{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:2AS5WYBO2FAIV2TXGPQD7I7E7F","short_pith_number":"pith:2AS5WYBO","canonical_record":{"source":{"id":"1807.00253","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2018-07-01T01:42:04Z","cross_cats_sorted":[],"title_canon_sha256":"520d71101b1377213132c8065868cdaa6c0394c34a1236227964f7d985f6dbf7","abstract_canon_sha256":"7fc8dcd273f73a4baca78bf6112176c449267a12e315905c23770580db2998d8"},"schema_version":"1.0"},"canonical_sha256":"d025db602ed1408aea7733e03fa3e4f95eb1e94e1e0ab1b7b1a92cd185be6ced","source":{"kind":"arxiv","id":"1807.00253","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.00253","created_at":"2026-05-18T00:11:55Z"},{"alias_kind":"arxiv_version","alias_value":"1807.00253v1","created_at":"2026-05-18T00:11:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.00253","created_at":"2026-05-18T00:11:55Z"},{"alias_kind":"pith_short_12","alias_value":"2AS5WYBO2FAI","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_16","alias_value":"2AS5WYBO2FAIV2TX","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_8","alias_value":"2AS5WYBO","created_at":"2026-05-18T12:31:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:2AS5WYBO2FAIV2TXGPQD7I7E7F","target":"record","payload":{"canonical_record":{"source":{"id":"1807.00253","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2018-07-01T01:42:04Z","cross_cats_sorted":[],"title_canon_sha256":"520d71101b1377213132c8065868cdaa6c0394c34a1236227964f7d985f6dbf7","abstract_canon_sha256":"7fc8dcd273f73a4baca78bf6112176c449267a12e315905c23770580db2998d8"},"schema_version":"1.0"},"canonical_sha256":"d025db602ed1408aea7733e03fa3e4f95eb1e94e1e0ab1b7b1a92cd185be6ced","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:11:55.538603Z","signature_b64":"v3nzPdagMy/yCM4B9nvO6uoxQZJ0TQeVxne8ocAFZO1Bl7Id0JHZFK+XlyID9+IOXE49hHv0s9is+II4ANKLBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d025db602ed1408aea7733e03fa3e4f95eb1e94e1e0ab1b7b1a92cd185be6ced","last_reissued_at":"2026-05-18T00:11:55.538033Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:11:55.538033Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.00253","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":"2026-05-18T00:11:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aVjHs7OMRv36MX+ggFEewiuWuccQIr1Y5zvQBC4oYJ427cSO6XcUMWgk0Tz8aJXU5vNhjT0RI25bv4Ylb90OCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T01:19:44.475696Z"},"content_sha256":"350fb27a08659bd8ba1cd5ca9ba2a557c7825fe69d576c1f05de3d36ca450fd9","schema_version":"1.0","event_id":"sha256:350fb27a08659bd8ba1cd5ca9ba2a557c7825fe69d576c1f05de3d36ca450fd9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:2AS5WYBO2FAIV2TXGPQD7I7E7F","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Weighted Multi-projection: 3D Point Cloud Denoising with Estimated Tangent Planes","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CG","authors_text":"Chaojing Duan, Jelena Kova\\v{c}evi\\'c, Siheng Chen","submitted_at":"2018-07-01T01:42:04Z","abstract_excerpt":"As a collection of 3D points sampled from surfaces of objects, a 3D point cloud is widely used in robotics, autonomous driving and augmented reality. Due to the physical limitations of 3D sensing devices, 3D point clouds are usually noisy, which influences subsequent computations, such as surface reconstruction, recognition and many others. To denoise a 3D point cloud, we present a novel algorithm, called weighted multi-projection. Compared to many previous works on denoising, instead of directly smoothing the coordinates of 3D points, we use a two-fold smoothing: We first estimate a local tan"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.00253","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":""},"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":"2026-05-18T00:11:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"18oGb3eV8a34ngOi5ArgjX5Jj+UXaVy/GZmOoNrbTD1Jw4q00vZjdO+UuhZpfcaT58iqdWeGM9GdtvI90e9nAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T01:19:44.476042Z"},"content_sha256":"c8f0137bc04047c3357b7e72879c9fa86fb8558ccd0928c468a63b85c0d71f86","schema_version":"1.0","event_id":"sha256:c8f0137bc04047c3357b7e72879c9fa86fb8558ccd0928c468a63b85c0d71f86"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2AS5WYBO2FAIV2TXGPQD7I7E7F/bundle.json","state_url":"https://pith.science/pith/2AS5WYBO2FAIV2TXGPQD7I7E7F/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2AS5WYBO2FAIV2TXGPQD7I7E7F/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":"2026-06-03T01:19:44Z","links":{"resolver":"https://pith.science/pith/2AS5WYBO2FAIV2TXGPQD7I7E7F","bundle":"https://pith.science/pith/2AS5WYBO2FAIV2TXGPQD7I7E7F/bundle.json","state":"https://pith.science/pith/2AS5WYBO2FAIV2TXGPQD7I7E7F/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2AS5WYBO2FAIV2TXGPQD7I7E7F/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:2AS5WYBO2FAIV2TXGPQD7I7E7F","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":"7fc8dcd273f73a4baca78bf6112176c449267a12e315905c23770580db2998d8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2018-07-01T01:42:04Z","title_canon_sha256":"520d71101b1377213132c8065868cdaa6c0394c34a1236227964f7d985f6dbf7"},"schema_version":"1.0","source":{"id":"1807.00253","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.00253","created_at":"2026-05-18T00:11:55Z"},{"alias_kind":"arxiv_version","alias_value":"1807.00253v1","created_at":"2026-05-18T00:11:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.00253","created_at":"2026-05-18T00:11:55Z"},{"alias_kind":"pith_short_12","alias_value":"2AS5WYBO2FAI","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_16","alias_value":"2AS5WYBO2FAIV2TX","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_8","alias_value":"2AS5WYBO","created_at":"2026-05-18T12:31:59Z"}],"graph_snapshots":[{"event_id":"sha256:c8f0137bc04047c3357b7e72879c9fa86fb8558ccd0928c468a63b85c0d71f86","target":"graph","created_at":"2026-05-18T00:11:55Z","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":"As a collection of 3D points sampled from surfaces of objects, a 3D point cloud is widely used in robotics, autonomous driving and augmented reality. Due to the physical limitations of 3D sensing devices, 3D point clouds are usually noisy, which influences subsequent computations, such as surface reconstruction, recognition and many others. To denoise a 3D point cloud, we present a novel algorithm, called weighted multi-projection. Compared to many previous works on denoising, instead of directly smoothing the coordinates of 3D points, we use a two-fold smoothing: We first estimate a local tan","authors_text":"Chaojing Duan, Jelena Kova\\v{c}evi\\'c, Siheng Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2018-07-01T01:42:04Z","title":"Weighted Multi-projection: 3D Point Cloud Denoising with Estimated Tangent Planes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.00253","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":"sha256:350fb27a08659bd8ba1cd5ca9ba2a557c7825fe69d576c1f05de3d36ca450fd9","target":"record","created_at":"2026-05-18T00:11:55Z","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":"7fc8dcd273f73a4baca78bf6112176c449267a12e315905c23770580db2998d8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2018-07-01T01:42:04Z","title_canon_sha256":"520d71101b1377213132c8065868cdaa6c0394c34a1236227964f7d985f6dbf7"},"schema_version":"1.0","source":{"id":"1807.00253","kind":"arxiv","version":1}},"canonical_sha256":"d025db602ed1408aea7733e03fa3e4f95eb1e94e1e0ab1b7b1a92cd185be6ced","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d025db602ed1408aea7733e03fa3e4f95eb1e94e1e0ab1b7b1a92cd185be6ced","first_computed_at":"2026-05-18T00:11:55.538033Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:11:55.538033Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"v3nzPdagMy/yCM4B9nvO6uoxQZJ0TQeVxne8ocAFZO1Bl7Id0JHZFK+XlyID9+IOXE49hHv0s9is+II4ANKLBw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:11:55.538603Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.00253","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:350fb27a08659bd8ba1cd5ca9ba2a557c7825fe69d576c1f05de3d36ca450fd9","sha256:c8f0137bc04047c3357b7e72879c9fa86fb8558ccd0928c468a63b85c0d71f86"],"state_sha256":"9f98c79dc328b1ee4fd71300f7b18b39cb0e599b1b9bb7e0b55451be7378b9f0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QSTeQ0fRltoHfaWnrzXC2IYIbU/mYgNhrIrG2bwGJGnDhKtv+nZR4pP8C35ZCAROQWsTajJtazA0JPcS/TTvBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T01:19:44.477938Z","bundle_sha256":"e6275930a803671a2ae04976ef2de7da98ad65729a3fea76be4e1c62471d2346"}}