Paper Citation Record · LEDGER

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric

As of 13 August 2026, this Paper Citation Record lists 25 of 25 outbound references and 1 inbound Pith citation observation for arXiv:2507.16233.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2507.16233 v1

Coverage vector

measured 25 of 25 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T15:24:11.572869Z

measured 26 of 26 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-12T06:34:41.77262+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-02T23:29:01.456265Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

25 of 25 outbound references displayed

verified exact0
verified fuzzy22
unresolved3
parse uncertain0
malformed identifier0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 731f16b6-6040-47f1-bdba-f09d78b8d1b7 · outbound

This paper cites VINS-Mono: A robust and versa- tile monocular visual-inertial state estimator,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric VINS-Mono: A robust and versa- tile monocular visual-inertial state estimator,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:17.440284Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 91054865-8b0b-4c1a-aaeb-bcd38a2d1f3d · outbound

This paper cites Open- VINS: A research platform for visual-inertial estimation,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Open- VINS: A research platform for visual-inertial estimation,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:17.179273Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 959a5931-671f-4110-9c4a-133642a61473 · outbound

This paper cites ORB-SLAM3: An accurate open-source library for visual, visual-inertial, and multimap SLAM,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric ORB-SLAM3: An accurate open-source library for visual, visual-inertial, and multimap SLAM,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:16.930876Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 326b9e1d-1022-4af9-a9e1-7c4fdf1bda8d · outbound

This paper cites Fast-LIO: A fast, robust LiDAR-inertial odometry package by tightly-coupled iterated kalman filter,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Fast-LIO: A fast, robust LiDAR-inertial odometry package by tightly-coupled iterated kalman filter,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:16.681784Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation ec7ad1ef-5c38-4418-9552-df5348690882 · outbound

This paper cites Fast-LIO2: Fast direct LiDAR-inertial odometry,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Fast-LIO2: Fast direct LiDAR-inertial odometry,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:16.428756Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation ac2be123-2e72-4266-bab8-e69afa41f1f1 · outbound

This paper cites Faster-LIO: Lightweight tightly coupled LiDAR-inertial odometry using parallel sparse incremental voxels,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Faster-LIO: Lightweight tightly coupled LiDAR-inertial odometry using parallel sparse incremental voxels,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:16.202084Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 33be1bab-a5de-459c-9d2f-4f7e5b2080f6 · outbound

This paper cites Beyond point clouds: Fisher infor- mation field for active visual localization,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Beyond point clouds: Fisher infor- mation field for active visual localization,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:15.910694Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 057f3368-1cc5-4091-bdcc-e69ec27f1858 · outbound

This paper cites Perception-aware path planning for UA Vs using semantic segmentation,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Perception-aware path planning for UA Vs using semantic segmentation,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:15.672053Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 275f27df-d9a7-42e2-9dc4-71b42a225ec6 · outbound

This paper cites APACE: Agile and perception-aware trajectory generation for quadrotor flights,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric APACE: Agile and perception-aware trajectory generation for quadrotor flights,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:15.462140Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation a0e39a88-1f30-46f3-b60a-9cfb8fc9d5c7 · outbound

This paper cites PAMPC: Perception- aware model predictive control for quadrotors,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric PAMPC: Perception- aware model predictive control for quadrotors,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:15.213095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 7c2909e0-3298-4046-b4af-cc68d9c32562 · outbound

This paper cites Perception-aware Path Planning.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Perception-aware Path Planning

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-06T15:24:09.787319Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3f40ac87-c31c-43c1-91a1-9e0b3955883f · outbound

This paper cites LF- 3PM: a LiDAR-based framework for perception-aware planning with perturbation-induced metric,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric LF- 3PM: a LiDAR-based framework for perception-aware planning with perturbation-induced metric,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:14.959313Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 006aa9b7-541a-4135-a918-e6bac394b82e · outbound

This paper cites On degeneracy of optimization- based state estimation problems,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric On degeneracy of optimization- based state estimation problems,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:14.736521Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation efb6cdbd-4dc8-4bc8-9f60-802277b3d464 · outbound

This paper cites Perception-aware receding horizon navigation for MA Vs,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Perception-aware receding horizon navigation for MA Vs,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:14.526498Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 011bfb3f-0df5-4f89-9af5-037594c8a42c · outbound

This paper cites Perception-aware receding horizon path planning for UA Vs with LiDAR-based SLAM,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Perception-aware receding horizon path planning for UA Vs with LiDAR-based SLAM,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:14.160555Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 7870aa96-db67-4863-ad74-d64bdeef5580 · outbound

This paper cites an unresolved cited work.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Unresolved cited work

Reference 16

Resolution: unresolved; raw_fallback, observed 2026-08-06T15:24:13.903028Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 009d31ab-c55c-4fc4-9f30-76233ce51652 · outbound

This paper cites Spectral perturbation bounds for positive definite matri- ces,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Spectral perturbation bounds for positive definite matri- ces,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:13.652514Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 36a031bd-6058-4b59-87ce-bd3b51d411dc · outbound

This paper cites Path planning and trajectory planning algorithms: A general overview,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Path planning and trajectory planning algorithms: A general overview,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:13.404373Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 20b2b936-62ba-4000-ad32-7ff01d84796f · outbound

This paper cites Path planning for autonomous vehicles in unknown semi-structured environments,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Path planning for autonomous vehicles in unknown semi-structured environments,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:13.171118Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation a5881b6d-4cbc-482b-912b-a1a45451d51b · outbound

This paper cites A note on two problems in connexion with graphs,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric A note on two problems in connexion with graphs,

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-06T15:24:11.026622Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4e19dc34-7238-4a02-b327-bed8639f9123 · outbound

This paper cites Safety-first tracker: A trajectory planning framework for omnidirectional robot tracking,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Safety-first tracker: A trajectory planning framework for omnidirectional robot tracking,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:12.956425Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 68dfddeb-fd14-4d28-848d-1432313126df · outbound

This paper cites Geometrically constrained tra- jectory optimization for multicopters,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Geometrically constrained tra- jectory optimization for multicopters,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:12.598097Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 3114404a-1f8c-4fc9-b510-b02c116b4018 · outbound

This paper cites On the limited memory BFGS method for large scale optimization,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric On the limited memory BFGS method for large scale optimization,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:12.341564Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation f5d6bc56-fd9c-4c63-a737-3abb80cd7fe0 · outbound

This paper cites Nonsmooth optimization via quasi- newton methods,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Nonsmooth optimization via quasi- newton methods,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:12.128511Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 5e2198d5-1d00-43b7-a3ab-4b11cdcb4c98 · outbound

This paper cites Probabilistic robotics,.

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric Probabilistic robotics,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T15:24:11.845744Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Pith citing papers

Observation 806d41ae-249f-4e96-8c21-0216a9d73712 · inbound

FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments cites this paper.

FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-02T23:29:01.456265Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.