{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:W4LPFQBXBHPHS3T4F5LTDFEFWJ","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":"aeebe5b4821ee3765658dce391ac3d2ca0154e8a92a87c25bf1a52c660dea59f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-22T10:22:32Z","title_canon_sha256":"992322878a6f0881df5689d343bb47c5288d8ee9f70fce4ca4385146bff2cc84"},"schema_version":"1.0","source":{"id":"1901.07242","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.07242","created_at":"2026-05-17T23:55:47Z"},{"alias_kind":"arxiv_version","alias_value":"1901.07242v1","created_at":"2026-05-17T23:55:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.07242","created_at":"2026-05-17T23:55:47Z"},{"alias_kind":"pith_short_12","alias_value":"W4LPFQBXBHPH","created_at":"2026-05-18T12:33:30Z"},{"alias_kind":"pith_short_16","alias_value":"W4LPFQBXBHPHS3T4","created_at":"2026-05-18T12:33:30Z"},{"alias_kind":"pith_short_8","alias_value":"W4LPFQBX","created_at":"2026-05-18T12:33:30Z"}],"graph_snapshots":[{"event_id":"sha256:581b5d7e992068ce4062634639e552066430d8a8291ced2e163badafcba67553","target":"graph","created_at":"2026-05-17T23:55:47Z","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"},"paper":{"abstract_excerpt":"External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might yield poor performance since the observability of certain parameters is highly dependent on the motion. Additionally, on resource-constrained systems (e.g mobile phones), full-batch approaches over longer sessions quickly become prohibitively expensive.\n  In this paper, we approach the self-calibration problem by introducing information theoretic metrics to as","authors_text":"Cesar Cadena, Juan Nieto, Mingyang Li, Roland Siegwart, Thomas Schneider","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-22T10:22:32Z","title":"Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.07242","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":"sha256:6b64b64b13c0868f72d829b15f33e04778fb892a7fec64c23d2ec9188b574aa2","target":"record","created_at":"2026-05-17T23:55:47Z","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":"aeebe5b4821ee3765658dce391ac3d2ca0154e8a92a87c25bf1a52c660dea59f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-22T10:22:32Z","title_canon_sha256":"992322878a6f0881df5689d343bb47c5288d8ee9f70fce4ca4385146bff2cc84"},"schema_version":"1.0","source":{"id":"1901.07242","kind":"arxiv","version":1}},"canonical_sha256":"b716f2c03709de796e7c2f57319485b2443b92981fce89c4d77994ac42ef985e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b716f2c03709de796e7c2f57319485b2443b92981fce89c4d77994ac42ef985e","first_computed_at":"2026-05-17T23:55:47.674815Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:55:47.674815Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zMsZZ7HUgrsZFjmqYSsK85AK+jW84Xp3ATAgTnZF3qCQ0QXgM4waieiHFj49KsBLmDWA5gVTBx25PTOeGCVnDg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:55:47.675575Z","signed_message":"canonical_sha256_bytes"},"source_id":"1901.07242","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6b64b64b13c0868f72d829b15f33e04778fb892a7fec64c23d2ec9188b574aa2","sha256:581b5d7e992068ce4062634639e552066430d8a8291ced2e163badafcba67553"],"state_sha256":"9400f6ac3c6656b4b275dafdcca943ae65beb50bc483be25c41853ab5d98ec6c"}