{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:XSO4CTT6EDAUJJ5JBZ75QNFURH","short_pith_number":"pith:XSO4CTT6","canonical_record":{"source":{"id":"2107.08994","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-19T16:13:18Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"bc209df1724dd478c8b0ae35d07e8d2f4f8744c7fb2b8e1dc26e253231e47820","abstract_canon_sha256":"b28012fd47c553acf6dd4a4005b95a72fc302b611fb8c2ef8827f3e0e6b999d7"},"schema_version":"1.0"},"canonical_sha256":"bc9dc14e7e20c144a7a90e7fd834b489db0b94a686504353b3b57d853cb95516","source":{"kind":"arxiv","id":"2107.08994","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.08994","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"arxiv_version","alias_value":"2107.08994v1","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.08994","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"pith_short_12","alias_value":"XSO4CTT6EDAU","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"pith_short_16","alias_value":"XSO4CTT6EDAUJJ5J","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"pith_short_8","alias_value":"XSO4CTT6","created_at":"2026-07-05T02:58:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:XSO4CTT6EDAUJJ5JBZ75QNFURH","target":"record","payload":{"canonical_record":{"source":{"id":"2107.08994","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-19T16:13:18Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"bc209df1724dd478c8b0ae35d07e8d2f4f8744c7fb2b8e1dc26e253231e47820","abstract_canon_sha256":"b28012fd47c553acf6dd4a4005b95a72fc302b611fb8c2ef8827f3e0e6b999d7"},"schema_version":"1.0"},"canonical_sha256":"bc9dc14e7e20c144a7a90e7fd834b489db0b94a686504353b3b57d853cb95516","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:58:54.963058Z","signature_b64":"s7+Df0zm6r6jhWcnNrCg6NPLyE666zXYw8SjrCIj2Jao2Y8wLLjMohBxu6Y1BPv9+A01OQtm7h5ShRT4S6X1BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bc9dc14e7e20c144a7a90e7fd834b489db0b94a686504353b3b57d853cb95516","last_reissued_at":"2026-07-05T02:58:54.962652Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:58:54.962652Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2107.08994","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":"2026-07-05T02:58:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TUB+62nnldLKsham+aLCDeZVMVrc9IiBtLe3cADd+5yMQEYEKqtLtObz8fWPQZD4WkMx5Cp2h6DzVsJ5w+YRDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T22:10:03.440567Z"},"content_sha256":"40773ce36bdb8490921269766a30f0f762c4ea0aaf30891abcf0db572449ae40","schema_version":"1.0","event_id":"sha256:40773ce36bdb8490921269766a30f0f762c4ea0aaf30891abcf0db572449ae40"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:XSO4CTT6EDAUJJ5JBZ75QNFURH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Andrew J. Davison, Hidenobu Matsuki, Jan Czarnowski, Raluca Scona","submitted_at":"2021-07-19T16:13:18Z","abstract_excerpt":"We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and locations of landmarks. While these sparse maps are useful for localization, they cannot be used for other tasks such as obstacle avoidance or scene understanding. In this paper we propose a dense mapping framework to complement sparse visual SLAM systems which takes as input the camera poses, keyframes and sparse points produced by the SLAM system and predicts a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.08994","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/2107.08994/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":"2026-07-05T02:58:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9PsK6LrfwaqXmDWDOk+KlbxGL6wRm+tOvdmndD99nWGPDTYlFLKa8BCXUwVxxQWRL5PlqBq3Lly0ifDRxdYJAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T22:10:03.441123Z"},"content_sha256":"0343f09dd0061b78c85e97e67f6fd501adef52134a4d0478c8c0b131e03b5bcc","schema_version":"1.0","event_id":"sha256:0343f09dd0061b78c85e97e67f6fd501adef52134a4d0478c8c0b131e03b5bcc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XSO4CTT6EDAUJJ5JBZ75QNFURH/bundle.json","state_url":"https://pith.science/pith/XSO4CTT6EDAUJJ5JBZ75QNFURH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XSO4CTT6EDAUJJ5JBZ75QNFURH/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":"2026-08-10T22:10:03Z","links":{"resolver":"https://pith.science/pith/XSO4CTT6EDAUJJ5JBZ75QNFURH","bundle":"https://pith.science/pith/XSO4CTT6EDAUJJ5JBZ75QNFURH/bundle.json","state":"https://pith.science/pith/XSO4CTT6EDAUJJ5JBZ75QNFURH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XSO4CTT6EDAUJJ5JBZ75QNFURH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:XSO4CTT6EDAUJJ5JBZ75QNFURH","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":"b28012fd47c553acf6dd4a4005b95a72fc302b611fb8c2ef8827f3e0e6b999d7","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-19T16:13:18Z","title_canon_sha256":"bc209df1724dd478c8b0ae35d07e8d2f4f8744c7fb2b8e1dc26e253231e47820"},"schema_version":"1.0","source":{"id":"2107.08994","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.08994","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"arxiv_version","alias_value":"2107.08994v1","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.08994","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"pith_short_12","alias_value":"XSO4CTT6EDAU","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"pith_short_16","alias_value":"XSO4CTT6EDAUJJ5J","created_at":"2026-07-05T02:58:54Z"},{"alias_kind":"pith_short_8","alias_value":"XSO4CTT6","created_at":"2026-07-05T02:58:54Z"}],"graph_snapshots":[{"event_id":"sha256:0343f09dd0061b78c85e97e67f6fd501adef52134a4d0478c8c0b131e03b5bcc","target":"graph","created_at":"2026-07-05T02:58:54Z","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/2107.08994/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and locations of landmarks. While these sparse maps are useful for localization, they cannot be used for other tasks such as obstacle avoidance or scene understanding. In this paper we propose a dense mapping framework to complement sparse visual SLAM systems which takes as input the camera poses, keyframes and sparse points produced by the SLAM system and predicts a","authors_text":"Andrew J. Davison, Hidenobu Matsuki, Jan Czarnowski, Raluca Scona","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-19T16:13:18Z","title":"CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.08994","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":"sha256:40773ce36bdb8490921269766a30f0f762c4ea0aaf30891abcf0db572449ae40","target":"record","created_at":"2026-07-05T02:58:54Z","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":"b28012fd47c553acf6dd4a4005b95a72fc302b611fb8c2ef8827f3e0e6b999d7","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-07-19T16:13:18Z","title_canon_sha256":"bc209df1724dd478c8b0ae35d07e8d2f4f8744c7fb2b8e1dc26e253231e47820"},"schema_version":"1.0","source":{"id":"2107.08994","kind":"arxiv","version":1}},"canonical_sha256":"bc9dc14e7e20c144a7a90e7fd834b489db0b94a686504353b3b57d853cb95516","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bc9dc14e7e20c144a7a90e7fd834b489db0b94a686504353b3b57d853cb95516","first_computed_at":"2026-07-05T02:58:54.962652Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:58:54.962652Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"s7+Df0zm6r6jhWcnNrCg6NPLyE666zXYw8SjrCIj2Jao2Y8wLLjMohBxu6Y1BPv9+A01OQtm7h5ShRT4S6X1BA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:58:54.963058Z","signed_message":"canonical_sha256_bytes"},"source_id":"2107.08994","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:40773ce36bdb8490921269766a30f0f762c4ea0aaf30891abcf0db572449ae40","sha256:0343f09dd0061b78c85e97e67f6fd501adef52134a4d0478c8c0b131e03b5bcc"],"state_sha256":"2b823aae3b62eb56c3360847394b6f1a6b1c73abb8e92f0fe09a54c37987112d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZdZZy4TUtsjWHBQV41LOVtX21QEUnTqlpql5GiLEs2YA9JzsmzfkHKWeZeHZEV09Zv408FyylwWW1yiHNzZhCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T22:10:03.447388Z","bundle_sha256":"43c125390df2fa0e2f1420d5e8b8bdb2a7a501845718945d57ca2c2cecf68a9e"}}