{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:DTD2LAMALX3DCEK6C5NFJAPNXB","short_pith_number":"pith:DTD2LAMA","canonical_record":{"source":{"id":"1309.2193","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-09-09T15:27:49Z","cross_cats_sorted":["math.AP"],"title_canon_sha256":"2e54b00cbbdccaf266074e7fc8cf01737347bf476618b7d83db5ddd9e729c64a","abstract_canon_sha256":"d806d2e5d853d95c1033f33e44d5e07ef9d2ec3e8c67e980531ad2958a7f4184"},"schema_version":"1.0"},"canonical_sha256":"1cc7a581805df631115e175a5481edb8627d8c383e2d0484dc9c6f420817a0d7","source":{"kind":"arxiv","id":"1309.2193","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1309.2193","created_at":"2026-05-18T03:13:46Z"},{"alias_kind":"arxiv_version","alias_value":"1309.2193v1","created_at":"2026-05-18T03:13:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1309.2193","created_at":"2026-05-18T03:13:46Z"},{"alias_kind":"pith_short_12","alias_value":"DTD2LAMALX3D","created_at":"2026-05-18T12:27:43Z"},{"alias_kind":"pith_short_16","alias_value":"DTD2LAMALX3DCEK6","created_at":"2026-05-18T12:27:43Z"},{"alias_kind":"pith_short_8","alias_value":"DTD2LAMA","created_at":"2026-05-18T12:27:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:DTD2LAMALX3DCEK6C5NFJAPNXB","target":"record","payload":{"canonical_record":{"source":{"id":"1309.2193","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-09-09T15:27:49Z","cross_cats_sorted":["math.AP"],"title_canon_sha256":"2e54b00cbbdccaf266074e7fc8cf01737347bf476618b7d83db5ddd9e729c64a","abstract_canon_sha256":"d806d2e5d853d95c1033f33e44d5e07ef9d2ec3e8c67e980531ad2958a7f4184"},"schema_version":"1.0"},"canonical_sha256":"1cc7a581805df631115e175a5481edb8627d8c383e2d0484dc9c6f420817a0d7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:13:46.975021Z","signature_b64":"bljzAapoz8L4Bta/euuuIGP7ObofHLlK5i5RdixBlsbDwhEYSPXMl35ThXAu3rNCqF+taL4EG/eQNhhc39wLAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1cc7a581805df631115e175a5481edb8627d8c383e2d0484dc9c6f420817a0d7","last_reissued_at":"2026-05-18T03:13:46.974264Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:13:46.974264Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1309.2193","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":"2026-05-18T03:13:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EUjFAnvLpn3F0d5vfs6hsG6EviQJbfviMgI1HXM1/FPtrsMBtgDUf2Sb7/k+pHJihOmmzNJqPmH5OSMi3RZvCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-20T18:57:11.007911Z"},"content_sha256":"04153743110a839207b18522700c6bec03eb1b5f3bc3bf1a137151e26572296d","schema_version":"1.0","event_id":"sha256:04153743110a839207b18522700c6bec03eb1b5f3bc3bf1a137151e26572296d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:DTD2LAMALX3DCEK6C5NFJAPNXB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Inertial-sensor bias estimation from brightness/depth images and based on SO(3)-invariant integro/partial-differential equations on the unit sphere","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.AP"],"primary_cat":"math.OC","authors_text":"Karine Beauchard, Nadege Zarrouati-Vissiere, Pierre Rouchon","submitted_at":"2013-09-09T15:27:49Z","abstract_excerpt":"Constant biases associated to measured linear and angular velocities of a moving object can be estimated from measurements of a static scene by embedded brightness and depth sensors. We propose here a Lyapunov-based observer taking advantage of the SO(3)-invariance of the partial differential equations satisfied by the measured brightness and depth fields. The resulting asymptotic observer is governed by a non-linear integro/partial differential system where the two independent scalar variables indexing the pixels live on the unit sphere of the 3D Euclidian space. The observer design and analy"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1309.2193","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":"2026-05-18T03:13:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0h3oYFv6s2TlqJoeExeJeyOCYQ6C3/h6cLpI5uyorLXtwatxAfgQH4HR9P8aMEm2vPqjpqS4xefoEidNOxQSCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-20T18:57:11.008260Z"},"content_sha256":"839a3b12fd2636780f2257149313e2b67861ffd5da8255c86b5c02c788a983df","schema_version":"1.0","event_id":"sha256:839a3b12fd2636780f2257149313e2b67861ffd5da8255c86b5c02c788a983df"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DTD2LAMALX3DCEK6C5NFJAPNXB/bundle.json","state_url":"https://pith.science/pith/DTD2LAMALX3DCEK6C5NFJAPNXB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DTD2LAMALX3DCEK6C5NFJAPNXB/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":"2026-06-20T18:57:11Z","links":{"resolver":"https://pith.science/pith/DTD2LAMALX3DCEK6C5NFJAPNXB","bundle":"https://pith.science/pith/DTD2LAMALX3DCEK6C5NFJAPNXB/bundle.json","state":"https://pith.science/pith/DTD2LAMALX3DCEK6C5NFJAPNXB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DTD2LAMALX3DCEK6C5NFJAPNXB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:DTD2LAMALX3DCEK6C5NFJAPNXB","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":"d806d2e5d853d95c1033f33e44d5e07ef9d2ec3e8c67e980531ad2958a7f4184","cross_cats_sorted":["math.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-09-09T15:27:49Z","title_canon_sha256":"2e54b00cbbdccaf266074e7fc8cf01737347bf476618b7d83db5ddd9e729c64a"},"schema_version":"1.0","source":{"id":"1309.2193","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1309.2193","created_at":"2026-05-18T03:13:46Z"},{"alias_kind":"arxiv_version","alias_value":"1309.2193v1","created_at":"2026-05-18T03:13:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1309.2193","created_at":"2026-05-18T03:13:46Z"},{"alias_kind":"pith_short_12","alias_value":"DTD2LAMALX3D","created_at":"2026-05-18T12:27:43Z"},{"alias_kind":"pith_short_16","alias_value":"DTD2LAMALX3DCEK6","created_at":"2026-05-18T12:27:43Z"},{"alias_kind":"pith_short_8","alias_value":"DTD2LAMA","created_at":"2026-05-18T12:27:43Z"}],"graph_snapshots":[{"event_id":"sha256:839a3b12fd2636780f2257149313e2b67861ffd5da8255c86b5c02c788a983df","target":"graph","created_at":"2026-05-18T03:13:46Z","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":"Constant biases associated to measured linear and angular velocities of a moving object can be estimated from measurements of a static scene by embedded brightness and depth sensors. We propose here a Lyapunov-based observer taking advantage of the SO(3)-invariance of the partial differential equations satisfied by the measured brightness and depth fields. The resulting asymptotic observer is governed by a non-linear integro/partial differential system where the two independent scalar variables indexing the pixels live on the unit sphere of the 3D Euclidian space. The observer design and analy","authors_text":"Karine Beauchard, Nadege Zarrouati-Vissiere, Pierre Rouchon","cross_cats":["math.AP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-09-09T15:27:49Z","title":"Inertial-sensor bias estimation from brightness/depth images and based on SO(3)-invariant integro/partial-differential equations on the unit sphere"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1309.2193","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":"sha256:04153743110a839207b18522700c6bec03eb1b5f3bc3bf1a137151e26572296d","target":"record","created_at":"2026-05-18T03:13:46Z","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":"d806d2e5d853d95c1033f33e44d5e07ef9d2ec3e8c67e980531ad2958a7f4184","cross_cats_sorted":["math.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-09-09T15:27:49Z","title_canon_sha256":"2e54b00cbbdccaf266074e7fc8cf01737347bf476618b7d83db5ddd9e729c64a"},"schema_version":"1.0","source":{"id":"1309.2193","kind":"arxiv","version":1}},"canonical_sha256":"1cc7a581805df631115e175a5481edb8627d8c383e2d0484dc9c6f420817a0d7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1cc7a581805df631115e175a5481edb8627d8c383e2d0484dc9c6f420817a0d7","first_computed_at":"2026-05-18T03:13:46.974264Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:13:46.974264Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bljzAapoz8L4Bta/euuuIGP7ObofHLlK5i5RdixBlsbDwhEYSPXMl35ThXAu3rNCqF+taL4EG/eQNhhc39wLAg==","signature_status":"signed_v1","signed_at":"2026-05-18T03:13:46.975021Z","signed_message":"canonical_sha256_bytes"},"source_id":"1309.2193","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:04153743110a839207b18522700c6bec03eb1b5f3bc3bf1a137151e26572296d","sha256:839a3b12fd2636780f2257149313e2b67861ffd5da8255c86b5c02c788a983df"],"state_sha256":"05a7d6c535bc411f51243eec0700641478a8508a467d7c2db0682dd76c4cadc1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V/uJuRmeMspkPthPFyq4E6ZkQ3MDSu6U/wAAGI7EQFzXV8HdYHzV8iFMbjazOZqjhwIRs1Gyc94VOZTqhpuaDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-20T18:57:11.010287Z","bundle_sha256":"d1c52106d829694288bfaf6151e5629fd58d99b151166e6373705b6e8ff7e26d"}}