{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:ZCJ2BZAYMIIVLUNETLBBXEN3UW","short_pith_number":"pith:ZCJ2BZAY","canonical_record":{"source":{"id":"1708.09011","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-22T18:59:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"2ecd3ede7500c57d70a9b46b1fc157752c5cfde6a0fdf956b016c7909be6e484","abstract_canon_sha256":"6654766eca985ccb03e9d524e960737d7e3ad5ef711ccce0272c754302588dc6"},"schema_version":"1.0"},"canonical_sha256":"c893a0e418621155d1a49ac21b91bba5b21842cd790952b9780973380edbd035","source":{"kind":"arxiv","id":"1708.09011","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1708.09011","created_at":"2026-05-17T23:41:13Z"},{"alias_kind":"arxiv_version","alias_value":"1708.09011v3","created_at":"2026-05-17T23:41:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.09011","created_at":"2026-05-17T23:41:13Z"},{"alias_kind":"pith_short_12","alias_value":"ZCJ2BZAYMIIV","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_16","alias_value":"ZCJ2BZAYMIIVLUNE","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_8","alias_value":"ZCJ2BZAY","created_at":"2026-05-18T12:31:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:ZCJ2BZAYMIIVLUNETLBBXEN3UW","target":"record","payload":{"canonical_record":{"source":{"id":"1708.09011","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-22T18:59:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"2ecd3ede7500c57d70a9b46b1fc157752c5cfde6a0fdf956b016c7909be6e484","abstract_canon_sha256":"6654766eca985ccb03e9d524e960737d7e3ad5ef711ccce0272c754302588dc6"},"schema_version":"1.0"},"canonical_sha256":"c893a0e418621155d1a49ac21b91bba5b21842cd790952b9780973380edbd035","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:41:13.465485Z","signature_b64":"slzMTzbL3wvYBeFYdJevfC3y6fnwbA1zPHFXgg8V6QS4pCXo72Luml4Hi6MMILPdn2yW+ODGHCckX9ixe24SBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c893a0e418621155d1a49ac21b91bba5b21842cd790952b9780973380edbd035","last_reissued_at":"2026-05-17T23:41:13.465060Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:41:13.465060Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1708.09011","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:41:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CmcT0AI5J2eptW1kB8Wnzvwnj7iHx6YW0XpmMwDgRUMAG1Uog/CzELYXSEBt7A2gpydjPyg7JojVby3H6ADbDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T14:00:36.285047Z"},"content_sha256":"f88f68c7ad61fdccf9f342cb0ddc9fe94f311128992deb85b47b338ad29d849a","schema_version":"1.0","event_id":"sha256:f88f68c7ad61fdccf9f342cb0ddc9fe94f311128992deb85b47b338ad29d849a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:ZCJ2BZAYMIIVLUNETLBBXEN3UW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time 6DOF Pose Relocalization for Event Cameras with Stacked Spatial LSTM Networks","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Anh Nguyen, Darwin G. Caldwell, Nikos G. Tsagarakis, Thanh-Toan Do","submitted_at":"2017-08-22T18:59:22Z","abstract_excerpt":"We present a new method to relocalize the 6DOF pose of an event camera solely based on the event stream. Our method first creates the event image from a list of events that occurs in a very short time interval, then a Stacked Spatial LSTM Network (SP-LSTM) is used to learn the camera pose. Our SP-LSTM is composed of a CNN to learn deep features from the event images and a stack of LSTM to learn spatial dependencies in the image feature space. We show that the spatial dependency plays an important role in the relocalization task and the SP-LSTM can effectively learn this information. The experi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.09011","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-17T23:41:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BjZ4zl5zg0JJzzKuGUVVyqGhb7A3yXGUgZP8rmJHEC1ebUcuOeCO1+v3Mofx/J4oDGvzqazNqCFrFY3t0RRWBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T14:00:36.285402Z"},"content_sha256":"cc0d085a7316901cc134bb4668302d91b540cf16903b1002493df72dc36976b7","schema_version":"1.0","event_id":"sha256:cc0d085a7316901cc134bb4668302d91b540cf16903b1002493df72dc36976b7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZCJ2BZAYMIIVLUNETLBBXEN3UW/bundle.json","state_url":"https://pith.science/pith/ZCJ2BZAYMIIVLUNETLBBXEN3UW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZCJ2BZAYMIIVLUNETLBBXEN3UW/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":"2026-06-01T14:00:36Z","links":{"resolver":"https://pith.science/pith/ZCJ2BZAYMIIVLUNETLBBXEN3UW","bundle":"https://pith.science/pith/ZCJ2BZAYMIIVLUNETLBBXEN3UW/bundle.json","state":"https://pith.science/pith/ZCJ2BZAYMIIVLUNETLBBXEN3UW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZCJ2BZAYMIIVLUNETLBBXEN3UW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:ZCJ2BZAYMIIVLUNETLBBXEN3UW","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":"6654766eca985ccb03e9d524e960737d7e3ad5ef711ccce0272c754302588dc6","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-22T18:59:22Z","title_canon_sha256":"2ecd3ede7500c57d70a9b46b1fc157752c5cfde6a0fdf956b016c7909be6e484"},"schema_version":"1.0","source":{"id":"1708.09011","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1708.09011","created_at":"2026-05-17T23:41:13Z"},{"alias_kind":"arxiv_version","alias_value":"1708.09011v3","created_at":"2026-05-17T23:41:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.09011","created_at":"2026-05-17T23:41:13Z"},{"alias_kind":"pith_short_12","alias_value":"ZCJ2BZAYMIIV","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_16","alias_value":"ZCJ2BZAYMIIVLUNE","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_8","alias_value":"ZCJ2BZAY","created_at":"2026-05-18T12:31:59Z"}],"graph_snapshots":[{"event_id":"sha256:cc0d085a7316901cc134bb4668302d91b540cf16903b1002493df72dc36976b7","target":"graph","created_at":"2026-05-17T23:41:13Z","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"},"paper":{"abstract_excerpt":"We present a new method to relocalize the 6DOF pose of an event camera solely based on the event stream. Our method first creates the event image from a list of events that occurs in a very short time interval, then a Stacked Spatial LSTM Network (SP-LSTM) is used to learn the camera pose. Our SP-LSTM is composed of a CNN to learn deep features from the event images and a stack of LSTM to learn spatial dependencies in the image feature space. We show that the spatial dependency plays an important role in the relocalization task and the SP-LSTM can effectively learn this information. The experi","authors_text":"Anh Nguyen, Darwin G. Caldwell, Nikos G. Tsagarakis, Thanh-Toan Do","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-22T18:59:22Z","title":"Real-Time 6DOF Pose Relocalization for Event Cameras with Stacked Spatial LSTM Networks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.09011","kind":"arxiv","version":3},"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:f88f68c7ad61fdccf9f342cb0ddc9fe94f311128992deb85b47b338ad29d849a","target":"record","created_at":"2026-05-17T23:41:13Z","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":"6654766eca985ccb03e9d524e960737d7e3ad5ef711ccce0272c754302588dc6","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-08-22T18:59:22Z","title_canon_sha256":"2ecd3ede7500c57d70a9b46b1fc157752c5cfde6a0fdf956b016c7909be6e484"},"schema_version":"1.0","source":{"id":"1708.09011","kind":"arxiv","version":3}},"canonical_sha256":"c893a0e418621155d1a49ac21b91bba5b21842cd790952b9780973380edbd035","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c893a0e418621155d1a49ac21b91bba5b21842cd790952b9780973380edbd035","first_computed_at":"2026-05-17T23:41:13.465060Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:41:13.465060Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"slzMTzbL3wvYBeFYdJevfC3y6fnwbA1zPHFXgg8V6QS4pCXo72Luml4Hi6MMILPdn2yW+ODGHCckX9ixe24SBg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:41:13.465485Z","signed_message":"canonical_sha256_bytes"},"source_id":"1708.09011","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f88f68c7ad61fdccf9f342cb0ddc9fe94f311128992deb85b47b338ad29d849a","sha256:cc0d085a7316901cc134bb4668302d91b540cf16903b1002493df72dc36976b7"],"state_sha256":"e6c9ef8b96684ecf1f7fdbe339b1163bac68c0921d212f3a9a8bc02b17f5242b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GgC6vFZ1QnAhe85deLjRZHef/1P75uaCgRN9aqVuQf+EX+S0Ma9ObNkrpdRqxMbYVkzFpKz0WrwtagKtQU+/Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T14:00:36.287220Z","bundle_sha256":"6f32eb6d048b8943c263733ce84ad3dd2b1ee99d75f1694e44dcdc4693cab940"}}