{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:WDZJRDZA33XRII4WEDMZ46FMEF","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":"43d39e05a87056e216eed7b440528f5759a9064f1e1fcfd80028d5fa58926e96","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-24T09:27:47Z","title_canon_sha256":"f623c3dde06152d8f6daa688803d6f887e6ca239fed961bd3fa452b237ee8ceb"},"schema_version":"1.0","source":{"id":"1610.07336","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.07336","created_at":"2026-05-18T01:01:30Z"},{"alias_kind":"arxiv_version","alias_value":"1610.07336v1","created_at":"2026-05-18T01:01:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.07336","created_at":"2026-05-18T01:01:30Z"},{"alias_kind":"pith_short_12","alias_value":"WDZJRDZA33XR","created_at":"2026-05-18T12:30:48Z"},{"alias_kind":"pith_short_16","alias_value":"WDZJRDZA33XRII4W","created_at":"2026-05-18T12:30:48Z"},{"alias_kind":"pith_short_8","alias_value":"WDZJRDZA","created_at":"2026-05-18T12:30:48Z"}],"graph_snapshots":[{"event_id":"sha256:2b757ff735bba701aebb196e8ae95c56cf7d51e0db5832933dbd5ce15f604af0","target":"graph","created_at":"2026-05-18T01:01:30Z","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":"The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the observed environment (scene). In recent years many vision based systems that perform simultaneous localization and mapping (SLAM) have been presented and released as open source. In this paper, we extend and improve upon a state-of-the-art SLAM to make it applicable to arbitrary, rigidly coupled multi-camera systems (MCS) using the MultiCol model. In addition, we include a perf","authors_text":"Stefan Hinz, Steffen Urban","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-24T09:27:47Z","title":"MultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.07336","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":"sha256:9ac94586996010694ebf6b4300017abf8c2668c9b63164a3454ec571c4ca8696","target":"record","created_at":"2026-05-18T01:01:30Z","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":"43d39e05a87056e216eed7b440528f5759a9064f1e1fcfd80028d5fa58926e96","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-10-24T09:27:47Z","title_canon_sha256":"f623c3dde06152d8f6daa688803d6f887e6ca239fed961bd3fa452b237ee8ceb"},"schema_version":"1.0","source":{"id":"1610.07336","kind":"arxiv","version":1}},"canonical_sha256":"b0f2988f20deef14239620d99e78ac215a91945138d61a7ea4b6de7c2757d9db","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b0f2988f20deef14239620d99e78ac215a91945138d61a7ea4b6de7c2757d9db","first_computed_at":"2026-05-18T01:01:30.359123Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:01:30.359123Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZWAJDwu9gg0MQ+7H7Ya0zab5iHiaH4Awojb/wxqpIsSEkmLab/1XHTBEuvybd3LxchQVUBBFq0Sd3VF03bpTCg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:01:30.359568Z","signed_message":"canonical_sha256_bytes"},"source_id":"1610.07336","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9ac94586996010694ebf6b4300017abf8c2668c9b63164a3454ec571c4ca8696","sha256:2b757ff735bba701aebb196e8ae95c56cf7d51e0db5832933dbd5ce15f604af0"],"state_sha256":"8a4457dd022a978d1a1ceed09706e531d06f36e256297905399551f3bde74214"}