{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:2VUS7ZFLYMQC5PL5XTDOZ5D2JR","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":"1b393c34feb52b3e00fdfc72c198e959dcc78257a6affdafd901c243fce57adc","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-07T02:18:28Z","title_canon_sha256":"f8edb11a73d54411b247650e9afa302919804fff35c324b9537e26bfe37b3ea9"},"schema_version":"1.0","source":{"id":"1801.02112","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.02112","created_at":"2026-05-18T00:26:34Z"},{"alias_kind":"arxiv_version","alias_value":"1801.02112v1","created_at":"2026-05-18T00:26:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.02112","created_at":"2026-05-18T00:26:34Z"},{"alias_kind":"pith_short_12","alias_value":"2VUS7ZFLYMQC","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_16","alias_value":"2VUS7ZFLYMQC5PL5","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_8","alias_value":"2VUS7ZFL","created_at":"2026-05-18T12:32:02Z"}],"graph_snapshots":[{"event_id":"sha256:f6b3312fd3ce70643fd98631b0d2ad34578e0c51fe49d1b56f34ad7d16745dae","target":"graph","created_at":"2026-05-18T00:26:34Z","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"},"paper":{"abstract_excerpt":"Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in which a subset of the measurements fed to pose graph optimization is spurious. Our first contribution is to develop robust estimators that can cope with heavy-tailed measurement noise, hence increasing robustness to the presence of outliers. Since the resulting estimators require solving nonconvex optimization problems, we further develop convex relaxations tha","authors_text":"Giuseppe C. Calafiore, Luca Carlone","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-07T02:18:28Z","title":"Convex Relaxations for Pose Graph Optimization with Outliers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.02112","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":"sha256:720796bef67d21ffa06d9966c1ac580b3560545ea21ad2544084b67d1aee4752","target":"record","created_at":"2026-05-18T00:26:34Z","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":"1b393c34feb52b3e00fdfc72c198e959dcc78257a6affdafd901c243fce57adc","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-07T02:18:28Z","title_canon_sha256":"f8edb11a73d54411b247650e9afa302919804fff35c324b9537e26bfe37b3ea9"},"schema_version":"1.0","source":{"id":"1801.02112","kind":"arxiv","version":1}},"canonical_sha256":"d5692fe4abc3202ebd7dbcc6ecf47a4c6408eab9c02b989c1f75db7dd49d1396","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d5692fe4abc3202ebd7dbcc6ecf47a4c6408eab9c02b989c1f75db7dd49d1396","first_computed_at":"2026-05-18T00:26:34.849529Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:26:34.849529Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lOiJTOBMX3GVuCiyvA/JrkUuuDTV2aGZ3Aq3fr4CEOoAE5Xd2a20LbFYlvWtkeizbnmzU3DmZgjQy5eyZXDcCA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:26:34.850176Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.02112","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:720796bef67d21ffa06d9966c1ac580b3560545ea21ad2544084b67d1aee4752","sha256:f6b3312fd3ce70643fd98631b0d2ad34578e0c51fe49d1b56f34ad7d16745dae"],"state_sha256":"1239f16dceed667553873383f4aed4988735204d09315629ddb28808584954d5"}