{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:2D3VDBH27VYCA3MFOGNLG6ONPL","short_pith_number":"pith:2D3VDBH2","canonical_record":{"source":{"id":"2310.15072","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-23T16:30:39Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"acdc6de90e9aeb8d1f74cda12051b0e7efda4f1d20cd02965fad4a2f841c7ed8","abstract_canon_sha256":"7e5eaa82a11c7b76ffded06f34acc5d0d4298d9d217220702eb6832ac7c13f8e"},"schema_version":"1.0"},"canonical_sha256":"d0f75184fafd70206d85719ab379cd7ae62e84c8797f494492aaa15770b29343","source":{"kind":"arxiv","id":"2310.15072","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.15072","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"arxiv_version","alias_value":"2310.15072v3","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.15072","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"pith_short_12","alias_value":"2D3VDBH27VYC","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"pith_short_16","alias_value":"2D3VDBH27VYCA3MF","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"pith_short_8","alias_value":"2D3VDBH2","created_at":"2026-07-05T07:45:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:2D3VDBH27VYCA3MFOGNLG6ONPL","target":"record","payload":{"canonical_record":{"source":{"id":"2310.15072","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-23T16:30:39Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"acdc6de90e9aeb8d1f74cda12051b0e7efda4f1d20cd02965fad4a2f841c7ed8","abstract_canon_sha256":"7e5eaa82a11c7b76ffded06f34acc5d0d4298d9d217220702eb6832ac7c13f8e"},"schema_version":"1.0"},"canonical_sha256":"d0f75184fafd70206d85719ab379cd7ae62e84c8797f494492aaa15770b29343","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:45:49.855050Z","signature_b64":"wwyOyewxju2jf2mg8OtIoW7pnSfZR5RV0kprVXYx/oewVpBc3jICNWLqTNP7Bflb9M+vRwuwgW7G9Q5YP1rkBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d0f75184fafd70206d85719ab379cd7ae62e84c8797f494492aaa15770b29343","last_reissued_at":"2026-07-05T07:45:49.854478Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:45:49.854478Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.15072","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":"2026-07-05T07:45:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IvtsplTS9E5WjZbfbTsLZL7b+Me1Ntl1RldoT6h6/cCkV6Ro5ejjhzJogvcOsL+Ry/vmi9eCxLKDelEnpCNdCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T18:50:40.017605Z"},"content_sha256":"bc0b5e32037977eecc894c2630af2d3e336fa798d5f503eb6275326d88d87521","schema_version":"1.0","event_id":"sha256:bc0b5e32037977eecc894c2630af2d3e336fa798d5f503eb6275326d88d87521"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:2D3VDBH27VYCA3MFOGNLG6ONPL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RD-VIO: Robust Visual-Inertial Odometry for Mobile Augmented Reality in Dynamic Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Gan Huang, Guofeng Zhang, Hujun Bao, Jinyu Li, Nan Wang, Xiaokun Pan, Ziyang Zhang","submitted_at":"2023-10-23T16:30:39Z","abstract_excerpt":"It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of these two problems. Firstly, we propose an IMU-PARSAC algorithm which can robustly detect and match keypoints in a two-stage process. In the first state, landmarks are matched with new keypoints using visual and IMU measurements. We collect statistical information from the matching and then guide the intra-keypoint matching in the second stage. Secondly, to han"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.15072","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/2310.15072/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":"2026-07-05T07:45:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yd9Z0CylYMxl+4dpS+fmGkrVczJPGoNpjfFiTw1J5aztIbku4mTLrYO+M1+kBoY8igUOtXPWpQvH+Vk4Ge9GDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T18:50:40.018130Z"},"content_sha256":"0a5cc098b91edbf16bccdf266b8781df5aa5fe46f55790fffa003866b0c93a5b","schema_version":"1.0","event_id":"sha256:0a5cc098b91edbf16bccdf266b8781df5aa5fe46f55790fffa003866b0c93a5b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2D3VDBH27VYCA3MFOGNLG6ONPL/bundle.json","state_url":"https://pith.science/pith/2D3VDBH27VYCA3MFOGNLG6ONPL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2D3VDBH27VYCA3MFOGNLG6ONPL/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":"2026-08-17T18:50:40Z","links":{"resolver":"https://pith.science/pith/2D3VDBH27VYCA3MFOGNLG6ONPL","bundle":"https://pith.science/pith/2D3VDBH27VYCA3MFOGNLG6ONPL/bundle.json","state":"https://pith.science/pith/2D3VDBH27VYCA3MFOGNLG6ONPL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2D3VDBH27VYCA3MFOGNLG6ONPL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:2D3VDBH27VYCA3MFOGNLG6ONPL","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":"7e5eaa82a11c7b76ffded06f34acc5d0d4298d9d217220702eb6832ac7c13f8e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-23T16:30:39Z","title_canon_sha256":"acdc6de90e9aeb8d1f74cda12051b0e7efda4f1d20cd02965fad4a2f841c7ed8"},"schema_version":"1.0","source":{"id":"2310.15072","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.15072","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"arxiv_version","alias_value":"2310.15072v3","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.15072","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"pith_short_12","alias_value":"2D3VDBH27VYC","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"pith_short_16","alias_value":"2D3VDBH27VYCA3MF","created_at":"2026-07-05T07:45:49Z"},{"alias_kind":"pith_short_8","alias_value":"2D3VDBH2","created_at":"2026-07-05T07:45:49Z"}],"graph_snapshots":[{"event_id":"sha256:0a5cc098b91edbf16bccdf266b8781df5aa5fe46f55790fffa003866b0c93a5b","target":"graph","created_at":"2026-07-05T07:45:49Z","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/2310.15072/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of these two problems. Firstly, we propose an IMU-PARSAC algorithm which can robustly detect and match keypoints in a two-stage process. In the first state, landmarks are matched with new keypoints using visual and IMU measurements. We collect statistical information from the matching and then guide the intra-keypoint matching in the second stage. Secondly, to han","authors_text":"Gan Huang, Guofeng Zhang, Hujun Bao, Jinyu Li, Nan Wang, Xiaokun Pan, Ziyang Zhang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-23T16:30:39Z","title":"RD-VIO: Robust Visual-Inertial Odometry for Mobile Augmented Reality in Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.15072","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:bc0b5e32037977eecc894c2630af2d3e336fa798d5f503eb6275326d88d87521","target":"record","created_at":"2026-07-05T07:45:49Z","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":"7e5eaa82a11c7b76ffded06f34acc5d0d4298d9d217220702eb6832ac7c13f8e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-23T16:30:39Z","title_canon_sha256":"acdc6de90e9aeb8d1f74cda12051b0e7efda4f1d20cd02965fad4a2f841c7ed8"},"schema_version":"1.0","source":{"id":"2310.15072","kind":"arxiv","version":3}},"canonical_sha256":"d0f75184fafd70206d85719ab379cd7ae62e84c8797f494492aaa15770b29343","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d0f75184fafd70206d85719ab379cd7ae62e84c8797f494492aaa15770b29343","first_computed_at":"2026-07-05T07:45:49.854478Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:45:49.854478Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wwyOyewxju2jf2mg8OtIoW7pnSfZR5RV0kprVXYx/oewVpBc3jICNWLqTNP7Bflb9M+vRwuwgW7G9Q5YP1rkBw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:45:49.855050Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.15072","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bc0b5e32037977eecc894c2630af2d3e336fa798d5f503eb6275326d88d87521","sha256:0a5cc098b91edbf16bccdf266b8781df5aa5fe46f55790fffa003866b0c93a5b"],"state_sha256":"96704a3397c4e4ab0fc7d9adee62cbd84dd24f62450728a9a1729572aa665fd6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s0Lu6xkxLCPA6TXnVUBk4XyHTiDGpqXsr1817ELYTTGW5tiVq+Ip36od6elnH38OO2in84KZPOoYjSt+tA9MDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T18:50:40.023663Z","bundle_sha256":"422a14266f57766ee34dfe479b8eea192a9e937e35a1ebc5124ca3589967be47"}}