{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:YQ3FIJFLMN555NZTJ42ROSW2HQ","short_pith_number":"pith:YQ3FIJFL","canonical_record":{"source":{"id":"2108.05756","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-12T13:50:44Z","cross_cats_sorted":["cs.CV","cs.MA"],"title_canon_sha256":"da9f56c4f84f39aef96807b521e45558574e20d0823414ec6ffc1de46950994a","abstract_canon_sha256":"26ae2916eaa466e43b366e221f45e1bc08e3d08df7f684ae7e390e8652e95675"},"schema_version":"1.0"},"canonical_sha256":"c4365424ab637bdeb7334f35174ada3c1cf298a52ae84c0a8b9baa5bb2d3a865","source":{"kind":"arxiv","id":"2108.05756","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.05756","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"arxiv_version","alias_value":"2108.05756v1","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.05756","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"pith_short_12","alias_value":"YQ3FIJFLMN55","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"pith_short_16","alias_value":"YQ3FIJFLMN555NZT","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"pith_short_8","alias_value":"YQ3FIJFL","created_at":"2026-07-05T03:05:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:YQ3FIJFLMN555NZTJ42ROSW2HQ","target":"record","payload":{"canonical_record":{"source":{"id":"2108.05756","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-12T13:50:44Z","cross_cats_sorted":["cs.CV","cs.MA"],"title_canon_sha256":"da9f56c4f84f39aef96807b521e45558574e20d0823414ec6ffc1de46950994a","abstract_canon_sha256":"26ae2916eaa466e43b366e221f45e1bc08e3d08df7f684ae7e390e8652e95675"},"schema_version":"1.0"},"canonical_sha256":"c4365424ab637bdeb7334f35174ada3c1cf298a52ae84c0a8b9baa5bb2d3a865","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:05:17.614087Z","signature_b64":"4aDB3WPRRHzzARriYLozUWD5sOOeIFgTM7YTMwxUJynvC8Slb0ydqX8gv+PIGZsRWWEzkZ+m7Go1DgcubAcvCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c4365424ab637bdeb7334f35174ada3c1cf298a52ae84c0a8b9baa5bb2d3a865","last_reissued_at":"2026-07-05T03:05:17.613565Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:05:17.613565Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.05756","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":"2026-07-05T03:05:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CxdvUf7QDpblxwix5pcGOg28DDIlSKuAzFFKu6Lg9btD+4hn4g4TolM3NeCJY2Ndix2G6Qpdl4LXPmPwaS7EBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T16:29:21.463102Z"},"content_sha256":"8c638f62be9108a64f068048194f6855ed7001e56b68b1cca4802a0f5d1e1502","schema_version":"1.0","event_id":"sha256:8c638f62be9108a64f068048194f6855ed7001e56b68b1cca4802a0f5d1e1502"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:YQ3FIJFLMN555NZTJ42ROSW2HQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"COVINS: Visual-Inertial SLAM for Centralized Collaboration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.MA"],"primary_cat":"cs.RO","authors_text":"Jonathan Perraudin, Marco Karrer, Margarita Chli, Patrik Schmuck, Thomas Ziegler","submitted_at":"2021-08-12T13:50:44Z","abstract_excerpt":"Collaborative SLAM enables a group of agents to simultaneously co-localize and jointly map an environment, thus paving the way to wide-ranging applications of multi-robot perception and multi-user AR experiences by eliminating the need for external infrastructure or pre-built maps. This article presents COVINS, a novel collaborative SLAM system, that enables multi-agent, scalable SLAM in large environments and for large teams of more than 10 agents. The paradigm here is that each agent runs visual-inertial odomety independently onboard in order to ensure its autonomy, while sharing map informa"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.05756","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/2108.05756/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":"2026-07-05T03:05:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"h9rqGTsgYr9t+xtOgsgctsMGMMMpjUOI51w8mjau+7OiYlP1/amG6uw3ZN1PatXkp0Se4kkVLRMVT+KsyO3bDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T16:29:21.463825Z"},"content_sha256":"eaef00b4a241cb1713de7e047ae31d9511a5702df2d4b7e49f9a613d5f3bea5b","schema_version":"1.0","event_id":"sha256:eaef00b4a241cb1713de7e047ae31d9511a5702df2d4b7e49f9a613d5f3bea5b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YQ3FIJFLMN555NZTJ42ROSW2HQ/bundle.json","state_url":"https://pith.science/pith/YQ3FIJFLMN555NZTJ42ROSW2HQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YQ3FIJFLMN555NZTJ42ROSW2HQ/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":"2026-08-14T16:29:21Z","links":{"resolver":"https://pith.science/pith/YQ3FIJFLMN555NZTJ42ROSW2HQ","bundle":"https://pith.science/pith/YQ3FIJFLMN555NZTJ42ROSW2HQ/bundle.json","state":"https://pith.science/pith/YQ3FIJFLMN555NZTJ42ROSW2HQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YQ3FIJFLMN555NZTJ42ROSW2HQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:YQ3FIJFLMN555NZTJ42ROSW2HQ","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":"26ae2916eaa466e43b366e221f45e1bc08e3d08df7f684ae7e390e8652e95675","cross_cats_sorted":["cs.CV","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-12T13:50:44Z","title_canon_sha256":"da9f56c4f84f39aef96807b521e45558574e20d0823414ec6ffc1de46950994a"},"schema_version":"1.0","source":{"id":"2108.05756","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.05756","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"arxiv_version","alias_value":"2108.05756v1","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.05756","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"pith_short_12","alias_value":"YQ3FIJFLMN55","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"pith_short_16","alias_value":"YQ3FIJFLMN555NZT","created_at":"2026-07-05T03:05:17Z"},{"alias_kind":"pith_short_8","alias_value":"YQ3FIJFL","created_at":"2026-07-05T03:05:17Z"}],"graph_snapshots":[{"event_id":"sha256:eaef00b4a241cb1713de7e047ae31d9511a5702df2d4b7e49f9a613d5f3bea5b","target":"graph","created_at":"2026-07-05T03:05:17Z","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/2108.05756/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Collaborative SLAM enables a group of agents to simultaneously co-localize and jointly map an environment, thus paving the way to wide-ranging applications of multi-robot perception and multi-user AR experiences by eliminating the need for external infrastructure or pre-built maps. This article presents COVINS, a novel collaborative SLAM system, that enables multi-agent, scalable SLAM in large environments and for large teams of more than 10 agents. The paradigm here is that each agent runs visual-inertial odomety independently onboard in order to ensure its autonomy, while sharing map informa","authors_text":"Jonathan Perraudin, Marco Karrer, Margarita Chli, Patrik Schmuck, Thomas Ziegler","cross_cats":["cs.CV","cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-12T13:50:44Z","title":"COVINS: Visual-Inertial SLAM for Centralized Collaboration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.05756","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":"sha256:8c638f62be9108a64f068048194f6855ed7001e56b68b1cca4802a0f5d1e1502","target":"record","created_at":"2026-07-05T03:05:17Z","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":"26ae2916eaa466e43b366e221f45e1bc08e3d08df7f684ae7e390e8652e95675","cross_cats_sorted":["cs.CV","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-12T13:50:44Z","title_canon_sha256":"da9f56c4f84f39aef96807b521e45558574e20d0823414ec6ffc1de46950994a"},"schema_version":"1.0","source":{"id":"2108.05756","kind":"arxiv","version":1}},"canonical_sha256":"c4365424ab637bdeb7334f35174ada3c1cf298a52ae84c0a8b9baa5bb2d3a865","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c4365424ab637bdeb7334f35174ada3c1cf298a52ae84c0a8b9baa5bb2d3a865","first_computed_at":"2026-07-05T03:05:17.613565Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:05:17.613565Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4aDB3WPRRHzzARriYLozUWD5sOOeIFgTM7YTMwxUJynvC8Slb0ydqX8gv+PIGZsRWWEzkZ+m7Go1DgcubAcvCw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:05:17.614087Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.05756","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8c638f62be9108a64f068048194f6855ed7001e56b68b1cca4802a0f5d1e1502","sha256:eaef00b4a241cb1713de7e047ae31d9511a5702df2d4b7e49f9a613d5f3bea5b"],"state_sha256":"2e3366e71fc377bbf80ecc4d42e25f3996705a0d0d861e1381ade96094fb9b74"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ANVWmvnwrzpnqZR+FUfE40Y37lmA+HQv0e0YRH9i5e88xHWDYCQ9TPGYl7ooxWCTox9tE1vQsm35rkLgpXDvDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T16:29:21.471309Z","bundle_sha256":"68d99c9810a0f5193269d4ff3d0825753bf2041b3b3241968780f74a7947bc4a"}}