{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:W3COG57LW7BNCTT4G4H3WXVVUH","short_pith_number":"pith:W3COG57L","canonical_record":{"source":{"id":"2104.14938","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-30T12:04:26Z","cross_cats_sorted":[],"title_canon_sha256":"85fac28a65e62e028585e9b74a2dc459027869daed3f05e9ffa70499c875a7ea","abstract_canon_sha256":"d4195d6ba3d86e958a9ced98d6c0e41d571f6a5483d9870598413e4dc1fefabe"},"schema_version":"1.0"},"canonical_sha256":"b6c4e377ebb7c2d14e7c370fbb5eb5a1c2280bff5cad052986e032b4d6bfc8f7","source":{"kind":"arxiv","id":"2104.14938","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.14938","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"arxiv_version","alias_value":"2104.14938v2","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.14938","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"pith_short_12","alias_value":"W3COG57LW7BN","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"pith_short_16","alias_value":"W3COG57LW7BNCTT4","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"pith_short_8","alias_value":"W3COG57L","created_at":"2026-07-05T03:07:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:W3COG57LW7BNCTT4G4H3WXVVUH","target":"record","payload":{"canonical_record":{"source":{"id":"2104.14938","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-30T12:04:26Z","cross_cats_sorted":[],"title_canon_sha256":"85fac28a65e62e028585e9b74a2dc459027869daed3f05e9ffa70499c875a7ea","abstract_canon_sha256":"d4195d6ba3d86e958a9ced98d6c0e41d571f6a5483d9870598413e4dc1fefabe"},"schema_version":"1.0"},"canonical_sha256":"b6c4e377ebb7c2d14e7c370fbb5eb5a1c2280bff5cad052986e032b4d6bfc8f7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:07:28.365165Z","signature_b64":"A6EbkQhGoV0Kvzg77wXVKadFBf2kYxWjIUSAGQ0XT1xT1lXAwGdB3c+Y0RmmJJWEMOrs9kopHDvjC/Mc0uchDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b6c4e377ebb7c2d14e7c370fbb5eb5a1c2280bff5cad052986e032b4d6bfc8f7","last_reissued_at":"2026-07-05T03:07:28.364679Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:07:28.364679Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2104.14938","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":"2026-07-05T03:07:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DUkfme0ck3SBszUzdH0TKI9BekIMg2nAiS71Nv/JM0NfigNkpScH4ClGjEWvh6zmsxgDI+N+fZnSktU/RTFjDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T15:21:31.672493Z"},"content_sha256":"55e30f544df03d25b1ecea8507c68aab866eb63a5e7c104679de8631d5e17a7a","schema_version":"1.0","event_id":"sha256:55e30f544df03d25b1ecea8507c68aab866eb63a5e7c104679de8631d5e17a7a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:W3COG57LW7BNCTT4G4H3WXVVUH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hengrui Zhang, Lucas Nogueira, Peng Wang, Sebastian Scherer, Shibo Zhao","submitted_at":"2021-04-30T12:04:26Z","abstract_excerpt":"We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in perceptually-degraded environments. Different from traditional sensor-fusion methods, Super Odometry employs an IMU-centric data processing pipeline, which combines the advantages of loosely coupled methods with tightly coupled methods and recovers motion in a coarse-to-fine manner. The proposed framework is composed of three parts: IMU odometry, visual-inertial odometry, and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.14938","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/2104.14938/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":"2026-07-05T03:07:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Dq4AGIyJ2Wg+jJEYYaQkbv0Ss+W4lULMChN9zH7CSXctqJoB9XUbNB8ivNKjpohZmrqu2zZ+wWwXgVEGbG6SBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T15:21:31.672960Z"},"content_sha256":"c8e0ec8cffa31b8543c6e8ab4a50a4c93f99789f4d551fb1907da16a4d148d73","schema_version":"1.0","event_id":"sha256:c8e0ec8cffa31b8543c6e8ab4a50a4c93f99789f4d551fb1907da16a4d148d73"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/W3COG57LW7BNCTT4G4H3WXVVUH/bundle.json","state_url":"https://pith.science/pith/W3COG57LW7BNCTT4G4H3WXVVUH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/W3COG57LW7BNCTT4G4H3WXVVUH/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":"2026-08-05T15:21:31Z","links":{"resolver":"https://pith.science/pith/W3COG57LW7BNCTT4G4H3WXVVUH","bundle":"https://pith.science/pith/W3COG57LW7BNCTT4G4H3WXVVUH/bundle.json","state":"https://pith.science/pith/W3COG57LW7BNCTT4G4H3WXVVUH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/W3COG57LW7BNCTT4G4H3WXVVUH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:W3COG57LW7BNCTT4G4H3WXVVUH","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":"d4195d6ba3d86e958a9ced98d6c0e41d571f6a5483d9870598413e4dc1fefabe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-30T12:04:26Z","title_canon_sha256":"85fac28a65e62e028585e9b74a2dc459027869daed3f05e9ffa70499c875a7ea"},"schema_version":"1.0","source":{"id":"2104.14938","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.14938","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"arxiv_version","alias_value":"2104.14938v2","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.14938","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"pith_short_12","alias_value":"W3COG57LW7BN","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"pith_short_16","alias_value":"W3COG57LW7BNCTT4","created_at":"2026-07-05T03:07:28Z"},{"alias_kind":"pith_short_8","alias_value":"W3COG57L","created_at":"2026-07-05T03:07:28Z"}],"graph_snapshots":[{"event_id":"sha256:c8e0ec8cffa31b8543c6e8ab4a50a4c93f99789f4d551fb1907da16a4d148d73","target":"graph","created_at":"2026-07-05T03:07:28Z","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/2104.14938/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in perceptually-degraded environments. Different from traditional sensor-fusion methods, Super Odometry employs an IMU-centric data processing pipeline, which combines the advantages of loosely coupled methods with tightly coupled methods and recovers motion in a coarse-to-fine manner. The proposed framework is composed of three parts: IMU odometry, visual-inertial odometry, and ","authors_text":"Hengrui Zhang, Lucas Nogueira, Peng Wang, Sebastian Scherer, Shibo Zhao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-30T12:04:26Z","title":"Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.14938","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":"sha256:55e30f544df03d25b1ecea8507c68aab866eb63a5e7c104679de8631d5e17a7a","target":"record","created_at":"2026-07-05T03:07:28Z","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":"d4195d6ba3d86e958a9ced98d6c0e41d571f6a5483d9870598413e4dc1fefabe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-30T12:04:26Z","title_canon_sha256":"85fac28a65e62e028585e9b74a2dc459027869daed3f05e9ffa70499c875a7ea"},"schema_version":"1.0","source":{"id":"2104.14938","kind":"arxiv","version":2}},"canonical_sha256":"b6c4e377ebb7c2d14e7c370fbb5eb5a1c2280bff5cad052986e032b4d6bfc8f7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b6c4e377ebb7c2d14e7c370fbb5eb5a1c2280bff5cad052986e032b4d6bfc8f7","first_computed_at":"2026-07-05T03:07:28.364679Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:07:28.364679Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"A6EbkQhGoV0Kvzg77wXVKadFBf2kYxWjIUSAGQ0XT1xT1lXAwGdB3c+Y0RmmJJWEMOrs9kopHDvjC/Mc0uchDg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:07:28.365165Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.14938","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:55e30f544df03d25b1ecea8507c68aab866eb63a5e7c104679de8631d5e17a7a","sha256:c8e0ec8cffa31b8543c6e8ab4a50a4c93f99789f4d551fb1907da16a4d148d73"],"state_sha256":"83ae10429a17203b06afcd13be46f424224027afe0b1ec3343614222e3c9b36a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Db0+RGTDjjQGxALMWE+2CTz6tqG7hH3D+uBPdjYnwvNch/NN23EWaTUBqlPfLvXdOcAS55KO/svGlNJbvzqUCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T15:21:31.675938Z","bundle_sha256":"2e7dc18fdaf4a455ff970b5b175caee7f512c9ddf207605e819a175d6421e4ee"}}