{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:WQWBWWPG2C2LDQWEO55D6OIRUU","short_pith_number":"pith:WQWBWWPG","canonical_record":{"source":{"id":"2404.00915","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-04-01T04:43:39Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"99ca946ce1b831d13b6a846e0e12f13e0ce1d45a5bc92edf5cbd40739136c5e1","abstract_canon_sha256":"99a44e3c606a4ea705cda232e4317275b138602f21717f26d7741d77a8af98bf"},"schema_version":"1.0"},"canonical_sha256":"b42c1b59e6d0b4b1c2c4777a3f3911a53d8f575ea0720bb59f1836b21dcc600c","source":{"kind":"arxiv","id":"2404.00915","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.00915","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"arxiv_version","alias_value":"2404.00915v2","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.00915","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"pith_short_12","alias_value":"WQWBWWPG2C2L","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"pith_short_16","alias_value":"WQWBWWPG2C2LDQWE","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"pith_short_8","alias_value":"WQWBWWPG","created_at":"2026-07-05T08:05:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:WQWBWWPG2C2LDQWEO55D6OIRUU","target":"record","payload":{"canonical_record":{"source":{"id":"2404.00915","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-04-01T04:43:39Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"99ca946ce1b831d13b6a846e0e12f13e0ce1d45a5bc92edf5cbd40739136c5e1","abstract_canon_sha256":"99a44e3c606a4ea705cda232e4317275b138602f21717f26d7741d77a8af98bf"},"schema_version":"1.0"},"canonical_sha256":"b42c1b59e6d0b4b1c2c4777a3f3911a53d8f575ea0720bb59f1836b21dcc600c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:05:57.858285Z","signature_b64":"sHPOQCNfTI3lxn0ZE+TJdUQJCYowZZDpoZIQg4POqbQ8vqVBBQqOgxHmrDDSRP+s1toSbh9IXcC2pr5aLmMcCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b42c1b59e6d0b4b1c2c4777a3f3911a53d8f575ea0720bb59f1836b21dcc600c","last_reissued_at":"2026-07-05T08:05:57.857830Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:05:57.857830Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2404.00915","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":"2026-07-05T08:05:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ni941jv59ZjDpSdmV8fCETOjTpwex3f61IFsOnhmO7ytoOpAsX26dqkqdMhRbugPGY35Ku65i8DpAhi/GN9XCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-21T12:39:25.686279Z"},"content_sha256":"d2e53c73623379f9b6f3940cd8abbfa81766e862f573c1a3a0c735fb1babd368","schema_version":"1.0","event_id":"sha256:d2e53c73623379f9b6f3940cd8abbfa81766e862f573c1a3a0c735fb1babd368"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:WQWBWWPG2C2LDQWEO55D6OIRUU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Scalable 3D Registration via Truncated Entry-wise Absolute Residuals","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Liangzu Peng, Ren\\'e Vidal, Tianyu Huang, Yun-hui Liu","submitted_at":"2024-04-01T04:43:39Z","abstract_excerpt":"Given an input set of $3$D point pairs, the goal of outlier-robust $3$D registration is to compute some rotation and translation that align as many point pairs as possible. This is an important problem in computer vision, for which many highly accurate approaches have been recently proposed. Despite their impressive performance, these approaches lack scalability, often overflowing the $16$GB of memory of a standard laptop to handle roughly $30,000$ point pairs. In this paper, we propose a $3$D registration approach that can process more than ten million ($10^7$) point pairs with over $99\\%$ ra"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.00915","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/2404.00915/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":"2026-07-05T08:05:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CiVauP/L+Ggqhn9j289HbWFCuooNPNLMYG+udazLrr+eBKGX1hw6wD/j3m1DyB596/5jchWxcOyBbPEjFfBmAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-21T12:39:25.686671Z"},"content_sha256":"fdda05afb5e8503fcd46976519bf1e78b0c1373a796d021ef26487a03f5661bc","schema_version":"1.0","event_id":"sha256:fdda05afb5e8503fcd46976519bf1e78b0c1373a796d021ef26487a03f5661bc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WQWBWWPG2C2LDQWEO55D6OIRUU/bundle.json","state_url":"https://pith.science/pith/WQWBWWPG2C2LDQWEO55D6OIRUU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WQWBWWPG2C2LDQWEO55D6OIRUU/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":"2026-07-21T12:39:25Z","links":{"resolver":"https://pith.science/pith/WQWBWWPG2C2LDQWEO55D6OIRUU","bundle":"https://pith.science/pith/WQWBWWPG2C2LDQWEO55D6OIRUU/bundle.json","state":"https://pith.science/pith/WQWBWWPG2C2LDQWEO55D6OIRUU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WQWBWWPG2C2LDQWEO55D6OIRUU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:WQWBWWPG2C2LDQWEO55D6OIRUU","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":"99a44e3c606a4ea705cda232e4317275b138602f21717f26d7741d77a8af98bf","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-04-01T04:43:39Z","title_canon_sha256":"99ca946ce1b831d13b6a846e0e12f13e0ce1d45a5bc92edf5cbd40739136c5e1"},"schema_version":"1.0","source":{"id":"2404.00915","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.00915","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"arxiv_version","alias_value":"2404.00915v2","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.00915","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"pith_short_12","alias_value":"WQWBWWPG2C2L","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"pith_short_16","alias_value":"WQWBWWPG2C2LDQWE","created_at":"2026-07-05T08:05:57Z"},{"alias_kind":"pith_short_8","alias_value":"WQWBWWPG","created_at":"2026-07-05T08:05:57Z"}],"graph_snapshots":[{"event_id":"sha256:fdda05afb5e8503fcd46976519bf1e78b0c1373a796d021ef26487a03f5661bc","target":"graph","created_at":"2026-07-05T08:05:57Z","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/2404.00915/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Given an input set of $3$D point pairs, the goal of outlier-robust $3$D registration is to compute some rotation and translation that align as many point pairs as possible. This is an important problem in computer vision, for which many highly accurate approaches have been recently proposed. Despite their impressive performance, these approaches lack scalability, often overflowing the $16$GB of memory of a standard laptop to handle roughly $30,000$ point pairs. In this paper, we propose a $3$D registration approach that can process more than ten million ($10^7$) point pairs with over $99\\%$ ra","authors_text":"Liangzu Peng, Ren\\'e Vidal, Tianyu Huang, Yun-hui Liu","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-04-01T04:43:39Z","title":"Scalable 3D Registration via Truncated Entry-wise Absolute Residuals"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.00915","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:d2e53c73623379f9b6f3940cd8abbfa81766e862f573c1a3a0c735fb1babd368","target":"record","created_at":"2026-07-05T08:05:57Z","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":"99a44e3c606a4ea705cda232e4317275b138602f21717f26d7741d77a8af98bf","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-04-01T04:43:39Z","title_canon_sha256":"99ca946ce1b831d13b6a846e0e12f13e0ce1d45a5bc92edf5cbd40739136c5e1"},"schema_version":"1.0","source":{"id":"2404.00915","kind":"arxiv","version":2}},"canonical_sha256":"b42c1b59e6d0b4b1c2c4777a3f3911a53d8f575ea0720bb59f1836b21dcc600c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b42c1b59e6d0b4b1c2c4777a3f3911a53d8f575ea0720bb59f1836b21dcc600c","first_computed_at":"2026-07-05T08:05:57.857830Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:05:57.857830Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sHPOQCNfTI3lxn0ZE+TJdUQJCYowZZDpoZIQg4POqbQ8vqVBBQqOgxHmrDDSRP+s1toSbh9IXcC2pr5aLmMcCA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:05:57.858285Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.00915","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d2e53c73623379f9b6f3940cd8abbfa81766e862f573c1a3a0c735fb1babd368","sha256:fdda05afb5e8503fcd46976519bf1e78b0c1373a796d021ef26487a03f5661bc"],"state_sha256":"6a9dc970997cae952816dec3a6035c75f19c1b27687ab5b07cc4b402f3e76c13"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IaTjSVGI798ZYmAFfv0WQ0QfR9AWLj/gax8Cj49q/fc8RKHk3sHXeHs5cKUq2VM546mH3uQZ5zGoyz8oAA8aCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-21T12:39:25.688727Z","bundle_sha256":"99943fa4e42f525bb93bc99dc85ef1c97268b10c83cf5f5b6bc3730ed1d32e60"}}