{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:T2JFSZWL5O4PJZEQUQKQJXTACC","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":"4291171831e48263137a0a143285a55462000528d07720fdce7cc23f77c39e48","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-08-08T10:55:55Z","title_canon_sha256":"0db4a037e0db33e46437d40d936ec6fa902d45a1c196e99535d233048bd01d5e"},"schema_version":"1.0","source":{"id":"2408.04367","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.04367","created_at":"2026-07-05T08:53:32Z"},{"alias_kind":"arxiv_version","alias_value":"2408.04367v1","created_at":"2026-07-05T08:53:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.04367","created_at":"2026-07-05T08:53:32Z"},{"alias_kind":"pith_short_12","alias_value":"T2JFSZWL5O4P","created_at":"2026-07-05T08:53:32Z"},{"alias_kind":"pith_short_16","alias_value":"T2JFSZWL5O4PJZEQ","created_at":"2026-07-05T08:53:32Z"},{"alias_kind":"pith_short_8","alias_value":"T2JFSZWL","created_at":"2026-07-05T08:53:32Z"}],"graph_snapshots":[{"event_id":"sha256:d685e5f983bbf9819177d49c330329c06d7dc6e5235fd8ea933d66434a1ad655","target":"graph","created_at":"2026-07-05T08:53:32Z","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/2408.04367/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue deformation in a fully deformable scene is an ill-posed problem, especially from a single arbitrarily moving viewpoint. Current solutions are often organ-specific and lack the robustness required to handle large deformations. Here we propose a multi-viewpoint global optimization framework that can flexibly integrate the output of low-level perception modules (dat","authors_text":"Cesar Cadena, Guido Caccianiga, Julian Nubert, Katherine J. Kuchenbecker, Marco Hutter","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-08-08T10:55:55Z","title":"MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.04367","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":"sha256:6cf958ea474d4119745cf7ed866de7c68dfa5dbc5b64c92f5632d87687420286","target":"record","created_at":"2026-07-05T08:53:32Z","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":"4291171831e48263137a0a143285a55462000528d07720fdce7cc23f77c39e48","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-08-08T10:55:55Z","title_canon_sha256":"0db4a037e0db33e46437d40d936ec6fa902d45a1c196e99535d233048bd01d5e"},"schema_version":"1.0","source":{"id":"2408.04367","kind":"arxiv","version":1}},"canonical_sha256":"9e925966cbebb8f4e490a41504de60109e261bbd69190048d58b05629a8426e4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9e925966cbebb8f4e490a41504de60109e261bbd69190048d58b05629a8426e4","first_computed_at":"2026-07-05T08:53:32.222746Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:53:32.222746Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FAXRn6WqUFh/KoAprCiEgQHARzQkGy2Fx8L9d77cRRugf1ek4AJaLKqHSGvSAUeYi80QIbGlQj1y6t5Tt9TvCA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:53:32.223081Z","signed_message":"canonical_sha256_bytes"},"source_id":"2408.04367","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6cf958ea474d4119745cf7ed866de7c68dfa5dbc5b64c92f5632d87687420286","sha256:d685e5f983bbf9819177d49c330329c06d7dc6e5235fd8ea933d66434a1ad655"],"state_sha256":"cc3e87347b117eac37310c58f6bb7d514ab3b2ac2ab46131d75900d4255172cc"}