{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:WAW6ZXHZCISGL453RCKIND6FM5","short_pith_number":"pith:WAW6ZXHZ","canonical_record":{"source":{"id":"2509.08159","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T21:39:13Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"df4d1b8939b27e387d6f8ff68b3fd0e006c8165add20aa50ff00def72b992e2f","abstract_canon_sha256":"9cf95b0ce6a4fb19e375eda5363af4eca1be4f6ace778f56cc87c8f8556ff1b3"},"schema_version":"1.0"},"canonical_sha256":"b02decdcf9122465f3bb8894868fc567658134252d04bcc45c259f10242386c5","source":{"kind":"arxiv","id":"2509.08159","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.08159","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"arxiv_version","alias_value":"2509.08159v1","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.08159","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"pith_short_12","alias_value":"WAW6ZXHZCISG","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"pith_short_16","alias_value":"WAW6ZXHZCISGL453","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"pith_short_8","alias_value":"WAW6ZXHZ","created_at":"2026-07-05T12:08:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:WAW6ZXHZCISGL453RCKIND6FM5","target":"record","payload":{"canonical_record":{"source":{"id":"2509.08159","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T21:39:13Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"df4d1b8939b27e387d6f8ff68b3fd0e006c8165add20aa50ff00def72b992e2f","abstract_canon_sha256":"9cf95b0ce6a4fb19e375eda5363af4eca1be4f6ace778f56cc87c8f8556ff1b3"},"schema_version":"1.0"},"canonical_sha256":"b02decdcf9122465f3bb8894868fc567658134252d04bcc45c259f10242386c5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:08:24.021951Z","signature_b64":"gBLBWVpdleE93AhMvib1ODGT7Tc2xyfISYPNen6TP0un1eG3Wph2RtJekF++MNYFO/wwXzjW9PECrkNgMbvUCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b02decdcf9122465f3bb8894868fc567658134252d04bcc45c259f10242386c5","last_reissued_at":"2026-07-05T12:08:24.021473Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:08:24.021473Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.08159","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T12:08:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fH3u8zXQrLzeofxt3BUxeplFwOLmArT3NoBzqa3wG6HPLTMwvROAPB9UUGwUUN0pZFpSW2H3rQ8hOgvyBG5HCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:03:56.800651Z"},"content_sha256":"a51a55cddec79e5a74b82fcc77f04592cb408a3cdf0acd160140db49cabb2b66","schema_version":"1.0","event_id":"sha256:a51a55cddec79e5a74b82fcc77f04592cb408a3cdf0acd160140db49cabb2b66"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:WAW6ZXHZCISGL453RCKIND6FM5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Zero-Shot Metric Depth Estimation via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Kshitij Goel, Steven Yang, Wennie Tabib, Xiaoyu Tian","submitted_at":"2025-09-09T21:39:13Z","abstract_excerpt":"This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight, prior works either leverage heavy sensors (e.g., LiDARs or stereo cameras) or data-intensive and domain-specific fine-tuning of monocular metric depth estimation methods. In contrast, we propose several lightweight zero-shot rescaling strategies to obtain metric depth from relative depth estimates via the sparse 3D feature map created using a visual-inertial navigation system. These strategies are compared for their "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.08159","kind":"arxiv","version":1},"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/2509.08159/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":"2026-07-05T12:08:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R1zUQ5Lx8w/rO2QBP94Xk/Ib+CT7b+HwpVK/GkfNr6/Ot7dn1tUdsOFxUYZCxMTXqxjxMs2gtDau5c3LlaKtDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:03:56.801550Z"},"content_sha256":"035aca44718c5f71999c025c419de1f8802bcb6187c15af566ade691a79c634b","schema_version":"1.0","event_id":"sha256:035aca44718c5f71999c025c419de1f8802bcb6187c15af566ade691a79c634b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WAW6ZXHZCISGL453RCKIND6FM5/bundle.json","state_url":"https://pith.science/pith/WAW6ZXHZCISGL453RCKIND6FM5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WAW6ZXHZCISGL453RCKIND6FM5/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":"2026-08-06T05:03:56Z","links":{"resolver":"https://pith.science/pith/WAW6ZXHZCISGL453RCKIND6FM5","bundle":"https://pith.science/pith/WAW6ZXHZCISGL453RCKIND6FM5/bundle.json","state":"https://pith.science/pith/WAW6ZXHZCISGL453RCKIND6FM5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WAW6ZXHZCISGL453RCKIND6FM5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:WAW6ZXHZCISGL453RCKIND6FM5","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":"9cf95b0ce6a4fb19e375eda5363af4eca1be4f6ace778f56cc87c8f8556ff1b3","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T21:39:13Z","title_canon_sha256":"df4d1b8939b27e387d6f8ff68b3fd0e006c8165add20aa50ff00def72b992e2f"},"schema_version":"1.0","source":{"id":"2509.08159","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.08159","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"arxiv_version","alias_value":"2509.08159v1","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.08159","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"pith_short_12","alias_value":"WAW6ZXHZCISG","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"pith_short_16","alias_value":"WAW6ZXHZCISGL453","created_at":"2026-07-05T12:08:24Z"},{"alias_kind":"pith_short_8","alias_value":"WAW6ZXHZ","created_at":"2026-07-05T12:08:24Z"}],"graph_snapshots":[{"event_id":"sha256:035aca44718c5f71999c025c419de1f8802bcb6187c15af566ade691a79c634b","target":"graph","created_at":"2026-07-05T12:08:24Z","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/2509.08159/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight, prior works either leverage heavy sensors (e.g., LiDARs or stereo cameras) or data-intensive and domain-specific fine-tuning of monocular metric depth estimation methods. In contrast, we propose several lightweight zero-shot rescaling strategies to obtain metric depth from relative depth estimates via the sparse 3D feature map created using a visual-inertial navigation system. These strategies are compared for their ","authors_text":"Kshitij Goel, Steven Yang, Wennie Tabib, Xiaoyu Tian","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T21:39:13Z","title":"Zero-Shot Metric Depth Estimation via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.08159","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:a51a55cddec79e5a74b82fcc77f04592cb408a3cdf0acd160140db49cabb2b66","target":"record","created_at":"2026-07-05T12:08:24Z","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":"9cf95b0ce6a4fb19e375eda5363af4eca1be4f6ace778f56cc87c8f8556ff1b3","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T21:39:13Z","title_canon_sha256":"df4d1b8939b27e387d6f8ff68b3fd0e006c8165add20aa50ff00def72b992e2f"},"schema_version":"1.0","source":{"id":"2509.08159","kind":"arxiv","version":1}},"canonical_sha256":"b02decdcf9122465f3bb8894868fc567658134252d04bcc45c259f10242386c5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b02decdcf9122465f3bb8894868fc567658134252d04bcc45c259f10242386c5","first_computed_at":"2026-07-05T12:08:24.021473Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:08:24.021473Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gBLBWVpdleE93AhMvib1ODGT7Tc2xyfISYPNen6TP0un1eG3Wph2RtJekF++MNYFO/wwXzjW9PECrkNgMbvUCg==","signature_status":"signed_v1","signed_at":"2026-07-05T12:08:24.021951Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.08159","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a51a55cddec79e5a74b82fcc77f04592cb408a3cdf0acd160140db49cabb2b66","sha256:035aca44718c5f71999c025c419de1f8802bcb6187c15af566ade691a79c634b"],"state_sha256":"70f7dbd1e5329f264523750d82cc61885c784dd8f46294d7bba6a2cd2a02d0b9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ddj8JDPdhrsTaf7wOqWoNm1cHUDF9QuAvcT2f00OqLsXox4rZMqZ3LrtfPZZVv6j8s0CPm+8rIRR+epC+Zx7BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T05:03:56.806552Z","bundle_sha256":"05260e919c8a1e9bd2fa4bcd68201d9002d8822171dd752123b01575fcdab119"}}