{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:JFUMUCNPX7SXDRSZYNGX3LYCY3","short_pith_number":"pith:JFUMUCNP","canonical_record":{"source":{"id":"1602.05990","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-02-18T22:22:18Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"af9bceff281c6814b14b8f48a9a30b04d61ea38a109fd9d103e7208d3b83e87a","abstract_canon_sha256":"df4756d5cd098a3e7377c3fc70014f54403f541565063a4da2d79e57a2a066eb"},"schema_version":"1.0"},"canonical_sha256":"4968ca09afbfe571c659c34d7daf02c6c35039b857380718d6190d6d24c15ece","source":{"kind":"arxiv","id":"1602.05990","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1602.05990","created_at":"2026-05-18T01:20:21Z"},{"alias_kind":"arxiv_version","alias_value":"1602.05990v1","created_at":"2026-05-18T01:20:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1602.05990","created_at":"2026-05-18T01:20:21Z"},{"alias_kind":"pith_short_12","alias_value":"JFUMUCNPX7SX","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_16","alias_value":"JFUMUCNPX7SXDRSZ","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_8","alias_value":"JFUMUCNP","created_at":"2026-05-18T12:30:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:JFUMUCNPX7SXDRSZYNGX3LYCY3","target":"record","payload":{"canonical_record":{"source":{"id":"1602.05990","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-02-18T22:22:18Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"af9bceff281c6814b14b8f48a9a30b04d61ea38a109fd9d103e7208d3b83e87a","abstract_canon_sha256":"df4756d5cd098a3e7377c3fc70014f54403f541565063a4da2d79e57a2a066eb"},"schema_version":"1.0"},"canonical_sha256":"4968ca09afbfe571c659c34d7daf02c6c35039b857380718d6190d6d24c15ece","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:20:21.898133Z","signature_b64":"VZCbLns8yQGuwlBh+STA+l6GHRSnwozxdCG0awTd67XDK2kHpdVwAYha17o8zwK9nGZJ5QfKH988/f3i+RO4CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4968ca09afbfe571c659c34d7daf02c6c35039b857380718d6190d6d24c15ece","last_reissued_at":"2026-05-18T01:20:21.897613Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:20:21.897613Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1602.05990","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":"2026-05-18T01:20:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kvb8sDRprWH9opRWm2dRdNkMbOEul9u5FjZhZQIEMZBgWFCbJe3LNuO/kswBQmz9AO2uC6v7W9YCyt7H3/kLDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T05:27:53.673127Z"},"content_sha256":"9e5353a00e1e8529687fdefdfe5a6befe2481dd3ad683915291ff78508f2487d","schema_version":"1.0","event_id":"sha256:9e5353a00e1e8529687fdefdfe5a6befe2481dd3ad683915291ff78508f2487d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:JFUMUCNPX7SXDRSZYNGX3LYCY3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Pl\\\"ucker Correction Problem: Analysis and Improvements in Efficiency","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Helder Araujo, Jo\\~ao R. Cardoso, Pedro Miraldo","submitted_at":"2016-02-18T22:22:18Z","abstract_excerpt":"A given six dimensional vector represents a 3D straight line in Plucker coordinates if its coordinates satisfy the Klein quadric constraint. In many problems aiming to find the Plucker coordinates of lines, noise in the data and other type of errors contribute for obtaining 6D vectors that do not correspond to lines, because of that constraint. A common procedure to overcome this drawback is to find the Plucker coordinates of the lines that are closest to those vectors. This is known as the Plucker correction problem. In this article we propose a simple, closed-form, and global solution fo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1602.05990","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":"2026-05-18T01:20:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vR6GCPf82rIBiAL/5f7Sp9Gz/DmRvKGS8u+qVUx9Or5UQZ8wAGugxBo+jekKoabAgjCohaew8d0pk+p475r1AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T05:27:53.673495Z"},"content_sha256":"69822a6f75eb2b17afec7aed92020a5b0c55a8558f60825ff5d1dde3d2f452bd","schema_version":"1.0","event_id":"sha256:69822a6f75eb2b17afec7aed92020a5b0c55a8558f60825ff5d1dde3d2f452bd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JFUMUCNPX7SXDRSZYNGX3LYCY3/bundle.json","state_url":"https://pith.science/pith/JFUMUCNPX7SXDRSZYNGX3LYCY3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JFUMUCNPX7SXDRSZYNGX3LYCY3/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":"2026-06-22T05:27:53Z","links":{"resolver":"https://pith.science/pith/JFUMUCNPX7SXDRSZYNGX3LYCY3","bundle":"https://pith.science/pith/JFUMUCNPX7SXDRSZYNGX3LYCY3/bundle.json","state":"https://pith.science/pith/JFUMUCNPX7SXDRSZYNGX3LYCY3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JFUMUCNPX7SXDRSZYNGX3LYCY3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:JFUMUCNPX7SXDRSZYNGX3LYCY3","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":"df4756d5cd098a3e7377c3fc70014f54403f541565063a4da2d79e57a2a066eb","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-02-18T22:22:18Z","title_canon_sha256":"af9bceff281c6814b14b8f48a9a30b04d61ea38a109fd9d103e7208d3b83e87a"},"schema_version":"1.0","source":{"id":"1602.05990","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1602.05990","created_at":"2026-05-18T01:20:21Z"},{"alias_kind":"arxiv_version","alias_value":"1602.05990v1","created_at":"2026-05-18T01:20:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1602.05990","created_at":"2026-05-18T01:20:21Z"},{"alias_kind":"pith_short_12","alias_value":"JFUMUCNPX7SX","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_16","alias_value":"JFUMUCNPX7SXDRSZ","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_8","alias_value":"JFUMUCNP","created_at":"2026-05-18T12:30:25Z"}],"graph_snapshots":[{"event_id":"sha256:69822a6f75eb2b17afec7aed92020a5b0c55a8558f60825ff5d1dde3d2f452bd","target":"graph","created_at":"2026-05-18T01:20:21Z","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":"A given six dimensional vector represents a 3D straight line in Plucker coordinates if its coordinates satisfy the Klein quadric constraint. In many problems aiming to find the Plucker coordinates of lines, noise in the data and other type of errors contribute for obtaining 6D vectors that do not correspond to lines, because of that constraint. A common procedure to overcome this drawback is to find the Plucker coordinates of the lines that are closest to those vectors. This is known as the Plucker correction problem. In this article we propose a simple, closed-form, and global solution fo","authors_text":"Helder Araujo, Jo\\~ao R. Cardoso, Pedro Miraldo","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-02-18T22:22:18Z","title":"Pl\\\"ucker Correction Problem: Analysis and Improvements in Efficiency"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1602.05990","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":"sha256:9e5353a00e1e8529687fdefdfe5a6befe2481dd3ad683915291ff78508f2487d","target":"record","created_at":"2026-05-18T01:20:21Z","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":"df4756d5cd098a3e7377c3fc70014f54403f541565063a4da2d79e57a2a066eb","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-02-18T22:22:18Z","title_canon_sha256":"af9bceff281c6814b14b8f48a9a30b04d61ea38a109fd9d103e7208d3b83e87a"},"schema_version":"1.0","source":{"id":"1602.05990","kind":"arxiv","version":1}},"canonical_sha256":"4968ca09afbfe571c659c34d7daf02c6c35039b857380718d6190d6d24c15ece","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4968ca09afbfe571c659c34d7daf02c6c35039b857380718d6190d6d24c15ece","first_computed_at":"2026-05-18T01:20:21.897613Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:20:21.897613Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VZCbLns8yQGuwlBh+STA+l6GHRSnwozxdCG0awTd67XDK2kHpdVwAYha17o8zwK9nGZJ5QfKH988/f3i+RO4CQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:20:21.898133Z","signed_message":"canonical_sha256_bytes"},"source_id":"1602.05990","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9e5353a00e1e8529687fdefdfe5a6befe2481dd3ad683915291ff78508f2487d","sha256:69822a6f75eb2b17afec7aed92020a5b0c55a8558f60825ff5d1dde3d2f452bd"],"state_sha256":"b564b64ec0244f0aded9bbe3badcfa172d6a39b9a47d23e5d24beb0e95b083a5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lALP6Cg5LRkHmwIaJzWs+6U58UlVL0ngwf/4LGUfN0CBhZdBIDMlI6echGAT6k+hyXK/gw27nnFw3xB3cSnwCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-22T05:27:53.675463Z","bundle_sha256":"b8b7f00cafc4a33956b50cf660220215b59923e5324f9df0b1a43b2896313ae7"}}