{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:SPM5FX5D7V6PNDPKGCMFYWMDA7","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":"0485b50baba48c194754fb9a4fdca6e0806202d27c5b62a69af8f3df036f0bb7","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T23:25:01Z","title_canon_sha256":"cb4bd86d3a4817d4091e626f01645b809f0ba3f6f45ecb1aff66f27d6a1710f9"},"schema_version":"1.0","source":{"id":"1904.02266","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.02266","created_at":"2026-07-04T23:59:31Z"},{"alias_kind":"arxiv_version","alias_value":"1904.02266v3","created_at":"2026-07-04T23:59:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.02266","created_at":"2026-07-04T23:59:31Z"},{"alias_kind":"pith_short_12","alias_value":"SPM5FX5D7V6P","created_at":"2026-07-04T23:59:31Z"},{"alias_kind":"pith_short_16","alias_value":"SPM5FX5D7V6PNDPK","created_at":"2026-07-04T23:59:31Z"},{"alias_kind":"pith_short_8","alias_value":"SPM5FX5D","created_at":"2026-07-04T23:59:31Z"}],"graph_snapshots":[{"event_id":"sha256:b0923263638adc07d6914f2f93cc1b14ad08f0faebaab6eea48ac3911932cab7","target":"graph","created_at":"2026-07-04T23:59:31Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/1904.02266/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper reports on a novel formulation and evaluation of visual odometry from RGB-D images. Assuming a static scene, the developed theoretical framework generalizes the widely used direct energy formulation (photometric error minimization) technique for obtaining a rigid body transformation that aligns two overlapping RGB-D images to a continuous formulation. The continuity is achieved through functional treatment of the problem and representing the process models over RGB-D images in a reproducing kernel Hilbert space; consequently, the registration is not limited to the specific image res","authors_text":"Anthony Bloch, Jessy W. Grizzle, Maani Ghaffari, Ryan M. Eustice, William Clark","cross_cats":["cs.AI","cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T23:25:01Z","title":"Continuous Direct Sparse Visual Odometry from RGB-D Images"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.02266","kind":"arxiv","version":3},"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":"sha256:3699ce6150bb768d54b51be71fb07a922ce49522061c88aa549dec0955f144e8","target":"record","created_at":"2026-07-04T23:59:31Z","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":"0485b50baba48c194754fb9a4fdca6e0806202d27c5b62a69af8f3df036f0bb7","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T23:25:01Z","title_canon_sha256":"cb4bd86d3a4817d4091e626f01645b809f0ba3f6f45ecb1aff66f27d6a1710f9"},"schema_version":"1.0","source":{"id":"1904.02266","kind":"arxiv","version":3}},"canonical_sha256":"93d9d2dfa3fd7cf68dea30985c598307cb51f41136f831af7e5b5b07498c48b2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"93d9d2dfa3fd7cf68dea30985c598307cb51f41136f831af7e5b5b07498c48b2","first_computed_at":"2026-07-04T23:59:31.477038Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:59:31.477038Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gypilCbIlVrQUaDC8wEyijCnxsVa78Mlol7JcvHI/4mnYH0Es2Ed6cPMMExHBCPOiCQUog0AKAE0s9GmRL6fBQ==","signature_status":"signed_v1","signed_at":"2026-07-04T23:59:31.477461Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.02266","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3699ce6150bb768d54b51be71fb07a922ce49522061c88aa549dec0955f144e8","sha256:b0923263638adc07d6914f2f93cc1b14ad08f0faebaab6eea48ac3911932cab7"],"state_sha256":"8efa0c8a304254394ed6872885471d648c8ae38ce3a9b5e25ee0534dbd5d4682"}