{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ZFFANTGE7YZT6EG7BYLF2ZTNCH","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":"3f58e2b9d839d5c9d63a9483b99c7a73914e342d705cbb55e2c0271048111aa5","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-17T00:50:01Z","title_canon_sha256":"3cf427d6a68b4e52b3171666d2a43504836ca085edb0e7af77fbe510f5d3d57b"},"schema_version":"1.0","source":{"id":"2101.06562","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.06562","created_at":"2026-07-05T02:58:05Z"},{"alias_kind":"arxiv_version","alias_value":"2101.06562v3","created_at":"2026-07-05T02:58:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.06562","created_at":"2026-07-05T02:58:05Z"},{"alias_kind":"pith_short_12","alias_value":"ZFFANTGE7YZT","created_at":"2026-07-05T02:58:05Z"},{"alias_kind":"pith_short_16","alias_value":"ZFFANTGE7YZT6EG7","created_at":"2026-07-05T02:58:05Z"},{"alias_kind":"pith_short_8","alias_value":"ZFFANTGE","created_at":"2026-07-05T02:58:05Z"}],"graph_snapshots":[{"event_id":"sha256:212b8cbd69eac44384b6627e57d0edeb9fb3e4051ae043e5f9f8c0f9d71d50a4","target":"graph","created_at":"2026-07-05T02:58:05Z","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/2101.06562/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Existing multi-camera SLAM systems assume synchronized shutters for all cameras, which is often not the case in practice. In this work, we propose a generalized multi-camera SLAM formulation which accounts for asynchronous sensor observations. Our framework integrates a continuous-time motion model to relate information across asynchronous multi-frames during tracking, local mapping, and loop closing. For evaluation, we collected AMV-Bench, a challenging new SLAM dataset covering 482 km of driving recorded using our asynchronous multi-camera robotic platform. AMV-Bench is over an order of magn","authors_text":"Anqi Joyce Yang, Can Cui, Ioan Andrei B\\^arsan, Raquel Urtasun, Shenlong Wang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-17T00:50:01Z","title":"Asynchronous Multi-View SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.06562","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":"sha256:22f39bfcff87d38de56daecd07527811035329fb3a081d00ad2ee134f6445dab","target":"record","created_at":"2026-07-05T02:58:05Z","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":"3f58e2b9d839d5c9d63a9483b99c7a73914e342d705cbb55e2c0271048111aa5","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-17T00:50:01Z","title_canon_sha256":"3cf427d6a68b4e52b3171666d2a43504836ca085edb0e7af77fbe510f5d3d57b"},"schema_version":"1.0","source":{"id":"2101.06562","kind":"arxiv","version":3}},"canonical_sha256":"c94a06ccc4fe333f10df0e165d666d11f8cea8bd9b6e5538f42cdc76cd553cc7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c94a06ccc4fe333f10df0e165d666d11f8cea8bd9b6e5538f42cdc76cd553cc7","first_computed_at":"2026-07-05T02:58:05.431184Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:58:05.431184Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zGzdef2yrlPfWxPMbm0fQdffmlcz1ouANeBFcpwlIkUk6s0Hbvo+N0KjCXrp+XpOgEjcWqXsqdg6qi07QXNLAw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:58:05.431612Z","signed_message":"canonical_sha256_bytes"},"source_id":"2101.06562","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:22f39bfcff87d38de56daecd07527811035329fb3a081d00ad2ee134f6445dab","sha256:212b8cbd69eac44384b6627e57d0edeb9fb3e4051ae043e5f9f8c0f9d71d50a4"],"state_sha256":"bddfd3ade09350b8a776491469e8fe57b2d3d6d35a21fecc0637de386e4ebcb6"}