{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:ZZLHETBXUCD7FRDUCGG4AQ3UGB","short_pith_number":"pith:ZZLHETBX","canonical_record":{"source":{"id":"2503.14346","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-03-18T15:25:38Z","cross_cats_sorted":[],"title_canon_sha256":"7f361f4e2d90645adbd1c2e00c2a5c16eec5d1a6d205d9f13e4d657c23329df1","abstract_canon_sha256":"f518873df575efc12fa2e8b5a4729d51dbe124129eeb6618189ebb0a18596d35"},"schema_version":"1.0"},"canonical_sha256":"ce56724c37a087f2c474118dc04374304d9b1c27cdd94d43ef7cd8061a0ce972","source":{"kind":"arxiv","id":"2503.14346","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.14346","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"arxiv_version","alias_value":"2503.14346v3","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.14346","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"pith_short_12","alias_value":"ZZLHETBXUCD7","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"pith_short_16","alias_value":"ZZLHETBXUCD7FRDU","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"pith_short_8","alias_value":"ZZLHETBX","created_at":"2026-05-20T00:05:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:ZZLHETBXUCD7FRDUCGG4AQ3UGB","target":"record","payload":{"canonical_record":{"source":{"id":"2503.14346","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-03-18T15:25:38Z","cross_cats_sorted":[],"title_canon_sha256":"7f361f4e2d90645adbd1c2e00c2a5c16eec5d1a6d205d9f13e4d657c23329df1","abstract_canon_sha256":"f518873df575efc12fa2e8b5a4729d51dbe124129eeb6618189ebb0a18596d35"},"schema_version":"1.0"},"canonical_sha256":"ce56724c37a087f2c474118dc04374304d9b1c27cdd94d43ef7cd8061a0ce972","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:05:27.752379Z","signature_b64":"GrjqLqJjU+hun7a6y48NCpbfuP+vAZxVAlwe2Z0vwFZPCfiSWnYvqFGGLdfrSQ2AyUpDL6GUW/rysAIJuKD+Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ce56724c37a087f2c474118dc04374304d9b1c27cdd94d43ef7cd8061a0ce972","last_reissued_at":"2026-05-20T00:05:27.751343Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:05:27.751343Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.14346","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":"2026-05-20T00:05:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C68BgKWYOmLzpbspL5Lplr9xPQlVVbpKA5S5wMT8b0zScNzWENCRfgrp+R2Iq+pmzbfBLZHJgSAMKYz+ijqPBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T06:27:27.976282Z"},"content_sha256":"4168ad6aaa46a8962211484409f64fea5e5047834709962b7f958fd5efb3aa99","schema_version":"1.0","event_id":"sha256:4168ad6aaa46a8962211484409f64fea5e5047834709962b7f958fd5efb3aa99"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:ZZLHETBXUCD7FRDUCGG4AQ3UGB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"3D Densification for Multi-Map Monocular VSLAM in Endoscopy","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Javier Rodr\\'iguez-Puigvert, J.M.M. Montiel, X. Anad\\'on","submitted_at":"2025-03-18T15:25:38Z","abstract_excerpt":"Multi-map Sparse Monocular visual Simultaneous Localization and Mapping applied to monocular endoscopic sequences has proven efficient to robustly recover tracking after the frequent losses in endoscopy due to motion blur, temporal occlusion, tools interaction or water jets. The sparse multi-maps are adequate for robust camera localization, however they are very poor for environment representation, they are noisy, with a high percentage of inaccurately reconstructed 3D points, including significant outliers, and more importantly with an unacceptable low density for clinical applications. We pr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.14346","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2503.14346/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":"2026-05-20T00:05:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ze5sZKMuQJGnjnuuycgolWPPRGUi9h0U7+xl4ed7aAfC02+5JbX6mcVTQUT6pnUGbtR2cYSidya3U6DgNb5bDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T06:27:27.976990Z"},"content_sha256":"304c7a22a75e11156ec4b5ea4b5f7351dd86ffe301e0627e63466b4ebd56bbec","schema_version":"1.0","event_id":"sha256:304c7a22a75e11156ec4b5ea4b5f7351dd86ffe301e0627e63466b4ebd56bbec"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZZLHETBXUCD7FRDUCGG4AQ3UGB/bundle.json","state_url":"https://pith.science/pith/ZZLHETBXUCD7FRDUCGG4AQ3UGB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZZLHETBXUCD7FRDUCGG4AQ3UGB/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":"2026-06-06T06:27:27Z","links":{"resolver":"https://pith.science/pith/ZZLHETBXUCD7FRDUCGG4AQ3UGB","bundle":"https://pith.science/pith/ZZLHETBXUCD7FRDUCGG4AQ3UGB/bundle.json","state":"https://pith.science/pith/ZZLHETBXUCD7FRDUCGG4AQ3UGB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZZLHETBXUCD7FRDUCGG4AQ3UGB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:ZZLHETBXUCD7FRDUCGG4AQ3UGB","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":"f518873df575efc12fa2e8b5a4729d51dbe124129eeb6618189ebb0a18596d35","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-03-18T15:25:38Z","title_canon_sha256":"7f361f4e2d90645adbd1c2e00c2a5c16eec5d1a6d205d9f13e4d657c23329df1"},"schema_version":"1.0","source":{"id":"2503.14346","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.14346","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"arxiv_version","alias_value":"2503.14346v3","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.14346","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"pith_short_12","alias_value":"ZZLHETBXUCD7","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"pith_short_16","alias_value":"ZZLHETBXUCD7FRDU","created_at":"2026-05-20T00:05:27Z"},{"alias_kind":"pith_short_8","alias_value":"ZZLHETBX","created_at":"2026-05-20T00:05:27Z"}],"graph_snapshots":[{"event_id":"sha256:304c7a22a75e11156ec4b5ea4b5f7351dd86ffe301e0627e63466b4ebd56bbec","target":"graph","created_at":"2026-05-20T00:05:27Z","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/2503.14346/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-map Sparse Monocular visual Simultaneous Localization and Mapping applied to monocular endoscopic sequences has proven efficient to robustly recover tracking after the frequent losses in endoscopy due to motion blur, temporal occlusion, tools interaction or water jets. The sparse multi-maps are adequate for robust camera localization, however they are very poor for environment representation, they are noisy, with a high percentage of inaccurately reconstructed 3D points, including significant outliers, and more importantly with an unacceptable low density for clinical applications. We pr","authors_text":"Javier Rodr\\'iguez-Puigvert, J.M.M. Montiel, X. Anad\\'on","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-03-18T15:25:38Z","title":"3D Densification for Multi-Map Monocular VSLAM in Endoscopy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.14346","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":"sha256:4168ad6aaa46a8962211484409f64fea5e5047834709962b7f958fd5efb3aa99","target":"record","created_at":"2026-05-20T00:05:27Z","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":"f518873df575efc12fa2e8b5a4729d51dbe124129eeb6618189ebb0a18596d35","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-03-18T15:25:38Z","title_canon_sha256":"7f361f4e2d90645adbd1c2e00c2a5c16eec5d1a6d205d9f13e4d657c23329df1"},"schema_version":"1.0","source":{"id":"2503.14346","kind":"arxiv","version":3}},"canonical_sha256":"ce56724c37a087f2c474118dc04374304d9b1c27cdd94d43ef7cd8061a0ce972","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ce56724c37a087f2c474118dc04374304d9b1c27cdd94d43ef7cd8061a0ce972","first_computed_at":"2026-05-20T00:05:27.751343Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:05:27.751343Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GrjqLqJjU+hun7a6y48NCpbfuP+vAZxVAlwe2Z0vwFZPCfiSWnYvqFGGLdfrSQ2AyUpDL6GUW/rysAIJuKD+Ag==","signature_status":"signed_v1","signed_at":"2026-05-20T00:05:27.752379Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.14346","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4168ad6aaa46a8962211484409f64fea5e5047834709962b7f958fd5efb3aa99","sha256:304c7a22a75e11156ec4b5ea4b5f7351dd86ffe301e0627e63466b4ebd56bbec"],"state_sha256":"949c6820708e1674120aa92a33657cf05f41aa5984cfe4bb155ed7aaba6655d5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"koHjNWN1q1+m7zj3iCY/EO1VT2ncdIqM2LTNsBSzYMUrHQ6WHVUjW1Tw6WZ5Zbge+rx83qT+KIi+mn1RFar7CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T06:27:27.980914Z","bundle_sha256":"7bc2f091ed4cde06677da09fd48ea8ec72cc293bcf0ed59b17e6dc07675a1f03"}}