{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_23b66f9afbaad975f919b787e13e67f3cafc880645a943100204f59ebe540710","bitcoin_anchor":{"bitcoin_attestations":["bitcoin_block_949451"],"calendar_attestations":["https://finney.calendar.eternitywall.com","https://btc.calendar.catallaxy.com","https://alice.btc.calendar.opentimestamps.org","https://bob.btc.calendar.opentimestamps.org"],"ots_url":"/registry/data/substrate/anchors/77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3.ots","stamped_at":"2026-05-15T03:00:03Z","status":"bitcoin"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_23b66f9afbaad975f919b787e13e67f3cafc880645a943100204f59ebe540710","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"31856afe33ca005a44c6bdf1110d10247c4092bb41fda05d52013ba5faa7c54d","published":"Wed, 06 May 2026 00:00:00 -0400","receipt_hash":"31856afe33ca005a44c6bdf1110d10247c4092bb41fda05d52013ba5faa7c54d","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"31856afe33ca005a44c6bdf1110d10247c4092bb41fda05d52013ba5faa7c54d","observed_at":"2026-05-06T04:43:18.518819Z","parent_run_hash":"184209fc0f2ebdc4b721e1a74f74ab17637dab3344682b6e6bd1f3e5e8f2cd00","published":"Wed, 06 May 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2504.17401v2 Announce Type: replace-cross \nAbstract: Stereo disparity estimation is crucial for obtaining depth information in robot-assisted minimally invasive surgery (RAMIS). While current deep learning methods have made significant advancements, challenges remain in achieving an optimal balance between accuracy, robustness, and inference speed. To address these challenges, we propose the StereoMamba architecture, which is specifically designed for stereo disparity estimation in RAMIS. Our approach is based on a novel Feature Extraction Mamba (FE-Mamba) module, which enhances long-range spatial dependencies both within and across stereo images. To effectively integrate multi-scale features from FE-Mamba, we then introduce a novel Multidimensional Feature Fusion (MFF) module. Experiments against the state-of-the-art on the ex-vivo SCARED benchmark demonstrate that StereoMamba achieves superior performance on EPE of 2.64 px and depth MAE of 2.55 mm, the second-best performance o","title":"StereoMamba: Real-time and Robust Intraoperative Stereo Disparity Estimation via Long-range Spatial Dependencies","url":"https://arxiv.org/abs/2504.17401","vendor":"arxiv_cs_ai"},"summary":"arXiv:2504.17401v2 Announce Type: replace-cross \nAbstract: Stereo disparity estimation is crucial for obtaining depth information in robot-assisted minimally invasive surgery (RAMIS). While current deep learning methods have made significant advancements, challenges remain in achieving an optimal balance between accuracy, robustness, and inference speed. To address these challenges, we propose the StereoMamba architecture, which is specifically designed for stereo disparity estimation in RAMIS. Our approach is based on a novel Feature Extraction Mamba (FE-Mamba) module, which enhances long-range spatial dependencies both within and across stereo images. To effectively integrate multi-scale features from FE-Mamba, we then introduce a novel Multidimensional Feature Fusion (MFF) module. Experiments against the state-of-the-art on the ex-vivo SCARED benchmark demonstrate that StereoMamba achieves superior performance on EPE of 2.64 px and depth MAE of 2.55 mm, the second-best performance o","title":"StereoMamba: Real-time and Robust Intraoperative Stereo Disparity Estimation via Long-range Spatial Dependencies","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-06T04:43:18Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2504.17401"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:24455d4a03602ab79a647df503d3d570a83dd8dca7daccd4498210610ae4c520504fb0dd17154b44b3d82a2ed3e2ad3a39430bfa1a8d9576b50a1b3ea8af6a0a","signer":"crovia.substrate","subject":{"observed_at":"2026-05-06T04:43:18Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2504.17401"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"2d696e1f2d32a093d10ca3795c0ec6e0f4233e1c50a8ae1abfc28d38ffa057ed","leaf_index":116472,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"d80ac74ea74ed4be623883dd394abec4200c0bea2b41a33a3bb8a576c8cb2939","side":"right"},{"sibling":"76d728835f5534830c0ea362a6afb2948f7f87d8c9878196a1cd854be5c1d860","side":"right"},{"sibling":"c0fa01b4b86716db5a72d8d51a2e88542a7f5c0e24e3ea596db49697bb4e0363","side":"right"},{"sibling":"cd33003994ed1698558bee5b05ad8e733f1f684abcbce1cb6899f626a5f50893","side":"left"},{"sibling":"dbc24d50d7133a96813fc4cd8ece2aa2c2aecb877efbccbbaed4d958ca3315a5","side":"left"},{"sibling":"49b33adf4c4c06e0da02b725d54c17509cf7f469e34fe4962d093f7c393b5b1a","side":"left"},{"sibling":"4cc9938ba74578c39e57576728cd5667cffc329ca7f59abc83c2dfe415d03818","side":"left"},{"sibling":"ae2d4d1f9926c807a390f0c20c0a0e8fc89204c3e1f66866d3ea0fda3757402d","side":"left"},{"sibling":"7a43f13f6340a269b939be4b6e73a199a4e8061f0cf9dbb9ba629243174142d3","side":"right"},{"sibling":"c750384c973eaf46aa237cdabe7a75729862dd4101dca10cb8e0626e0ec2d34a","side":"left"},{"sibling":"ddc060ac400459417799f688c75d5b271636afa40d89ec7fc98652473a8061f6","side":"left"},{"sibling":"282afa51266e47629e34d808a360bbb276348bcc5a24bdcc93e83a76e580293e","side":"right"},{"sibling":"05f89b32c00462e60adf95c1fe4579cdc2791b36e8b17573d8f3b5fd5da95a0b","side":"right"},{"sibling":"8ccd9937a2c0d5c04044d07d1557791b7d07bb31eac41a39a675608d44b38f23","side":"right"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_23b66f9afbaad975f919b787e13e67f3cafc880645a943100204f59ebe540710"}}