{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ","short_pith_number":"pith:UKBJ4H5E","canonical_record":{"source":{"id":"2308.09566","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-18T13:57:11Z","cross_cats_sorted":[],"title_canon_sha256":"cda7d1a1328d909dcbab2720bf7403a83a4e7bec6c2b3a2907bdc782291acf28","abstract_canon_sha256":"948d5c29c35e4ad97f135cefda03fb91e2ca1e5bd4c38f1b94134c756ae5b7c2"},"schema_version":"1.0"},"canonical_sha256":"a2829e1fa432a3fc6a1d14b3a6260ecc29ce8bf499deb0a0a3b4c178db0803e9","source":{"kind":"arxiv","id":"2308.09566","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.09566","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"arxiv_version","alias_value":"2308.09566v2","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.09566","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"pith_short_12","alias_value":"UKBJ4H5EGKR7","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"pith_short_16","alias_value":"UKBJ4H5EGKR7Y2Q5","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"pith_short_8","alias_value":"UKBJ4H5E","created_at":"2026-07-05T06:47:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ","target":"record","payload":{"canonical_record":{"source":{"id":"2308.09566","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-18T13:57:11Z","cross_cats_sorted":[],"title_canon_sha256":"cda7d1a1328d909dcbab2720bf7403a83a4e7bec6c2b3a2907bdc782291acf28","abstract_canon_sha256":"948d5c29c35e4ad97f135cefda03fb91e2ca1e5bd4c38f1b94134c756ae5b7c2"},"schema_version":"1.0"},"canonical_sha256":"a2829e1fa432a3fc6a1d14b3a6260ecc29ce8bf499deb0a0a3b4c178db0803e9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:47:26.109700Z","signature_b64":"/MHLxg3wQA3phtH+GsdFOkkqh/26a39tL7U8DkACrBV0zawJ+ThIPFtI6QTisTxWx8S29lynMFaHDIcVrdqnDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a2829e1fa432a3fc6a1d14b3a6260ecc29ce8bf499deb0a0a3b4c178db0803e9","last_reissued_at":"2026-07-05T06:47:26.109187Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:47:26.109187Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.09566","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":"2026-07-05T06:47:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JJwKcWPejbulHaRvmzIYqd0hJfpZ41hXwJMfQnklRK19wvvoffdX0Ij5ZM9LYcX7BoosQKvCl8kQ/RE6wofnAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T02:31:43.709196Z"},"content_sha256":"6771d9b4f4a35e307ff815d9e76fe9a007729c08f9f111c4d8e5eb2fb5c91e10","schema_version":"1.0","event_id":"sha256:6771d9b4f4a35e307ff815d9e76fe9a007729c08f9f111c4d8e5eb2fb5c91e10"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"3D Model-free Visual Localization System from Essential Matrix under Local Planar Motion","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Binxin Zhang, Chaoqun Wang, Peng Jiang, Rong Xiong, Yanmei Jiao, Yue Wang","submitted_at":"2023-08-18T13:57:11Z","abstract_excerpt":"Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational and storage resources to construct a 3D scene model when facing a new environment. An alternative approach of directly using a database of 2D images for visual localization offers more flexibility. However, such methods currently suffer from limited localization accuracy. In this paper, we propose an accurate and robust multiple checking-based 3D model-free vi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.09566","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/2308.09566/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":"2026-07-05T06:47:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nTBqn+LQIX2Q+JVKv1IetBQ+nPGwldLzZQeRnnmx3gJ4CsEF01/NjuRoBqzuF6rdrGMjzLoBB6QCwAlOl2AtDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T02:31:43.709723Z"},"content_sha256":"42878bc7315c5ac4c130125bf0b072de32a77f06a64211d4923e1a3dce9511ca","schema_version":"1.0","event_id":"sha256:42878bc7315c5ac4c130125bf0b072de32a77f06a64211d4923e1a3dce9511ca"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ/bundle.json","state_url":"https://pith.science/pith/UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ/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":"2026-08-07T02:31:43Z","links":{"resolver":"https://pith.science/pith/UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ","bundle":"https://pith.science/pith/UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ/bundle.json","state":"https://pith.science/pith/UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:UKBJ4H5EGKR7Y2Q5CSZ2MJQOZQ","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":"948d5c29c35e4ad97f135cefda03fb91e2ca1e5bd4c38f1b94134c756ae5b7c2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-18T13:57:11Z","title_canon_sha256":"cda7d1a1328d909dcbab2720bf7403a83a4e7bec6c2b3a2907bdc782291acf28"},"schema_version":"1.0","source":{"id":"2308.09566","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.09566","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"arxiv_version","alias_value":"2308.09566v2","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.09566","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"pith_short_12","alias_value":"UKBJ4H5EGKR7","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"pith_short_16","alias_value":"UKBJ4H5EGKR7Y2Q5","created_at":"2026-07-05T06:47:26Z"},{"alias_kind":"pith_short_8","alias_value":"UKBJ4H5E","created_at":"2026-07-05T06:47:26Z"}],"graph_snapshots":[{"event_id":"sha256:42878bc7315c5ac4c130125bf0b072de32a77f06a64211d4923e1a3dce9511ca","target":"graph","created_at":"2026-07-05T06:47:26Z","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/2308.09566/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational and storage resources to construct a 3D scene model when facing a new environment. An alternative approach of directly using a database of 2D images for visual localization offers more flexibility. However, such methods currently suffer from limited localization accuracy. In this paper, we propose an accurate and robust multiple checking-based 3D model-free vi","authors_text":"Binxin Zhang, Chaoqun Wang, Peng Jiang, Rong Xiong, Yanmei Jiao, Yue Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-18T13:57:11Z","title":"3D Model-free Visual Localization System from Essential Matrix under Local Planar Motion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.09566","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":"sha256:6771d9b4f4a35e307ff815d9e76fe9a007729c08f9f111c4d8e5eb2fb5c91e10","target":"record","created_at":"2026-07-05T06:47:26Z","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":"948d5c29c35e4ad97f135cefda03fb91e2ca1e5bd4c38f1b94134c756ae5b7c2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-18T13:57:11Z","title_canon_sha256":"cda7d1a1328d909dcbab2720bf7403a83a4e7bec6c2b3a2907bdc782291acf28"},"schema_version":"1.0","source":{"id":"2308.09566","kind":"arxiv","version":2}},"canonical_sha256":"a2829e1fa432a3fc6a1d14b3a6260ecc29ce8bf499deb0a0a3b4c178db0803e9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a2829e1fa432a3fc6a1d14b3a6260ecc29ce8bf499deb0a0a3b4c178db0803e9","first_computed_at":"2026-07-05T06:47:26.109187Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:47:26.109187Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/MHLxg3wQA3phtH+GsdFOkkqh/26a39tL7U8DkACrBV0zawJ+ThIPFtI6QTisTxWx8S29lynMFaHDIcVrdqnDg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:47:26.109700Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.09566","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6771d9b4f4a35e307ff815d9e76fe9a007729c08f9f111c4d8e5eb2fb5c91e10","sha256:42878bc7315c5ac4c130125bf0b072de32a77f06a64211d4923e1a3dce9511ca"],"state_sha256":"504fc0a05b74e0778455b6d26956520428a18cab62d81da4e0bcfc6970d9c677"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"67dewxEXbnyOvrSTRWx2zWklmucgOE7HRtHQGSsAMPZXIu176NEbpkfYgU82ThtKRaW7bitcop+DmViCqiUCDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T02:31:43.715568Z","bundle_sha256":"24903687d999487291fb3280c6af3ac59337e4fceede9d48b7605e4ed170782e"}}