{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:37ZXSPGCYAVHQ7XJAS5AGSC5KE","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":"9bd50d72b2314cafa3b5e348f73f8bee6f38eb918d37ed980fe71e7aad16a5f0","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-11-13T18:08:27Z","title_canon_sha256":"ac4c1b81400d117bdd64f18177733ebebab51b0818de033c5f831ff43a3d6082"},"schema_version":"1.0","source":{"id":"1211.3063","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1211.3063","created_at":"2026-05-18T03:40:51Z"},{"alias_kind":"arxiv_version","alias_value":"1211.3063v1","created_at":"2026-05-18T03:40:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1211.3063","created_at":"2026-05-18T03:40:51Z"},{"alias_kind":"pith_short_12","alias_value":"37ZXSPGCYAVH","created_at":"2026-05-18T12:26:50Z"},{"alias_kind":"pith_short_16","alias_value":"37ZXSPGCYAVHQ7XJ","created_at":"2026-05-18T12:26:50Z"},{"alias_kind":"pith_short_8","alias_value":"37ZXSPGC","created_at":"2026-05-18T12:26:50Z"}],"graph_snapshots":[{"event_id":"sha256:046a926e3a4d3ea23971a7a0f24c6a521dac5cb02c077f38f540dbc271a3454a","target":"graph","created_at":"2026-05-18T03:40:51Z","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":"Estimating the orientations of nodes in a pose graph from relative angular measurements is challenging because the variables live on a manifold product with nontrivial topology and the maximum-likelihood objective function is non-convex and has multiple local minima; these issues prevent iterative solvers to be robust for large amounts of noise. This paper presents an approach that allows working around the problem of multiple minima, and is based on the insight that the original estimation problem on orientations is equivalent to an unconstrained quadratic optimization problem on integer vect","authors_text":"Andrea Censi, Luca Carlone","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-11-13T18:08:27Z","title":"From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1211.3063","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":"sha256:910ceebcdb9a186e670ad6cb0397e9c9b5192103657ae0e962e8aca3fcb811ae","target":"record","created_at":"2026-05-18T03:40:51Z","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":"9bd50d72b2314cafa3b5e348f73f8bee6f38eb918d37ed980fe71e7aad16a5f0","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-11-13T18:08:27Z","title_canon_sha256":"ac4c1b81400d117bdd64f18177733ebebab51b0818de033c5f831ff43a3d6082"},"schema_version":"1.0","source":{"id":"1211.3063","kind":"arxiv","version":1}},"canonical_sha256":"dff3793cc2c02a787ee904ba03485d5135e4e6e529cb56e07cb74c3ead73836a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dff3793cc2c02a787ee904ba03485d5135e4e6e529cb56e07cb74c3ead73836a","first_computed_at":"2026-05-18T03:40:51.911193Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:40:51.911193Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6jwhMd9OU+L2QdvupbWi3kF+qiNrEIaGfuImD40hZcSeLVl+sZyAtgRogqn5rceK9HSwaxcxpLpCbLv8f3pEAA==","signature_status":"signed_v1","signed_at":"2026-05-18T03:40:51.911996Z","signed_message":"canonical_sha256_bytes"},"source_id":"1211.3063","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:910ceebcdb9a186e670ad6cb0397e9c9b5192103657ae0e962e8aca3fcb811ae","sha256:046a926e3a4d3ea23971a7a0f24c6a521dac5cb02c077f38f540dbc271a3454a"],"state_sha256":"71252c2ba1e86026de5536dc304a1d1fa8268a3477d8a61caddffbed5b860a79"}