{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:IFUEWDQ4AJ3AE3QTK6YYLOYDBB","short_pith_number":"pith:IFUEWDQ4","canonical_record":{"source":{"id":"2211.16266","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-29T14:54:01Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"f8ce292539011a620cd817a12a898758312cfde6cb69dd8654a35b7094bc4bf4","abstract_canon_sha256":"8444f7f3b4ea9c81fd96f4020911ba865ca89ed406f46971eef88bd1875d0b9f"},"schema_version":"1.0"},"canonical_sha256":"41684b0e1c0276026e1357b185bb03085de30d70db9cc34465e4c7a9cdb0b5e6","source":{"kind":"arxiv","id":"2211.16266","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.16266","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"arxiv_version","alias_value":"2211.16266v1","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.16266","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"pith_short_12","alias_value":"IFUEWDQ4AJ3A","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"pith_short_16","alias_value":"IFUEWDQ4AJ3AE3QT","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"pith_short_8","alias_value":"IFUEWDQ4","created_at":"2026-07-05T05:20:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:IFUEWDQ4AJ3AE3QTK6YYLOYDBB","target":"record","payload":{"canonical_record":{"source":{"id":"2211.16266","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-29T14:54:01Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"f8ce292539011a620cd817a12a898758312cfde6cb69dd8654a35b7094bc4bf4","abstract_canon_sha256":"8444f7f3b4ea9c81fd96f4020911ba865ca89ed406f46971eef88bd1875d0b9f"},"schema_version":"1.0"},"canonical_sha256":"41684b0e1c0276026e1357b185bb03085de30d70db9cc34465e4c7a9cdb0b5e6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:20:25.279605Z","signature_b64":"UnPvji5Epwter7Rf5bIZeW9zfHS6ocb9XdnNaHPK+J3KcEWGmP2pHyqD74todSvQWNLUXNMg662Msb7wclt7Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"41684b0e1c0276026e1357b185bb03085de30d70db9cc34465e4c7a9cdb0b5e6","last_reissued_at":"2026-07-05T05:20:25.279006Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:20:25.279006Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2211.16266","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":"2026-07-05T05:20:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZqIQOjR+SmkdhQvRkh45K+IcApNWyVrIvqrU+wJivm9EktvmuAXczni580MX/GQ/bTNh+bxIWOx8cXYPcGSNAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T08:46:27.899848Z"},"content_sha256":"a2afb08d40ad48ffa3a6df75fb9af0558af93df699ce03be4f553a6a7810b970","schema_version":"1.0","event_id":"sha256:a2afb08d40ad48ffa3a6df75fb9af0558af93df699ce03be4f553a6a7810b970"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:IFUEWDQ4AJ3AE3QTK6YYLOYDBB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PatchMatch-Stereo-Panorama, a fast dense reconstruction from 360{\\deg} video images","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Dominik Slomma, Hartmut Surmann, Marc Thurow","submitted_at":"2022-11-29T14:54:01Z","abstract_excerpt":"This work proposes a new method for real-time dense 3d reconstruction for common 360{\\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM (OpenVSLAM, based on the popular ORB-SLAM) for robust long-term localization on equirectangular video input by adding an additional densification thread that computes dense correspondences for any given keyframe with respect to a local keyframe-neighboorhood using a PatchMatch-Stereo-approach. While PatchMatch-Stereo-types of algorithms are considered state of t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.16266","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2211.16266/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":"2026-07-05T05:20:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wgFbUh6KEQkIUsI07UKC26Jocg6iA/41vyvuV8ETfqQBpjI6kp7wmuPZseffzHqvEnUN1DWL8itsdZ9Ot8LRDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T08:46:27.900231Z"},"content_sha256":"c56f8d4e6ef06200915b43a1ab108f8fde26bc5bf99d22ad1e11622887827390","schema_version":"1.0","event_id":"sha256:c56f8d4e6ef06200915b43a1ab108f8fde26bc5bf99d22ad1e11622887827390"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IFUEWDQ4AJ3AE3QTK6YYLOYDBB/bundle.json","state_url":"https://pith.science/pith/IFUEWDQ4AJ3AE3QTK6YYLOYDBB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IFUEWDQ4AJ3AE3QTK6YYLOYDBB/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":"2026-07-24T08:46:27Z","links":{"resolver":"https://pith.science/pith/IFUEWDQ4AJ3AE3QTK6YYLOYDBB","bundle":"https://pith.science/pith/IFUEWDQ4AJ3AE3QTK6YYLOYDBB/bundle.json","state":"https://pith.science/pith/IFUEWDQ4AJ3AE3QTK6YYLOYDBB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IFUEWDQ4AJ3AE3QTK6YYLOYDBB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:IFUEWDQ4AJ3AE3QTK6YYLOYDBB","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":"8444f7f3b4ea9c81fd96f4020911ba865ca89ed406f46971eef88bd1875d0b9f","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-29T14:54:01Z","title_canon_sha256":"f8ce292539011a620cd817a12a898758312cfde6cb69dd8654a35b7094bc4bf4"},"schema_version":"1.0","source":{"id":"2211.16266","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.16266","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"arxiv_version","alias_value":"2211.16266v1","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.16266","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"pith_short_12","alias_value":"IFUEWDQ4AJ3A","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"pith_short_16","alias_value":"IFUEWDQ4AJ3AE3QT","created_at":"2026-07-05T05:20:25Z"},{"alias_kind":"pith_short_8","alias_value":"IFUEWDQ4","created_at":"2026-07-05T05:20:25Z"}],"graph_snapshots":[{"event_id":"sha256:c56f8d4e6ef06200915b43a1ab108f8fde26bc5bf99d22ad1e11622887827390","target":"graph","created_at":"2026-07-05T05:20:25Z","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/2211.16266/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work proposes a new method for real-time dense 3d reconstruction for common 360{\\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM (OpenVSLAM, based on the popular ORB-SLAM) for robust long-term localization on equirectangular video input by adding an additional densification thread that computes dense correspondences for any given keyframe with respect to a local keyframe-neighboorhood using a PatchMatch-Stereo-approach. While PatchMatch-Stereo-types of algorithms are considered state of t","authors_text":"Dominik Slomma, Hartmut Surmann, Marc Thurow","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-29T14:54:01Z","title":"PatchMatch-Stereo-Panorama, a fast dense reconstruction from 360{\\deg} video images"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.16266","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:a2afb08d40ad48ffa3a6df75fb9af0558af93df699ce03be4f553a6a7810b970","target":"record","created_at":"2026-07-05T05:20:25Z","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":"8444f7f3b4ea9c81fd96f4020911ba865ca89ed406f46971eef88bd1875d0b9f","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-29T14:54:01Z","title_canon_sha256":"f8ce292539011a620cd817a12a898758312cfde6cb69dd8654a35b7094bc4bf4"},"schema_version":"1.0","source":{"id":"2211.16266","kind":"arxiv","version":1}},"canonical_sha256":"41684b0e1c0276026e1357b185bb03085de30d70db9cc34465e4c7a9cdb0b5e6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"41684b0e1c0276026e1357b185bb03085de30d70db9cc34465e4c7a9cdb0b5e6","first_computed_at":"2026-07-05T05:20:25.279006Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:20:25.279006Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UnPvji5Epwter7Rf5bIZeW9zfHS6ocb9XdnNaHPK+J3KcEWGmP2pHyqD74todSvQWNLUXNMg662Msb7wclt7Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:20:25.279605Z","signed_message":"canonical_sha256_bytes"},"source_id":"2211.16266","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a2afb08d40ad48ffa3a6df75fb9af0558af93df699ce03be4f553a6a7810b970","sha256:c56f8d4e6ef06200915b43a1ab108f8fde26bc5bf99d22ad1e11622887827390"],"state_sha256":"8eeccd50695724a6f8bb0b636980d5426963f20ac34fb4fde95354f0da114bf7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7YWhXLsDzYhhJ2X64GOzXKkDnxv2QMw4ouivzbiEZ4dqBgL23+ZrHbG30gDS026ZzulUMV16bhG87yk2BY4QCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-24T08:46:27.902764Z","bundle_sha256":"67d6a9827cfeacd06d55d7ca5a131a395b7960db8c516feefc576127ef139a51"}}