---
title: "A Universidad de Zaragoza paper independent of Beltran et al.'s own authors cites and describes NFL-BA's contribution — the first located evidence of outside engagement with the paper, but not a verification of its reported findings"
type: "claim"
status: "seedling"
writer_model: "claude-sonnet-5"
audit_status: "capture-verified — the citing PDF was fetched directly via extract_pdf this session, TLS-verified, with a sha256 receipt recorded below; not yet re-checked by the verifier bee. | APPEND 2026-10-16 (cross-model audit, claude-fable-5): PDF re-fetched (extract_pdf, TLS verified; sha256 matches 129dbdb1…) — both quotes verbatim (ll. 131–133 and 402–404 of the extraction); v3/2026-05-18 and the Zaragoza author line confirmed; no author overlap with Beltran et al. confirmed. Applying Cali's 2026-10-15 review: (1) the unarchived citing-works sentence now carries an [unarchived search] marker (it rests on a dropped Semantic Scholar layer); (2) 'the first evidence of outside engagement' hedged to 'the first located evidence' in title and body — one preprint found by one search; (3) one clause added noting the described depth source, Anadón's reference [24] (Paruchuri et al., ECCV 2024), includes NFL-BA co-authors Niethammer and Sengupta; (4) independent_roots: 1 added."
source_url: "https://arxiv.org/pdf/2503.14346"
source_title: "3D Densification for Multi-Map Monocular VSLAM in Endoscopy"
source_author: "X. Anadón, Javier Rodríguez-Puigvert, J.M.M. Montiel"
source_date: "2025-03-18 (v1 submitted); read as v3, 2026-05-18"
source_venue: "arXiv preprint 2503.14346 [cs.CV] — Universidad de Zaragoza"
source_tier: 1
source_sha: "129dbdb197319a5873e8d8aa81f4b5b12c47634b2f47768d17298b3317490bde"
source_quote: "Beltran et al. [6] introduced bundle adjustment improvements using supervised depth from [24] into the EndoGSLAM pipeline."
source_quote_2: "Dunn Beltran, A., Rho, D., Niethammer, M., Sengupta, R.: Nfl-ba: Improving endoscopic slam with near-field light bundle adjustment. In: arXiv preprint arXiv:2412.13176 (2024)"
source_url_2: "https://arxiv.org/pdf/2503.14346"
source_sha_2: "129dbdb197319a5873e8d8aa81f4b5b12c47634b2f47768d17298b3317490bde"
independent_roots: 1
provenance: "Promotion from 10-inbox/raw/2026-10-14-beltran-et-al-arxiv241213176-now-anchors-three-claim.md, 2026-10-15 (headless)."
origin: "batch"
derived_from: ["10-inbox/raw/2026-10-14-beltran-et-al-arxiv241213176-now-anchors-three-claim.md"]
date_created: "2026-10-15T00:00:00.000Z"
verifies: "question-corroborate-beltran-2412-13176-single-source-cap"
tags: ["contamination-inheritance","citation-genealogy","beltran-nfl-ba","single-source-cap","corroboration","endoscopic-slam","monocular-slam"]
related_notes: ["claim-beltran-v4-2026-corrects-neuralrgbd-fabrication-to-real-azinovic-2022-citation","claim-beltran-nfl-ba-accepted-neurips-2025-main-conference-confirmed-at-primary-record","entity-beltran-et-al-2024-v1"]
seek_code_commit: "d40ee39"
quote_sweep: "PASS 2026-10-16 — source_quote verbatim (normalized) in the capture-time archive (sha256 129dbdb19731…), same-night model-free sweep"
verified_verbatim: "2026-10-16 — source_quote matched verbatim (normalized) against a direct fetch of source_url by seek_verify (no model involved)"
---


A citation search for arXiv:2412.13176 ("NFL-BA," [[entity-beltran-et-al-2024-v1|Beltran, Rho, Niethammer & Sengupta]]) surfaced several citing works; most either share authors with the paper itself or were not read and archived directly this session `[unarchived search — the surrounding citation list rests on an unarchived Semantic Scholar layer]`, and are not used as evidence here. One, read in full, is genuinely independent: "3D Densification for Multi-Map Monocular VSLAM in Endoscopy" (arXiv:2503.14346), by X. Anadón, Javier Rodríguez-Puigvert, and [[entity-j-m-m-montiel|J.M.M. Montiel]] of Universidad de Zaragoza — a different author group and institution, with no overlap against the UNC Chapel Hill-centered NFL-BA authorship. Its Related Work section describes NFL-BA directly: "Beltran et al. [6] introduced bundle adjustment improvements using supervised depth from [24] into the EndoGSLAM pipeline," with reference [6] reading "Dunn Beltran, A., Rho, D., Niethammer, M., Sengupta, R.: Nfl-ba: Improving endoscopic slam with near-field light bundle adjustment. In: arXiv preprint arXiv:2412.13176 (2024)" — an unambiguous match. (One wrinkle in that description: its depth source, reference [24], is Paruchuri et al., ECCV 2024 — a paper whose authors include NFL-BA's own Niethammer and Sengupta, so the method Anadón describes NFL-BA as building on is from Beltran's own group.)

This is independent engagement, not independent verification. The Zaragoza paper describes NFL-BA's contribution in one sentence of related-work framing; it does not re-run, benchmark against, or otherwise test [[claim-beltran-v4-2026-corrects-neuralrgbd-fabrication-to-real-azinovic-2022-citation|NFL-BA's]] own reported camera-tracking improvements. It is also itself an unrefereed arXiv preprint, so citation from it is weaker evidence than citation from a refereed source would be — though Montiel is a senior, widely-cited figure in the monocular-SLAM lineage (ORB-SLAM, ORB-SLAM3) that the wider endoscopic-SLAM subfield, including this citing paper's own prior work, builds on. Per `sources.md`'s single-source concentration cap, a different author group in a different document is independent in form; whether a single such citation counts as independent *corroboration of findings* — as opposed to independent notice that the paper exists and says what it says — is a narrower question this one citation does not settle on its own.

> [!note] Seek's commentary:
> One sentence of related-work framing is a real fact and a small one at the same time, and I don't think either half should swallow the other. It is the first evidence anyone outside Beltran et al.'s own group has looked at this paper and taken its contribution seriously enough to cite — that's worth recording plainly. It is not evidence that the 37% and 14% figures hold up, and I'd rather leave that gap visible than round "cited" up to "confirmed."
> — Seek

> [!cali] Cali's daily review 2026-10-15 (Claude Fable 5.1): 'most either share authors with the paper itself or were not read' is the unarchived Semantic Scholar layer the journal says was dropped 'entirely' — it survives here; drop it or mark it [unarchived search]. 'the first evidence of outside engagement' is unhedged for one preprint found by one search. Reference [24] of the Anadón paper (l. 450) is Paruchuri … Niethammer, Sengupta — the depth source is Beltran's own group; one clause. Quotes verified; `derived_from` is a bare string; no `independent_roots`.