{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:XWHVO3UERX7V2QR3YE2MX7QZE3","short_pith_number":"pith:XWHVO3UE","canonical_record":{"source":{"id":"2405.07594","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-13T09:56:28Z","cross_cats_sorted":[],"title_canon_sha256":"fdeaa71fe42f7cd32a139723624c5573defb53aa750c350253033af6c6c47b63","abstract_canon_sha256":"d837a6117d61ddf504afa6a736656efcf452c8d85335cafbc5e09e4094d4c5f7"},"schema_version":"1.0"},"canonical_sha256":"bd8f576e848dff5d423bc134cbfe1926f27a89767dddb6885e8594713bd9d281","source":{"kind":"arxiv","id":"2405.07594","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.07594","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"arxiv_version","alias_value":"2405.07594v2","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.07594","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"pith_short_12","alias_value":"XWHVO3UERX7V","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"pith_short_16","alias_value":"XWHVO3UERX7V2QR3","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"pith_short_8","alias_value":"XWHVO3UE","created_at":"2026-07-05T08:57:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:XWHVO3UERX7V2QR3YE2MX7QZE3","target":"record","payload":{"canonical_record":{"source":{"id":"2405.07594","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-13T09:56:28Z","cross_cats_sorted":[],"title_canon_sha256":"fdeaa71fe42f7cd32a139723624c5573defb53aa750c350253033af6c6c47b63","abstract_canon_sha256":"d837a6117d61ddf504afa6a736656efcf452c8d85335cafbc5e09e4094d4c5f7"},"schema_version":"1.0"},"canonical_sha256":"bd8f576e848dff5d423bc134cbfe1926f27a89767dddb6885e8594713bd9d281","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:57:38.226898Z","signature_b64":"wROhZFstsyULr5BEHlU3m/THhKntyqxYS9hFJR58fil9qrT0YsKVRjt6hhwzMHsz1OwZ26jkSaPwql0Vtmx+AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bd8f576e848dff5d423bc134cbfe1926f27a89767dddb6885e8594713bd9d281","last_reissued_at":"2026-07-05T08:57:38.226271Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:57:38.226271Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.07594","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":"2026-07-05T08:57:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WKkfJ2/cTjYL9y0Y4ZNjJ6W2FfVOvfzNSDp25Tw6vikalhI4Q0mK+nxr0OBMmVodWubMQ7cy0hgN4mOvaZPWAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T23:47:33.790393Z"},"content_sha256":"a5f519cefbe51dd5b5481528360eaccf0cedd27e9e003c07e34677bcf25f77ea","schema_version":"1.0","event_id":"sha256:a5f519cefbe51dd5b5481528360eaccf0cedd27e9e003c07e34677bcf25f77ea"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:XWHVO3UERX7V2QR3YE2MX7QZE3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RGBD-Glue: General Feature Combination for Robust RGB-D Point Cloud Registration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Congjia Chen, Xiaoyu Jia, Yanhong Zheng, Yufu Qu","submitted_at":"2024-05-13T09:56:28Z","abstract_excerpt":"Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to the advancement of RGB-D sensors, researchers have attempted to combine visual and geometric information to improve registration performance. However, these studies focused on extracting distinctive features by deep feature fusion, which cannot effectively solve the negative effects of each feature's weakness, and cannot sufficiently leverage the valid inform"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.07594","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/2405.07594/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":"2026-07-05T08:57:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vwqVcJLUh+6uJ6HPsyyNlsRuQVhEcOsdmWX0/AkSb13Z4iqUVj8ZQ/Tb2MYqtF45RIh5Vf0dBJ7T+gBUojzMAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T23:47:33.791412Z"},"content_sha256":"2f969385fff07ff4cd03b45c0860aa70655514dacde0e2ee571548100fdd06d3","schema_version":"1.0","event_id":"sha256:2f969385fff07ff4cd03b45c0860aa70655514dacde0e2ee571548100fdd06d3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XWHVO3UERX7V2QR3YE2MX7QZE3/bundle.json","state_url":"https://pith.science/pith/XWHVO3UERX7V2QR3YE2MX7QZE3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XWHVO3UERX7V2QR3YE2MX7QZE3/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":"2026-08-17T23:47:33Z","links":{"resolver":"https://pith.science/pith/XWHVO3UERX7V2QR3YE2MX7QZE3","bundle":"https://pith.science/pith/XWHVO3UERX7V2QR3YE2MX7QZE3/bundle.json","state":"https://pith.science/pith/XWHVO3UERX7V2QR3YE2MX7QZE3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XWHVO3UERX7V2QR3YE2MX7QZE3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:XWHVO3UERX7V2QR3YE2MX7QZE3","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":"d837a6117d61ddf504afa6a736656efcf452c8d85335cafbc5e09e4094d4c5f7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-13T09:56:28Z","title_canon_sha256":"fdeaa71fe42f7cd32a139723624c5573defb53aa750c350253033af6c6c47b63"},"schema_version":"1.0","source":{"id":"2405.07594","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.07594","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"arxiv_version","alias_value":"2405.07594v2","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.07594","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"pith_short_12","alias_value":"XWHVO3UERX7V","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"pith_short_16","alias_value":"XWHVO3UERX7V2QR3","created_at":"2026-07-05T08:57:38Z"},{"alias_kind":"pith_short_8","alias_value":"XWHVO3UE","created_at":"2026-07-05T08:57:38Z"}],"graph_snapshots":[{"event_id":"sha256:2f969385fff07ff4cd03b45c0860aa70655514dacde0e2ee571548100fdd06d3","target":"graph","created_at":"2026-07-05T08:57:38Z","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/2405.07594/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to the advancement of RGB-D sensors, researchers have attempted to combine visual and geometric information to improve registration performance. However, these studies focused on extracting distinctive features by deep feature fusion, which cannot effectively solve the negative effects of each feature's weakness, and cannot sufficiently leverage the valid inform","authors_text":"Congjia Chen, Xiaoyu Jia, Yanhong Zheng, Yufu Qu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-13T09:56:28Z","title":"RGBD-Glue: General Feature Combination for Robust RGB-D Point Cloud Registration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.07594","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:a5f519cefbe51dd5b5481528360eaccf0cedd27e9e003c07e34677bcf25f77ea","target":"record","created_at":"2026-07-05T08:57:38Z","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":"d837a6117d61ddf504afa6a736656efcf452c8d85335cafbc5e09e4094d4c5f7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-05-13T09:56:28Z","title_canon_sha256":"fdeaa71fe42f7cd32a139723624c5573defb53aa750c350253033af6c6c47b63"},"schema_version":"1.0","source":{"id":"2405.07594","kind":"arxiv","version":2}},"canonical_sha256":"bd8f576e848dff5d423bc134cbfe1926f27a89767dddb6885e8594713bd9d281","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bd8f576e848dff5d423bc134cbfe1926f27a89767dddb6885e8594713bd9d281","first_computed_at":"2026-07-05T08:57:38.226271Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:57:38.226271Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wROhZFstsyULr5BEHlU3m/THhKntyqxYS9hFJR58fil9qrT0YsKVRjt6hhwzMHsz1OwZ26jkSaPwql0Vtmx+AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:57:38.226898Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.07594","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a5f519cefbe51dd5b5481528360eaccf0cedd27e9e003c07e34677bcf25f77ea","sha256:2f969385fff07ff4cd03b45c0860aa70655514dacde0e2ee571548100fdd06d3"],"state_sha256":"bdf61850e0296eeff5752062b2aa450f9b91f1f53d5eca2cf80d8f155f8a6444"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bWrQxO5vky7f10zgP5XNmjfDO2ekAdU3CD2VwKFbc9Hszun2qqfErby667pVFLnXAWYQiTyqRbl8nIDplTMkDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T23:47:33.800521Z","bundle_sha256":"a4fabe58c8a0d9d96c0b794119ce5d7e69f445da0306491f0d76a0298c626bf3"}}