{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:SXDHMRZ44IUX4F7XQTGEZ6KL34","short_pith_number":"pith:SXDHMRZ4","canonical_record":{"source":{"id":"2406.06374","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T15:36:23Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"3c41fee6baf1ffc0dc48d180f841378c3e400f8c63f55da01809af3df8cf94af","abstract_canon_sha256":"0b2bf2aa047f9db4a4dff86e85a13caf807dc915e24241b52ce4a9eb4a5e26b8"},"schema_version":"1.0"},"canonical_sha256":"95c676473ce2297e17f784cc4cf94bdf32f5593f27aaada90f0afd4458063730","source":{"kind":"arxiv","id":"2406.06374","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.06374","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"arxiv_version","alias_value":"2406.06374v2","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.06374","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"pith_short_12","alias_value":"SXDHMRZ44IUX","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"pith_short_16","alias_value":"SXDHMRZ44IUX4F7X","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"pith_short_8","alias_value":"SXDHMRZ4","created_at":"2026-07-05T08:35:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:SXDHMRZ44IUX4F7XQTGEZ6KL34","target":"record","payload":{"canonical_record":{"source":{"id":"2406.06374","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T15:36:23Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"3c41fee6baf1ffc0dc48d180f841378c3e400f8c63f55da01809af3df8cf94af","abstract_canon_sha256":"0b2bf2aa047f9db4a4dff86e85a13caf807dc915e24241b52ce4a9eb4a5e26b8"},"schema_version":"1.0"},"canonical_sha256":"95c676473ce2297e17f784cc4cf94bdf32f5593f27aaada90f0afd4458063730","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:35:47.141821Z","signature_b64":"Bgq3n3NqSuowU5tcbe1OuHQN13iEeqyK1vfEXUWFFn0+TWxUXnoHIEfhs8DEGQk9U8JsLQlZ64CJ0/+kOf5BCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"95c676473ce2297e17f784cc4cf94bdf32f5593f27aaada90f0afd4458063730","last_reissued_at":"2026-07-05T08:35:47.141342Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:35:47.141342Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.06374","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":"2026-07-05T08:35:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NnXLDZzn2od7/aVIro3flKaOiRE4z93k5g2oglXn/ZXrYf7h+VvrAbTTGSjhgcTvgH3E/+DQ7WW1pZFQNOZvAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T00:07:28.158775Z"},"content_sha256":"5a2daa51ca5b36a378e2a1c09740a699a8b899137efaf1f02d98215a088fe356","schema_version":"1.0","event_id":"sha256:5a2daa51ca5b36a378e2a1c09740a699a8b899137efaf1f02d98215a088fe356"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:SXDHMRZ44IUX4F7XQTGEZ6KL34","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multicam-SLAM: Non-overlapping Multi-camera SLAM for Indirect Visual Localization and Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Luchao Pang, Shenghao Li, Xianglong Hu","submitted_at":"2024-06-10T15:36:23Z","abstract_excerpt":"This paper presents a novel approach to visual simultaneous localization and mapping (SLAM) using multiple RGB-D cameras. The proposed method, Multicam-SLAM, significantly enhances the robustness and accuracy of SLAM systems by capturing more comprehensive spatial information from various perspectives. This method enables the accurate determination of pose relationships among multiple cameras without the need for overlapping fields of view. The proposed Muticam-SLAM includes a unique multi-camera model, a multi-keyframes structure, and several parallel SLAM threads. The multi-camera model allo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.06374","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/2406.06374/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":"2026-07-05T08:35:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Pz6ISbCrCkz5fl+uRsxcdRYGjzNtQiJ47yTnWr2+qyywV1+lJFiLe4Z/Y+JkOof1tFH11LOIta08F5AMSBePBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T00:07:28.159396Z"},"content_sha256":"43f226612661ef7564fcf8fa579f52a24e34de0d413a6147e390d1cd6a8a733e","schema_version":"1.0","event_id":"sha256:43f226612661ef7564fcf8fa579f52a24e34de0d413a6147e390d1cd6a8a733e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SXDHMRZ44IUX4F7XQTGEZ6KL34/bundle.json","state_url":"https://pith.science/pith/SXDHMRZ44IUX4F7XQTGEZ6KL34/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SXDHMRZ44IUX4F7XQTGEZ6KL34/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":"2026-08-04T00:07:28Z","links":{"resolver":"https://pith.science/pith/SXDHMRZ44IUX4F7XQTGEZ6KL34","bundle":"https://pith.science/pith/SXDHMRZ44IUX4F7XQTGEZ6KL34/bundle.json","state":"https://pith.science/pith/SXDHMRZ44IUX4F7XQTGEZ6KL34/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SXDHMRZ44IUX4F7XQTGEZ6KL34/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:SXDHMRZ44IUX4F7XQTGEZ6KL34","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":"0b2bf2aa047f9db4a4dff86e85a13caf807dc915e24241b52ce4a9eb4a5e26b8","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T15:36:23Z","title_canon_sha256":"3c41fee6baf1ffc0dc48d180f841378c3e400f8c63f55da01809af3df8cf94af"},"schema_version":"1.0","source":{"id":"2406.06374","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.06374","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"arxiv_version","alias_value":"2406.06374v2","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.06374","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"pith_short_12","alias_value":"SXDHMRZ44IUX","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"pith_short_16","alias_value":"SXDHMRZ44IUX4F7X","created_at":"2026-07-05T08:35:47Z"},{"alias_kind":"pith_short_8","alias_value":"SXDHMRZ4","created_at":"2026-07-05T08:35:47Z"}],"graph_snapshots":[{"event_id":"sha256:43f226612661ef7564fcf8fa579f52a24e34de0d413a6147e390d1cd6a8a733e","target":"graph","created_at":"2026-07-05T08:35:47Z","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/2406.06374/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a novel approach to visual simultaneous localization and mapping (SLAM) using multiple RGB-D cameras. The proposed method, Multicam-SLAM, significantly enhances the robustness and accuracy of SLAM systems by capturing more comprehensive spatial information from various perspectives. This method enables the accurate determination of pose relationships among multiple cameras without the need for overlapping fields of view. The proposed Muticam-SLAM includes a unique multi-camera model, a multi-keyframes structure, and several parallel SLAM threads. The multi-camera model allo","authors_text":"Luchao Pang, Shenghao Li, Xianglong Hu","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T15:36:23Z","title":"Multicam-SLAM: Non-overlapping Multi-camera SLAM for Indirect Visual Localization and Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.06374","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":"sha256:5a2daa51ca5b36a378e2a1c09740a699a8b899137efaf1f02d98215a088fe356","target":"record","created_at":"2026-07-05T08:35:47Z","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":"0b2bf2aa047f9db4a4dff86e85a13caf807dc915e24241b52ce4a9eb4a5e26b8","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-10T15:36:23Z","title_canon_sha256":"3c41fee6baf1ffc0dc48d180f841378c3e400f8c63f55da01809af3df8cf94af"},"schema_version":"1.0","source":{"id":"2406.06374","kind":"arxiv","version":2}},"canonical_sha256":"95c676473ce2297e17f784cc4cf94bdf32f5593f27aaada90f0afd4458063730","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"95c676473ce2297e17f784cc4cf94bdf32f5593f27aaada90f0afd4458063730","first_computed_at":"2026-07-05T08:35:47.141342Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:35:47.141342Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Bgq3n3NqSuowU5tcbe1OuHQN13iEeqyK1vfEXUWFFn0+TWxUXnoHIEfhs8DEGQk9U8JsLQlZ64CJ0/+kOf5BCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:35:47.141821Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.06374","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5a2daa51ca5b36a378e2a1c09740a699a8b899137efaf1f02d98215a088fe356","sha256:43f226612661ef7564fcf8fa579f52a24e34de0d413a6147e390d1cd6a8a733e"],"state_sha256":"c760e932c748468b6384f431236d21186a3cbcb662823ed5091d7df1a2e351ef"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XuvUpyoPHu64bo8v18SMjOl3jv97vqnJLM1/UMQYcP4CbPHnam8FACCjpPkZt0eHDjBhDZEFkn9+PaWnPlBdAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T00:07:28.163849Z","bundle_sha256":"e92d9619cc420b44d8cd4ab69370c761b7160ee2f1d1f008e7749399d930cbab"}}