Time-varying, smooth trajectory estimation is of great interest to the vision community for accurate and well behaving 3D systems. In this paper, we propose a novel principal component local regression filter acting directly on the Riemannian manifold of unit dual quaternions $\\mathbb{D} \\mathbb{H}_1$. We use a numerically stable Lie algebra of the dual quaternions together with $\\exp$ and $\\log$ operators to locally linearize the 6D pose space. Unlike state of the art path smoothing methods which either operate on $SO\\left(3\\right)$ of rotation matrices or the hypersphere $\\mathbb{H}_1$ of qu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1704.07072","kind":"arxiv","version":4},"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":"2026-05-18T00:36:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TEsiUkgcMtXs5FQONlES53JRbi+ScndIhOJR3FG53FQI+wlG/yKn39jxj52PtwOa+Dg5UYYdhKrAXzbvk0y9AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T09:58:58.429185Z"},"content_sha256":"5eed0e833ec51ccbc72c14b076bc21fdd9a1eb1cb695a470980d5d46022a3d79","schema_version":"1.0","event_id":"sha256:5eed0e833ec51ccbc72c14b076bc21fdd9a1eb1cb695a470980d5d46022a3d79"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SOSTWXK4V3NC5QQPMSBDFFADCU/bundle.json","state_url":"https://pith.science/pith/SOSTWXK4V3NC5QQPMSBDFFADCU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SOSTWXK4V3NC5QQPMSBDFFADCU/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":"2026-07-04T09:58:58Z","links":{"resolver":"https://pith.science/pith/SOSTWXK4V3NC5QQPMSBDFFADCU","bundle":"https://pith.science/pith/SOSTWXK4V3NC5QQPMSBDFFADCU/bundle.json","state":"https://pith.science/pith/SOSTWXK4V3NC5QQPMSBDFFADCU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SOSTWXK4V3NC5QQPMSBDFFADCU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:SOSTWXK4V3NC5QQPMSBDFFADCU","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":"d946ea13817f839494b3a753cce55f08c5fd30020f82ed2bcf97a8d4ea8fb000","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-04-24T07:52:41Z","title_canon_sha256":"c1b988adc49cbe57ce0b63ddd3f236d4da3517469b40495d36a306e846ffab9c"},"schema_version":"1.0","source":{"id":"1704.07072","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1704.07072","created_at":"2026-05-18T00:36:31Z"},{"alias_kind":"arxiv_version","alias_value":"1704.07072v4","created_at":"2026-05-18T00:36:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1704.07072","created_at":"2026-05-18T00:36:31Z"},{"alias_kind":"pith_short_12","alias_value":"SOSTWXK4V3NC","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"SOSTWXK4V3NC5QQP","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"SOSTWXK4","created_at":"2026-05-18T12:31:43Z"}],"graph_snapshots":[{"event_id":"sha256:5eed0e833ec51ccbc72c14b076bc21fdd9a1eb1cb695a470980d5d46022a3d79","target":"graph","created_at":"2026-05-18T00:36:31Z","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":"Time-varying, smooth trajectory estimation is of great interest to the vision community for accurate and well behaving 3D systems. In this paper, we propose a novel principal component local regression filter acting directly on the Riemannian manifold of unit dual quaternions $\\mathbb{D} \\mathbb{H}_1$. We use a numerically stable Lie algebra of the dual quaternions together with $\\exp$ and $\\log$ operators to locally linearize the 6D pose space. Unlike state of the art path smoothing methods which either operate on $SO\\left(3\\right)$ of rotation matrices or the hypersphere $\\mathbb{H}_1$ of qu","authors_text":"Benjamin Busam, Nassir Navab, Tolga Birdal","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-04-24T07:52:41Z","title":"Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1704.07072","kind":"arxiv","version":4},"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:a1eb21ef64c9c53215d30e92e59f0fe0e1816a4b00155b214519cd6930911abc","target":"record","created_at":"2026-05-18T00:36:31Z","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":"d946ea13817f839494b3a753cce55f08c5fd30020f82ed2bcf97a8d4ea8fb000","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-04-24T07:52:41Z","title_canon_sha256":"c1b988adc49cbe57ce0b63ddd3f236d4da3517469b40495d36a306e846ffab9c"},"schema_version":"1.0","source":{"id":"1704.07072","kind":"arxiv","version":4}},"canonical_sha256":"93a53b5d5caeda2ec20f6482329403150b691a76e566d678976e0ac5abb7c185","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"93a53b5d5caeda2ec20f6482329403150b691a76e566d678976e0ac5abb7c185","first_computed_at":"2026-05-18T00:36:31.906082Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:36:31.906082Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jnANvxRE5Etf+sh48SmMTFAowgnoPhQgcwr7NAPYdFBFvLYAr+4aQT8URI9KQxTpuNpzQ27PtpTOI932RWlnBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:36:31.906693Z","signed_message":"canonical_sha256_bytes"},"source_id":"1704.07072","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a1eb21ef64c9c53215d30e92e59f0fe0e1816a4b00155b214519cd6930911abc","sha256:5eed0e833ec51ccbc72c14b076bc21fdd9a1eb1cb695a470980d5d46022a3d79"],"state_sha256":"c74c8b681a6dbf69cedc3c08059dcd28931363da8a0c0387a37ec81c6556c9bd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9lhbiJajwoip4EWdUw88JE2sWuNU2D5xKMs7GOHxABB3PWk+z3biKHViSiCfu63cBwRu3wpMhxy1PY7baznGDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-04T09:58:58.430962Z","bundle_sha256":"1fb61a2a694e63fe3530a24540ac771eac265db00a6552def605d899d62973e0"}}