{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:2V63QVOOWA4J5S5GQFH54THVPG","short_pith_number":"pith:2V63QVOO","canonical_record":{"source":{"id":"2401.08870","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T22:59:16Z","cross_cats_sorted":["stat.AP"],"title_canon_sha256":"91be212c4d2922f2893ccd479b440199bf60663797b9d8fc6c44920c4e2e7745","abstract_canon_sha256":"74fec5a7baebf84db552b11f723fdf8b8e8c973696234a70aa801362e6fdb319"},"schema_version":"1.0"},"canonical_sha256":"d57db855ceb0389ecba6814fde4cf5799d0f573a8b51e4b367f1eeb17f820ee4","source":{"kind":"arxiv","id":"2401.08870","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.08870","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"arxiv_version","alias_value":"2401.08870v1","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.08870","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"pith_short_12","alias_value":"2V63QVOOWA4J","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"pith_short_16","alias_value":"2V63QVOOWA4J5S5G","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"pith_short_8","alias_value":"2V63QVOO","created_at":"2026-07-05T07:34:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:2V63QVOOWA4J5S5GQFH54THVPG","target":"record","payload":{"canonical_record":{"source":{"id":"2401.08870","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T22:59:16Z","cross_cats_sorted":["stat.AP"],"title_canon_sha256":"91be212c4d2922f2893ccd479b440199bf60663797b9d8fc6c44920c4e2e7745","abstract_canon_sha256":"74fec5a7baebf84db552b11f723fdf8b8e8c973696234a70aa801362e6fdb319"},"schema_version":"1.0"},"canonical_sha256":"d57db855ceb0389ecba6814fde4cf5799d0f573a8b51e4b367f1eeb17f820ee4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:34:22.811812Z","signature_b64":"aMEDqoHrYSJ+VuHwXIeC8kM8FWI/Tfz3SXJZo4ba7KqRqeZX+ARDLY+lmcrol3XZg0sciqcnSs8MjK2QT+F+CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d57db855ceb0389ecba6814fde4cf5799d0f573a8b51e4b367f1eeb17f820ee4","last_reissued_at":"2026-07-05T07:34:22.811455Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:34:22.811455Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2401.08870","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":"2026-07-05T07:34:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KSFI5pu+JJ/AVQyE13IYcmLcPe8/vWVSFm083GLNLCmL++mkJNm5AvXerzu19gO87MjvSQpicvxyexipvNAVDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T16:16:08.496591Z"},"content_sha256":"fdfed9558c72464c60b89fdf7eb01aeb28b490049971bb8ba9b75b4683d92ee7","schema_version":"1.0","event_id":"sha256:fdfed9558c72464c60b89fdf7eb01aeb28b490049971bb8ba9b75b4683d92ee7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:2V63QVOOWA4J5S5GQFH54THVPG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["stat.AP"],"primary_cat":"cs.RO","authors_text":"Antonio Gimenez-Fernandez, Francisco Ma\\~nas-Alvarez, Francisco Rodriguez, Jose Luis Blanco-Claraco, Jose Luis Torres-Moreno","submitted_at":"2024-01-16T22:59:16Z","abstract_excerpt":"Keeping a vehicle well-localized within a prebuilt-map is at the core of any autonomous vehicle navigation system. In this work, we show that both standard SIR sampling and rejection-based optimal sampling are suitable for efficient (10 to 20 ms) real-time pose tracking without feature detection that is using raw point clouds from a 3D LiDAR. Motivated by the large amount of information captured by these sensors, we perform a systematic statistical analysis of how many points are actually required to reach an optimal ratio between efficiency and positioning accuracy. Furthermore, initializatio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.08870","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/2401.08870/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":"2026-07-05T07:34:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x4MKR3SJJVhltUwaYld1H/LR7HkZ4ywE/LsRMKUvQrfzFVfTgkXYbg5F79I8NN3mt3QoMiKaAfI9HvjzU0LsBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T16:16:08.497225Z"},"content_sha256":"119b4e56d87fbb6ca2fb7aa4e8b5e61ed0cf259508e5a5f6c9d3158324ab59ca","schema_version":"1.0","event_id":"sha256:119b4e56d87fbb6ca2fb7aa4e8b5e61ed0cf259508e5a5f6c9d3158324ab59ca"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2V63QVOOWA4J5S5GQFH54THVPG/bundle.json","state_url":"https://pith.science/pith/2V63QVOOWA4J5S5GQFH54THVPG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2V63QVOOWA4J5S5GQFH54THVPG/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":"2026-08-17T16:16:08Z","links":{"resolver":"https://pith.science/pith/2V63QVOOWA4J5S5GQFH54THVPG","bundle":"https://pith.science/pith/2V63QVOOWA4J5S5GQFH54THVPG/bundle.json","state":"https://pith.science/pith/2V63QVOOWA4J5S5GQFH54THVPG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2V63QVOOWA4J5S5GQFH54THVPG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2V63QVOOWA4J5S5GQFH54THVPG","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":"74fec5a7baebf84db552b11f723fdf8b8e8c973696234a70aa801362e6fdb319","cross_cats_sorted":["stat.AP"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T22:59:16Z","title_canon_sha256":"91be212c4d2922f2893ccd479b440199bf60663797b9d8fc6c44920c4e2e7745"},"schema_version":"1.0","source":{"id":"2401.08870","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.08870","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"arxiv_version","alias_value":"2401.08870v1","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.08870","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"pith_short_12","alias_value":"2V63QVOOWA4J","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"pith_short_16","alias_value":"2V63QVOOWA4J5S5G","created_at":"2026-07-05T07:34:22Z"},{"alias_kind":"pith_short_8","alias_value":"2V63QVOO","created_at":"2026-07-05T07:34:22Z"}],"graph_snapshots":[{"event_id":"sha256:119b4e56d87fbb6ca2fb7aa4e8b5e61ed0cf259508e5a5f6c9d3158324ab59ca","target":"graph","created_at":"2026-07-05T07:34:22Z","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/2401.08870/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Keeping a vehicle well-localized within a prebuilt-map is at the core of any autonomous vehicle navigation system. In this work, we show that both standard SIR sampling and rejection-based optimal sampling are suitable for efficient (10 to 20 ms) real-time pose tracking without feature detection that is using raw point clouds from a 3D LiDAR. Motivated by the large amount of information captured by these sensors, we perform a systematic statistical analysis of how many points are actually required to reach an optimal ratio between efficiency and positioning accuracy. Furthermore, initializatio","authors_text":"Antonio Gimenez-Fernandez, Francisco Ma\\~nas-Alvarez, Francisco Rodriguez, Jose Luis Blanco-Claraco, Jose Luis Torres-Moreno","cross_cats":["stat.AP"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T22:59:16Z","title":"Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.08870","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:fdfed9558c72464c60b89fdf7eb01aeb28b490049971bb8ba9b75b4683d92ee7","target":"record","created_at":"2026-07-05T07:34:22Z","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":"74fec5a7baebf84db552b11f723fdf8b8e8c973696234a70aa801362e6fdb319","cross_cats_sorted":["stat.AP"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T22:59:16Z","title_canon_sha256":"91be212c4d2922f2893ccd479b440199bf60663797b9d8fc6c44920c4e2e7745"},"schema_version":"1.0","source":{"id":"2401.08870","kind":"arxiv","version":1}},"canonical_sha256":"d57db855ceb0389ecba6814fde4cf5799d0f573a8b51e4b367f1eeb17f820ee4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d57db855ceb0389ecba6814fde4cf5799d0f573a8b51e4b367f1eeb17f820ee4","first_computed_at":"2026-07-05T07:34:22.811455Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:34:22.811455Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aMEDqoHrYSJ+VuHwXIeC8kM8FWI/Tfz3SXJZo4ba7KqRqeZX+ARDLY+lmcrol3XZg0sciqcnSs8MjK2QT+F+CA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:34:22.811812Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.08870","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fdfed9558c72464c60b89fdf7eb01aeb28b490049971bb8ba9b75b4683d92ee7","sha256:119b4e56d87fbb6ca2fb7aa4e8b5e61ed0cf259508e5a5f6c9d3158324ab59ca"],"state_sha256":"6dbd8a4167ccf4bfb2cd02e024779f05f0e8859ed338637cad792e7c9112403d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1JBxOEQ6PFiXDVngtzflFbTP4JqPnKirmBfhCi/TyDddgnCNm3I2ftnUdQ6JyiV+SB9NV1K9PanuvHblrHUZCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T16:16:08.502056Z","bundle_sha256":"02835c61695dd1465cd4b94df2917eded80bb2505599f52ec64a2ac163956eab"}}