{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:WFNNVNSX5GDYJSELHWZRCRFYHU","short_pith_number":"pith:WFNNVNSX","canonical_record":{"source":{"id":"2508.21163","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-28T18:55:16Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3702ec1aed5c1ab07538c8ceb8f2880619c7b514cad2d55f1f972227f541521e","abstract_canon_sha256":"5cf401300178e6ffe4daa359dc71711ccbd623f91b3edc7c3b73430c24e2089a"},"schema_version":"1.0"},"canonical_sha256":"b15adab657e98784c88b3db31144b83d10e6d55b863d5888e279778342ba4393","source":{"kind":"arxiv","id":"2508.21163","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.21163","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"arxiv_version","alias_value":"2508.21163v1","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.21163","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"pith_short_12","alias_value":"WFNNVNSX5GDY","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"pith_short_16","alias_value":"WFNNVNSX5GDYJSEL","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"pith_short_8","alias_value":"WFNNVNSX","created_at":"2026-07-05T12:01:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:WFNNVNSX5GDYJSELHWZRCRFYHU","target":"record","payload":{"canonical_record":{"source":{"id":"2508.21163","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-28T18:55:16Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3702ec1aed5c1ab07538c8ceb8f2880619c7b514cad2d55f1f972227f541521e","abstract_canon_sha256":"5cf401300178e6ffe4daa359dc71711ccbd623f91b3edc7c3b73430c24e2089a"},"schema_version":"1.0"},"canonical_sha256":"b15adab657e98784c88b3db31144b83d10e6d55b863d5888e279778342ba4393","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:01:29.129280Z","signature_b64":"XkqxC8yEgJlJVFx85/phVs6gDnV0tbLo1C9cAcxso0HMaUFtDsD55ScEE2er2a5Z2An0dC/H2jf2t/ZFIfDYDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b15adab657e98784c88b3db31144b83d10e6d55b863d5888e279778342ba4393","last_reissued_at":"2026-07-05T12:01:29.128778Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:01:29.128778Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.21163","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":"2026-07-05T12:01:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RZmyylWi7WLvIfWJ7hbaS06cOh9urrE8a6+qA37A0WookmiFd80YtPs23jeGN1NXdivJ7c+ntvMqvSqWY40QCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T06:38:32.800865Z"},"content_sha256":"da4ae0851bba0c2f3c3e6c4d5d0f122129724dd16bd01cc99e129bc8c98390fb","schema_version":"1.0","event_id":"sha256:da4ae0851bba0c2f3c3e6c4d5d0f122129724dd16bd01cc99e129bc8c98390fb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:WFNNVNSX5GDYJSELHWZRCRFYHU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Minh-Duc Hua, Soulaimane Berkane, Tarek Bouazza, Tarek Hamel","submitted_at":"2025-08-28T18:55:16Z","abstract_excerpt":"This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity direction simultaneously by fusing velocity direction information from optical flow measurements with gyro and accelerometer data. This fusion is achieved using a globally exponentially stable Riccati observer, which operates under persistently exciting translational motion conditions. The estimated gravity direction in the body frame is then employed, along with"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.21163","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/2508.21163/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":"2026-07-05T12:01:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9MI2WPN883aWlCgAr2JqE/rlQrV0DtHpBV6I4IgCmmpg+0rc4rnfNj3FDTB2SokveUO8HI6WMieyaemQo1ZMBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T06:38:32.801418Z"},"content_sha256":"228fd22b10d84173e5b2b7bcbd784c5c2b7b768a9b75d68aa39c820ca9378c57","schema_version":"1.0","event_id":"sha256:228fd22b10d84173e5b2b7bcbd784c5c2b7b768a9b75d68aa39c820ca9378c57"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WFNNVNSX5GDYJSELHWZRCRFYHU/bundle.json","state_url":"https://pith.science/pith/WFNNVNSX5GDYJSELHWZRCRFYHU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WFNNVNSX5GDYJSELHWZRCRFYHU/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":"2026-08-15T06:38:32Z","links":{"resolver":"https://pith.science/pith/WFNNVNSX5GDYJSELHWZRCRFYHU","bundle":"https://pith.science/pith/WFNNVNSX5GDYJSELHWZRCRFYHU/bundle.json","state":"https://pith.science/pith/WFNNVNSX5GDYJSELHWZRCRFYHU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WFNNVNSX5GDYJSELHWZRCRFYHU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:WFNNVNSX5GDYJSELHWZRCRFYHU","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":"5cf401300178e6ffe4daa359dc71711ccbd623f91b3edc7c3b73430c24e2089a","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-28T18:55:16Z","title_canon_sha256":"3702ec1aed5c1ab07538c8ceb8f2880619c7b514cad2d55f1f972227f541521e"},"schema_version":"1.0","source":{"id":"2508.21163","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.21163","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"arxiv_version","alias_value":"2508.21163v1","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.21163","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"pith_short_12","alias_value":"WFNNVNSX5GDY","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"pith_short_16","alias_value":"WFNNVNSX5GDYJSEL","created_at":"2026-07-05T12:01:29Z"},{"alias_kind":"pith_short_8","alias_value":"WFNNVNSX","created_at":"2026-07-05T12:01:29Z"}],"graph_snapshots":[{"event_id":"sha256:228fd22b10d84173e5b2b7bcbd784c5c2b7b768a9b75d68aa39c820ca9378c57","target":"graph","created_at":"2026-07-05T12:01:29Z","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/2508.21163/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity direction simultaneously by fusing velocity direction information from optical flow measurements with gyro and accelerometer data. This fusion is achieved using a globally exponentially stable Riccati observer, which operates under persistently exciting translational motion conditions. The estimated gravity direction in the body frame is then employed, along with","authors_text":"Minh-Duc Hua, Soulaimane Berkane, Tarek Bouazza, Tarek Hamel","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-28T18:55:16Z","title":"Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.21163","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:da4ae0851bba0c2f3c3e6c4d5d0f122129724dd16bd01cc99e129bc8c98390fb","target":"record","created_at":"2026-07-05T12:01:29Z","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":"5cf401300178e6ffe4daa359dc71711ccbd623f91b3edc7c3b73430c24e2089a","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-28T18:55:16Z","title_canon_sha256":"3702ec1aed5c1ab07538c8ceb8f2880619c7b514cad2d55f1f972227f541521e"},"schema_version":"1.0","source":{"id":"2508.21163","kind":"arxiv","version":1}},"canonical_sha256":"b15adab657e98784c88b3db31144b83d10e6d55b863d5888e279778342ba4393","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b15adab657e98784c88b3db31144b83d10e6d55b863d5888e279778342ba4393","first_computed_at":"2026-07-05T12:01:29.128778Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:01:29.128778Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XkqxC8yEgJlJVFx85/phVs6gDnV0tbLo1C9cAcxso0HMaUFtDsD55ScEE2er2a5Z2An0dC/H2jf2t/ZFIfDYDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T12:01:29.129280Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.21163","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:da4ae0851bba0c2f3c3e6c4d5d0f122129724dd16bd01cc99e129bc8c98390fb","sha256:228fd22b10d84173e5b2b7bcbd784c5c2b7b768a9b75d68aa39c820ca9378c57"],"state_sha256":"2d03280000e50599992221f5306da82f6a39755bc75e1a56514e787454a250f3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uH6DQTlrakxZkK2zkqFpeWL9ysiX51nNsXmzKH+KJob7ZxZXSXGURZ052QdOLHNpKqT/m/fnI+F+wz1IuGCnBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T06:38:32.805087Z","bundle_sha256":"22a0571a8150202bbb6a60af59304db62e46a6cef1153af41f1eff927365b35a"}}