{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:2LWIUJ2HTB4AHFW4G5GZZSJ47F","short_pith_number":"pith:2LWIUJ2H","canonical_record":{"source":{"id":"2007.07627","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-15T11:32:53Z","cross_cats_sorted":["cs.GR","cs.RO"],"title_canon_sha256":"f3b50abec9471eb68f3584ea62ea4a1d3807540370f1628709e1f292e354e73b","abstract_canon_sha256":"78381307899ff34052e8b0a6cb64d2f5e06f6ea2631b3584438f82080842b702"},"schema_version":"1.0"},"canonical_sha256":"d2ec8a274798780396dc374d9cc93cf97651ebc1513e638b975859dccc48df43","source":{"kind":"arxiv","id":"2007.07627","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.07627","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"arxiv_version","alias_value":"2007.07627v3","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.07627","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"pith_short_12","alias_value":"2LWIUJ2HTB4A","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"pith_short_16","alias_value":"2LWIUJ2HTB4AHFW4","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"pith_short_8","alias_value":"2LWIUJ2H","created_at":"2026-07-05T06:01:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:2LWIUJ2HTB4AHFW4G5GZZSJ47F","target":"record","payload":{"canonical_record":{"source":{"id":"2007.07627","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-15T11:32:53Z","cross_cats_sorted":["cs.GR","cs.RO"],"title_canon_sha256":"f3b50abec9471eb68f3584ea62ea4a1d3807540370f1628709e1f292e354e73b","abstract_canon_sha256":"78381307899ff34052e8b0a6cb64d2f5e06f6ea2631b3584438f82080842b702"},"schema_version":"1.0"},"canonical_sha256":"d2ec8a274798780396dc374d9cc93cf97651ebc1513e638b975859dccc48df43","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:01:08.404689Z","signature_b64":"IvxrNshVxQoMd9POSkXFxcjJ/bvQnGBszJkCEKKsv+ZzlFKROjh/zM5zE/Y0OECKIevk/TJMZbxyDP705HyjBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d2ec8a274798780396dc374d9cc93cf97651ebc1513e638b975859dccc48df43","last_reissued_at":"2026-07-05T06:01:08.404206Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:01:08.404206Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2007.07627","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:01:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vWBYlnTpJvcCANzsxHIr/ghqoB1q5jqPrdZKsWk8/UDsYemJ7ENDmE3pby8pG4w0gO9XGVZFbsTQ9c4Bf/NMAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T06:23:28.052949Z"},"content_sha256":"f8614e7a25ecdb14667579b62ca686ee5cb63f95a00661b02f6e8e6c46b1e8c4","schema_version":"1.0","event_id":"sha256:f8614e7a25ecdb14667579b62ca686ee5cb63f95a00661b02f6e8e6c46b1e8c4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:2LWIUJ2HTB4AHFW4G5GZZSJ47F","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Fast and Robust Iterative Closest Point","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.GR","cs.RO"],"primary_cat":"cs.CV","authors_text":"Bailin Deng, Juyong Zhang, Yuxin Yao","submitted_at":"2020-07-15T11:32:53Z","abstract_excerpt":"The Iterative Closest Point (ICP) algorithm and its variants are a fundamental technique for rigid registration between two point sets, with wide applications in different areas from robotics to 3D reconstruction. The main drawbacks for ICP are its slow convergence as well as its sensitivity to outliers, missing data, and partial overlaps. Recent work such as Sparse ICP achieves robustness via sparsity optimization at the cost of computational speed. In this paper, we propose a new method for robust registration with fast convergence. First, we show that the classical point-to-point ICP can be"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.07627","kind":"arxiv","version":3},"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/2007.07627/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":"2026-07-05T06:01:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SQtUa78J4n0HHu6HdQrAx/HZOWp64YBUaIxgM9n/v1Ik/gA38iDoy4eWTpnSJ8/nOpbldnf9f5s9MMZvYQ6aCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T06:23:28.053469Z"},"content_sha256":"962869a109a04f8d91cde4514c841239f8c4543f185e7265b9f42218ec367c0b","schema_version":"1.0","event_id":"sha256:962869a109a04f8d91cde4514c841239f8c4543f185e7265b9f42218ec367c0b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2LWIUJ2HTB4AHFW4G5GZZSJ47F/bundle.json","state_url":"https://pith.science/pith/2LWIUJ2HTB4AHFW4G5GZZSJ47F/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2LWIUJ2HTB4AHFW4G5GZZSJ47F/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":"2026-08-18T06:23:28Z","links":{"resolver":"https://pith.science/pith/2LWIUJ2HTB4AHFW4G5GZZSJ47F","bundle":"https://pith.science/pith/2LWIUJ2HTB4AHFW4G5GZZSJ47F/bundle.json","state":"https://pith.science/pith/2LWIUJ2HTB4AHFW4G5GZZSJ47F/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2LWIUJ2HTB4AHFW4G5GZZSJ47F/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:2LWIUJ2HTB4AHFW4G5GZZSJ47F","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":"78381307899ff34052e8b0a6cb64d2f5e06f6ea2631b3584438f82080842b702","cross_cats_sorted":["cs.GR","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-15T11:32:53Z","title_canon_sha256":"f3b50abec9471eb68f3584ea62ea4a1d3807540370f1628709e1f292e354e73b"},"schema_version":"1.0","source":{"id":"2007.07627","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.07627","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"arxiv_version","alias_value":"2007.07627v3","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.07627","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"pith_short_12","alias_value":"2LWIUJ2HTB4A","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"pith_short_16","alias_value":"2LWIUJ2HTB4AHFW4","created_at":"2026-07-05T06:01:08Z"},{"alias_kind":"pith_short_8","alias_value":"2LWIUJ2H","created_at":"2026-07-05T06:01:08Z"}],"graph_snapshots":[{"event_id":"sha256:962869a109a04f8d91cde4514c841239f8c4543f185e7265b9f42218ec367c0b","target":"graph","created_at":"2026-07-05T06:01:08Z","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/2007.07627/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The Iterative Closest Point (ICP) algorithm and its variants are a fundamental technique for rigid registration between two point sets, with wide applications in different areas from robotics to 3D reconstruction. The main drawbacks for ICP are its slow convergence as well as its sensitivity to outliers, missing data, and partial overlaps. Recent work such as Sparse ICP achieves robustness via sparsity optimization at the cost of computational speed. In this paper, we propose a new method for robust registration with fast convergence. First, we show that the classical point-to-point ICP can be","authors_text":"Bailin Deng, Juyong Zhang, Yuxin Yao","cross_cats":["cs.GR","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-15T11:32:53Z","title":"Fast and Robust Iterative Closest Point"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.07627","kind":"arxiv","version":3},"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:f8614e7a25ecdb14667579b62ca686ee5cb63f95a00661b02f6e8e6c46b1e8c4","target":"record","created_at":"2026-07-05T06:01:08Z","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":"78381307899ff34052e8b0a6cb64d2f5e06f6ea2631b3584438f82080842b702","cross_cats_sorted":["cs.GR","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-07-15T11:32:53Z","title_canon_sha256":"f3b50abec9471eb68f3584ea62ea4a1d3807540370f1628709e1f292e354e73b"},"schema_version":"1.0","source":{"id":"2007.07627","kind":"arxiv","version":3}},"canonical_sha256":"d2ec8a274798780396dc374d9cc93cf97651ebc1513e638b975859dccc48df43","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d2ec8a274798780396dc374d9cc93cf97651ebc1513e638b975859dccc48df43","first_computed_at":"2026-07-05T06:01:08.404206Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:01:08.404206Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IvxrNshVxQoMd9POSkXFxcjJ/bvQnGBszJkCEKKsv+ZzlFKROjh/zM5zE/Y0OECKIevk/TJMZbxyDP705HyjBA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:01:08.404689Z","signed_message":"canonical_sha256_bytes"},"source_id":"2007.07627","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f8614e7a25ecdb14667579b62ca686ee5cb63f95a00661b02f6e8e6c46b1e8c4","sha256:962869a109a04f8d91cde4514c841239f8c4543f185e7265b9f42218ec367c0b"],"state_sha256":"2540fe15b841be35b0a4b8c6a0c9d518790c0c25da3b8d2d975dc5be9afd17d7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vXwUblLpdSBrvBi35wplL5YDrjcx+4tGho3I+VsCRm0JsAmGxRA6MAsHjR7ugMuyTqX4WZvJuWD9bzcC2YlDAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T06:23:28.059197Z","bundle_sha256":"9bbbd13192bcd29567f563e092bbe80cf39358c5e9dd8d02744770f36bf4cfea"}}