{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:TDAEBFB4HHUQBFVKNLORBMK57M","short_pith_number":"pith:TDAEBFB4","canonical_record":{"source":{"id":"1907.08388","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T06:53:33Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"a00dbed7caf5037330547e2ca85aa09ce0b7909543ed030214cf263ce22efa43","abstract_canon_sha256":"39019107252933a1e2231d30075655bd3958be351f27a53312fb56a06289aecb"},"schema_version":"1.0"},"canonical_sha256":"98c040943c39e90096aa6add10b15dfb01f6c1a9250f70064a8f6ab2e3201051","source":{"kind":"arxiv","id":"1907.08388","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.08388","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"arxiv_version","alias_value":"1907.08388v1","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.08388","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"pith_short_12","alias_value":"TDAEBFB4HHUQ","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"TDAEBFB4HHUQBFVK","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"TDAEBFB4","created_at":"2026-05-18T12:33:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:TDAEBFB4HHUQBFVKNLORBMK57M","target":"record","payload":{"canonical_record":{"source":{"id":"1907.08388","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T06:53:33Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"a00dbed7caf5037330547e2ca85aa09ce0b7909543ed030214cf263ce22efa43","abstract_canon_sha256":"39019107252933a1e2231d30075655bd3958be351f27a53312fb56a06289aecb"},"schema_version":"1.0"},"canonical_sha256":"98c040943c39e90096aa6add10b15dfb01f6c1a9250f70064a8f6ab2e3201051","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:40:10.019968Z","signature_b64":"i4wWoyQTgsF5HskkNoanLcizWxKh75+nP5ygvUovZGOhz0qGSLyhEQtTy2haYF1TvR+RCEprZoZgLgkgFIxuCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"98c040943c39e90096aa6add10b15dfb01f6c1a9250f70064a8f6ab2e3201051","last_reissued_at":"2026-05-17T23:40:10.019299Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:40:10.019299Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.08388","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":"2026-05-17T23:40:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J5KAeO7xn9GJRMJl9agb45j2Ta+IP1vred1FMJZ1+fOLQmwagMbHs4rvn6i+WjGONajgJ3QqMJWgydFKVrtbBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T15:36:24.617408Z"},"content_sha256":"b8f08b407adc99b1281af7fbd8499bdae6cedf172e866a738bb2c2c3896ca11a","schema_version":"1.0","event_id":"sha256:b8f08b407adc99b1281af7fbd8499bdae6cedf172e866a738bb2c2c3896ca11a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:TDAEBFB4HHUQBFVKNLORBMK57M","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion Model","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Clark Youngdong Son, H. Jin Kim, Sangil Lee","submitted_at":"2019-07-19T06:53:33Z","abstract_excerpt":"In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial segmentation first generates several motion hypotheses by using a grid-based scene flow and clusters the extracted motion hypotheses, separating objects that move independently of one another. Further, we use a dual-mode motion model to consistently distinguish between the static and dynamic parts in the temporal motion tracking stage. Finally, the proposed algor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.08388","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":"2026-05-17T23:40:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hbqFYl3eRvHRTejlFruYz6xH+jsq0ar3r/9uKff2SmO8t2AVFa7YyZNK6qYNtuTTM6fqLp+Aiz0lsDFqSMGzBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T15:36:24.617763Z"},"content_sha256":"0326b443b0fa0e53d2bfedd21d09c00c4e8e48163869a8cab5604f7085af9d87","schema_version":"1.0","event_id":"sha256:0326b443b0fa0e53d2bfedd21d09c00c4e8e48163869a8cab5604f7085af9d87"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TDAEBFB4HHUQBFVKNLORBMK57M/bundle.json","state_url":"https://pith.science/pith/TDAEBFB4HHUQBFVKNLORBMK57M/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TDAEBFB4HHUQBFVKNLORBMK57M/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":"2026-06-26T15:36:24Z","links":{"resolver":"https://pith.science/pith/TDAEBFB4HHUQBFVKNLORBMK57M","bundle":"https://pith.science/pith/TDAEBFB4HHUQBFVKNLORBMK57M/bundle.json","state":"https://pith.science/pith/TDAEBFB4HHUQBFVKNLORBMK57M/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TDAEBFB4HHUQBFVKNLORBMK57M/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:TDAEBFB4HHUQBFVKNLORBMK57M","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":"39019107252933a1e2231d30075655bd3958be351f27a53312fb56a06289aecb","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T06:53:33Z","title_canon_sha256":"a00dbed7caf5037330547e2ca85aa09ce0b7909543ed030214cf263ce22efa43"},"schema_version":"1.0","source":{"id":"1907.08388","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.08388","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"arxiv_version","alias_value":"1907.08388v1","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.08388","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"pith_short_12","alias_value":"TDAEBFB4HHUQ","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"TDAEBFB4HHUQBFVK","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"TDAEBFB4","created_at":"2026-05-18T12:33:27Z"}],"graph_snapshots":[{"event_id":"sha256:0326b443b0fa0e53d2bfedd21d09c00c4e8e48163869a8cab5604f7085af9d87","target":"graph","created_at":"2026-05-17T23:40:10Z","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":"In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial segmentation first generates several motion hypotheses by using a grid-based scene flow and clusters the extracted motion hypotheses, separating objects that move independently of one another. Further, we use a dual-mode motion model to consistently distinguish between the static and dynamic parts in the temporal motion tracking stage. Finally, the proposed algor","authors_text":"Clark Youngdong Son, H. Jin Kim, Sangil Lee","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T06:53:33Z","title":"Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.08388","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:b8f08b407adc99b1281af7fbd8499bdae6cedf172e866a738bb2c2c3896ca11a","target":"record","created_at":"2026-05-17T23:40:10Z","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":"39019107252933a1e2231d30075655bd3958be351f27a53312fb56a06289aecb","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T06:53:33Z","title_canon_sha256":"a00dbed7caf5037330547e2ca85aa09ce0b7909543ed030214cf263ce22efa43"},"schema_version":"1.0","source":{"id":"1907.08388","kind":"arxiv","version":1}},"canonical_sha256":"98c040943c39e90096aa6add10b15dfb01f6c1a9250f70064a8f6ab2e3201051","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"98c040943c39e90096aa6add10b15dfb01f6c1a9250f70064a8f6ab2e3201051","first_computed_at":"2026-05-17T23:40:10.019299Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:40:10.019299Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i4wWoyQTgsF5HskkNoanLcizWxKh75+nP5ygvUovZGOhz0qGSLyhEQtTy2haYF1TvR+RCEprZoZgLgkgFIxuCw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:40:10.019968Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.08388","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b8f08b407adc99b1281af7fbd8499bdae6cedf172e866a738bb2c2c3896ca11a","sha256:0326b443b0fa0e53d2bfedd21d09c00c4e8e48163869a8cab5604f7085af9d87"],"state_sha256":"385556fe42aab10e279886d0361aef78319e17e92311b0df51e59856447691d8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1Yve/UU/YHKMvcW4vxppL69n7DXa0+i0D2FW2doVJkWUo21rhzgq70ZsP1M0BCSLxlZiYZN+Kwvkk33l9w1gCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-26T15:36:24.619737Z","bundle_sha256":"b879735befdfb17249e8a1c06cb3cac87cdf645ed14c490a60625931f9d99978"}}