{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:TQWXJT7HYA3IES5WJCUAFK2JTU","short_pith_number":"pith:TQWXJT7H","canonical_record":{"source":{"id":"1607.02555","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-07-09T00:11:14Z","cross_cats_sorted":[],"title_canon_sha256":"72fb2fc6721b11319657d726e023f57b22e0768e870ededc8d7d0a7dbf6933ba","abstract_canon_sha256":"99db618ea36bfc76c599ffefaac322681d3fc91e388f050743d231338df8debc"},"schema_version":"1.0"},"canonical_sha256":"9c2d74cfe7c036824bb648a802ab499d104df4309b2815f9e36a7c0b15ecce89","source":{"kind":"arxiv","id":"1607.02555","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.02555","created_at":"2026-05-18T01:02:51Z"},{"alias_kind":"arxiv_version","alias_value":"1607.02555v2","created_at":"2026-05-18T01:02:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.02555","created_at":"2026-05-18T01:02:51Z"},{"alias_kind":"pith_short_12","alias_value":"TQWXJT7HYA3I","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_16","alias_value":"TQWXJT7HYA3IES5W","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_8","alias_value":"TQWXJT7H","created_at":"2026-05-18T12:30:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:TQWXJT7HYA3IES5WJCUAFK2JTU","target":"record","payload":{"canonical_record":{"source":{"id":"1607.02555","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-07-09T00:11:14Z","cross_cats_sorted":[],"title_canon_sha256":"72fb2fc6721b11319657d726e023f57b22e0768e870ededc8d7d0a7dbf6933ba","abstract_canon_sha256":"99db618ea36bfc76c599ffefaac322681d3fc91e388f050743d231338df8debc"},"schema_version":"1.0"},"canonical_sha256":"9c2d74cfe7c036824bb648a802ab499d104df4309b2815f9e36a7c0b15ecce89","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:02:51.935174Z","signature_b64":"1PwrWAVwjWSLp6jsJE/4uX3sCzgTenRAw/0wH1x1jO3HiLgYGzjSrhRGOhudQ3id8UjOXII7LhHDdZ0pbrSVDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9c2d74cfe7c036824bb648a802ab499d104df4309b2815f9e36a7c0b15ecce89","last_reissued_at":"2026-05-18T01:02:51.934451Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:02:51.934451Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1607.02555","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":"2026-05-18T01:02:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p8jfXnJFZ/VuZfLMmZLKUO/LBweBXMmYNtVry8aj4ILZZloAuWtRcI+jVcRf480I0Ww1YfAXuW+JHcXqQmXXAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T20:31:19.582038Z"},"content_sha256":"9200365acd2d125ab8563de57bbedf335cbc6e7cc51a2e4920e434364f6c6a87","schema_version":"1.0","event_id":"sha256:9200365acd2d125ab8563de57bbedf335cbc6e7cc51a2e4920e434364f6c6a87"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:TQWXJT7HYA3IES5WJCUAFK2JTU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Photometrically Calibrated Benchmark For Monocular Visual Odometry","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Daniel Cremers, Jakob Engel, Vladyslav Usenko","submitted_at":"2016-07-09T00:11:14Z","abstract_excerpt":"We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of video, recorded across dozens of different environments -- ranging from narrow indoor corridors to wide outdoor scenes. All sequences contain mostly exploring camera motion, starting and ending at the same position. This allows to evaluate tracking accuracy via the accumulated drift from start to end, without requiring ground truth for the full sequence. In contrast to existing datasets, all sequences are photometricall"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.02555","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":""},"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":"2026-05-18T01:02:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pQ7aPdXeUolemYNQrPlPBx+pJP4aoUAfDyTn81Q1iMDJSBTHV32hr69whXNp5l/oNOeCcVDbB4V3pgWjUe9nAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T20:31:19.582612Z"},"content_sha256":"d16d89816b92744aed7dbc82c8bb93521624eeb28e19e1badbec3de15e3ce8c8","schema_version":"1.0","event_id":"sha256:d16d89816b92744aed7dbc82c8bb93521624eeb28e19e1badbec3de15e3ce8c8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TQWXJT7HYA3IES5WJCUAFK2JTU/bundle.json","state_url":"https://pith.science/pith/TQWXJT7HYA3IES5WJCUAFK2JTU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TQWXJT7HYA3IES5WJCUAFK2JTU/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":"2026-05-25T20:31:19Z","links":{"resolver":"https://pith.science/pith/TQWXJT7HYA3IES5WJCUAFK2JTU","bundle":"https://pith.science/pith/TQWXJT7HYA3IES5WJCUAFK2JTU/bundle.json","state":"https://pith.science/pith/TQWXJT7HYA3IES5WJCUAFK2JTU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TQWXJT7HYA3IES5WJCUAFK2JTU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:TQWXJT7HYA3IES5WJCUAFK2JTU","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":"99db618ea36bfc76c599ffefaac322681d3fc91e388f050743d231338df8debc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-07-09T00:11:14Z","title_canon_sha256":"72fb2fc6721b11319657d726e023f57b22e0768e870ededc8d7d0a7dbf6933ba"},"schema_version":"1.0","source":{"id":"1607.02555","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.02555","created_at":"2026-05-18T01:02:51Z"},{"alias_kind":"arxiv_version","alias_value":"1607.02555v2","created_at":"2026-05-18T01:02:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.02555","created_at":"2026-05-18T01:02:51Z"},{"alias_kind":"pith_short_12","alias_value":"TQWXJT7HYA3I","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_16","alias_value":"TQWXJT7HYA3IES5W","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_8","alias_value":"TQWXJT7H","created_at":"2026-05-18T12:30:46Z"}],"graph_snapshots":[{"event_id":"sha256:d16d89816b92744aed7dbc82c8bb93521624eeb28e19e1badbec3de15e3ce8c8","target":"graph","created_at":"2026-05-18T01:02:51Z","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":"We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of video, recorded across dozens of different environments -- ranging from narrow indoor corridors to wide outdoor scenes. All sequences contain mostly exploring camera motion, starting and ending at the same position. This allows to evaluate tracking accuracy via the accumulated drift from start to end, without requiring ground truth for the full sequence. In contrast to existing datasets, all sequences are photometricall","authors_text":"Daniel Cremers, Jakob Engel, Vladyslav Usenko","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-07-09T00:11:14Z","title":"A Photometrically Calibrated Benchmark For Monocular Visual Odometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.02555","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":"sha256:9200365acd2d125ab8563de57bbedf335cbc6e7cc51a2e4920e434364f6c6a87","target":"record","created_at":"2026-05-18T01:02:51Z","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":"99db618ea36bfc76c599ffefaac322681d3fc91e388f050743d231338df8debc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-07-09T00:11:14Z","title_canon_sha256":"72fb2fc6721b11319657d726e023f57b22e0768e870ededc8d7d0a7dbf6933ba"},"schema_version":"1.0","source":{"id":"1607.02555","kind":"arxiv","version":2}},"canonical_sha256":"9c2d74cfe7c036824bb648a802ab499d104df4309b2815f9e36a7c0b15ecce89","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c2d74cfe7c036824bb648a802ab499d104df4309b2815f9e36a7c0b15ecce89","first_computed_at":"2026-05-18T01:02:51.934451Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:02:51.934451Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1PwrWAVwjWSLp6jsJE/4uX3sCzgTenRAw/0wH1x1jO3HiLgYGzjSrhRGOhudQ3id8UjOXII7LhHDdZ0pbrSVDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:02:51.935174Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.02555","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9200365acd2d125ab8563de57bbedf335cbc6e7cc51a2e4920e434364f6c6a87","sha256:d16d89816b92744aed7dbc82c8bb93521624eeb28e19e1badbec3de15e3ce8c8"],"state_sha256":"1e7176422da0b8a5891bb9aa746add12d887e8cf219dfabb664644489869f3dc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FP20JAc26UVN3tfR7epPNokYHAO2TMkXr3gf+B1aEZwhTf0+VvNhD4JIl/85fjxxIsmp6+P0nSEAayDmcuYfDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T20:31:19.586774Z","bundle_sha256":"fd5c6871e38aaebf178c66f8455ebf8d2da5e35debbf5e7d39728f998f82bee3"}}