{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:WQMQUUMJ7QG466RQ7ZML3RDLUP","short_pith_number":"pith:WQMQUUMJ","canonical_record":{"source":{"id":"2606.19307","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T17:30:52Z","cross_cats_sorted":[],"title_canon_sha256":"650d66475e633548ad01400234612b2fdffc385628cfed1161a4d4f01765291f","abstract_canon_sha256":"7898a9850cef3e02b383d2717f2eb2ff96387bf1024c16107278d53069dc7fa4"},"schema_version":"1.0"},"canonical_sha256":"b4190a5189fc0dcf7a30fe58bdc46ba3d295d35eac312e25a7343851149342fa","source":{"kind":"arxiv","id":"2606.19307","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19307","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19307v1","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19307","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"pith_short_12","alias_value":"WQMQUUMJ7QG4","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"pith_short_16","alias_value":"WQMQUUMJ7QG466RQ","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"pith_short_8","alias_value":"WQMQUUMJ","created_at":"2026-06-19T16:12:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:WQMQUUMJ7QG466RQ7ZML3RDLUP","target":"record","payload":{"canonical_record":{"source":{"id":"2606.19307","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T17:30:52Z","cross_cats_sorted":[],"title_canon_sha256":"650d66475e633548ad01400234612b2fdffc385628cfed1161a4d4f01765291f","abstract_canon_sha256":"7898a9850cef3e02b383d2717f2eb2ff96387bf1024c16107278d53069dc7fa4"},"schema_version":"1.0"},"canonical_sha256":"b4190a5189fc0dcf7a30fe58bdc46ba3d295d35eac312e25a7343851149342fa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:12:10.805859Z","signature_b64":"xuTr2wqLqKXJownmb/HnQbM9VKc3TNZmvNwIIHw4Jj5ToKdRPduqP6jVDZz/D3QQ6Zh7RvKpeYb+VHJfQCWCAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b4190a5189fc0dcf7a30fe58bdc46ba3d295d35eac312e25a7343851149342fa","last_reissued_at":"2026-06-19T16:12:10.805514Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:12:10.805514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.19307","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":"2026-06-19T16:12:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"va6JDVwC7yPgnIto4+jXHSfM0RKKTytMe+p3y1VefYCa37rPwQQQcA1jSXnK9os1a2mcmVQVxjoHA0ygY/vrDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-20T19:53:02.688747Z"},"content_sha256":"1158cfcab4c98730486687c21c6087f35a7dd95fcb1fa6ca1730b5cece6d0fb3","schema_version":"1.0","event_id":"sha256:1158cfcab4c98730486687c21c6087f35a7dd95fcb1fa6ca1730b5cece6d0fb3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:WQMQUUMJ7QG466RQ7ZML3RDLUP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Observability and Consistency Analysis for Visual-Inertial Navigation with Anchored Feature Parameterizations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"James Richard Forbes, Mitchell Cohen, Vassili Korotkine","submitted_at":"2026-06-17T17:30:52Z","abstract_excerpt":"This paper presents an analysis of the observability and consistency properties of filtering-based visual-inertial navigation systems (VINS) that utilize anchored feature representations. The unobservable subspace of VINS with anchored landmark parameterizations is shown to be independent of the estimated landmark state, which leads to improved estimator consistency properties without any additional modifications. However, the unobservable subspace is still found to depend on the estimated navigation state, necessitating additional consistency-enforcing techniques. Two methods to improve the c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19307","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/2606.19307/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":"2026-06-19T16:12:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3xqqV2YS3ur+wx9nCXV9dZ237GaMuiLuEYMZEUEzcQfKg2nzr76xjRBii0S5M7ODYWRfy/8DD+A/6D5SGeJcDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-20T19:53:02.689117Z"},"content_sha256":"a5aa4b3f5831fefc8703c9f473a8d6e07900b1145a175f0a3ffd93a447eea70b","schema_version":"1.0","event_id":"sha256:a5aa4b3f5831fefc8703c9f473a8d6e07900b1145a175f0a3ffd93a447eea70b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WQMQUUMJ7QG466RQ7ZML3RDLUP/bundle.json","state_url":"https://pith.science/pith/WQMQUUMJ7QG466RQ7ZML3RDLUP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WQMQUUMJ7QG466RQ7ZML3RDLUP/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":"2026-06-20T19:53:02Z","links":{"resolver":"https://pith.science/pith/WQMQUUMJ7QG466RQ7ZML3RDLUP","bundle":"https://pith.science/pith/WQMQUUMJ7QG466RQ7ZML3RDLUP/bundle.json","state":"https://pith.science/pith/WQMQUUMJ7QG466RQ7ZML3RDLUP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WQMQUUMJ7QG466RQ7ZML3RDLUP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:WQMQUUMJ7QG466RQ7ZML3RDLUP","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":"7898a9850cef3e02b383d2717f2eb2ff96387bf1024c16107278d53069dc7fa4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T17:30:52Z","title_canon_sha256":"650d66475e633548ad01400234612b2fdffc385628cfed1161a4d4f01765291f"},"schema_version":"1.0","source":{"id":"2606.19307","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19307","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19307v1","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19307","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"pith_short_12","alias_value":"WQMQUUMJ7QG4","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"pith_short_16","alias_value":"WQMQUUMJ7QG466RQ","created_at":"2026-06-19T16:12:10Z"},{"alias_kind":"pith_short_8","alias_value":"WQMQUUMJ","created_at":"2026-06-19T16:12:10Z"}],"graph_snapshots":[{"event_id":"sha256:a5aa4b3f5831fefc8703c9f473a8d6e07900b1145a175f0a3ffd93a447eea70b","target":"graph","created_at":"2026-06-19T16:12:10Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2606.19307/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents an analysis of the observability and consistency properties of filtering-based visual-inertial navigation systems (VINS) that utilize anchored feature representations. The unobservable subspace of VINS with anchored landmark parameterizations is shown to be independent of the estimated landmark state, which leads to improved estimator consistency properties without any additional modifications. However, the unobservable subspace is still found to depend on the estimated navigation state, necessitating additional consistency-enforcing techniques. Two methods to improve the c","authors_text":"James Richard Forbes, Mitchell Cohen, Vassili Korotkine","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T17:30:52Z","title":"Observability and Consistency Analysis for Visual-Inertial Navigation with Anchored Feature Parameterizations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19307","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":"sha256:1158cfcab4c98730486687c21c6087f35a7dd95fcb1fa6ca1730b5cece6d0fb3","target":"record","created_at":"2026-06-19T16:12:10Z","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":"7898a9850cef3e02b383d2717f2eb2ff96387bf1024c16107278d53069dc7fa4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T17:30:52Z","title_canon_sha256":"650d66475e633548ad01400234612b2fdffc385628cfed1161a4d4f01765291f"},"schema_version":"1.0","source":{"id":"2606.19307","kind":"arxiv","version":1}},"canonical_sha256":"b4190a5189fc0dcf7a30fe58bdc46ba3d295d35eac312e25a7343851149342fa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b4190a5189fc0dcf7a30fe58bdc46ba3d295d35eac312e25a7343851149342fa","first_computed_at":"2026-06-19T16:12:10.805514Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:12:10.805514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xuTr2wqLqKXJownmb/HnQbM9VKc3TNZmvNwIIHw4Jj5ToKdRPduqP6jVDZz/D3QQ6Zh7RvKpeYb+VHJfQCWCAQ==","signature_status":"signed_v1","signed_at":"2026-06-19T16:12:10.805859Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.19307","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1158cfcab4c98730486687c21c6087f35a7dd95fcb1fa6ca1730b5cece6d0fb3","sha256:a5aa4b3f5831fefc8703c9f473a8d6e07900b1145a175f0a3ffd93a447eea70b"],"state_sha256":"60e7701fd9e452e4fd9df6f800d7f7f15eb01ca2344d2f8875ffcf9ffe5f918f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TvE+72kXz7NDa+khjc+veQyUNjXG9NtwgyxzDYcQxUYItZOzWDGK8jC0gSEAO7rZtXIWazOPe7Z17TURBJvuDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-20T19:53:02.691059Z","bundle_sha256":"3cf4a823c3ea4a8eae4a863122e45eb3d17624f910aaee57343a02537889df94"}}