{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:3UXAPLKSW4IBJBAUH24TWAZQSZ","short_pith_number":"pith:3UXAPLKS","canonical_record":{"source":{"id":"2012.10902","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-20T11:56:23Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"6cadc5a94986fa20b5eaabc123313f142a73881971d5a6cfa75213aafefa35a5","abstract_canon_sha256":"0ce29f91ede7b95d2dc7dae66ae4fe4a761f4464370f32b069af194dc48eb807"},"schema_version":"1.0"},"canonical_sha256":"dd2e07ad52b7101484143eb93b03309662f73a5a0585a7cbf9f6354d0c4ef1fc","source":{"kind":"arxiv","id":"2012.10902","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.10902","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"arxiv_version","alias_value":"2012.10902v1","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.10902","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"pith_short_12","alias_value":"3UXAPLKSW4IB","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"pith_short_16","alias_value":"3UXAPLKSW4IBJBAU","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"pith_short_8","alias_value":"3UXAPLKS","created_at":"2026-07-05T02:00:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:3UXAPLKSW4IBJBAUH24TWAZQSZ","target":"record","payload":{"canonical_record":{"source":{"id":"2012.10902","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-20T11:56:23Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"6cadc5a94986fa20b5eaabc123313f142a73881971d5a6cfa75213aafefa35a5","abstract_canon_sha256":"0ce29f91ede7b95d2dc7dae66ae4fe4a761f4464370f32b069af194dc48eb807"},"schema_version":"1.0"},"canonical_sha256":"dd2e07ad52b7101484143eb93b03309662f73a5a0585a7cbf9f6354d0c4ef1fc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:00:56.726772Z","signature_b64":"ymWHBGcH4UdShhrC9eoZ4tO+Bg1wdmPcLjwzTOUz68DRnQYuHb0YaodJIntgZZxNXuMKJ+qKo6UecBWkNnf0Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dd2e07ad52b7101484143eb93b03309662f73a5a0585a7cbf9f6354d0c4ef1fc","last_reissued_at":"2026-07-05T02:00:56.726395Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:00:56.726395Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2012.10902","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":"2026-07-05T02:00:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2zUrVPbwksLABcLAiRji6N3diYEeIb3WbcTtg1mAz4v2jT2sQ1Of5h0VgzDhl7cis4+j1pm84GO0+khWeLZmAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T00:09:18.652240Z"},"content_sha256":"e5478439a3b9bbf8468df1cf05f8adf6fac0d5574ee9e326c6edbab42ac35889","schema_version":"1.0","event_id":"sha256:e5478439a3b9bbf8468df1cf05f8adf6fac0d5574ee9e326c6edbab42ac35889"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:3UXAPLKSW4IBJBAUH24TWAZQSZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning to Localize Using a LiDAR Intensity Map","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Andrei Pokrovsky, Ioan Andrei B\\^arsan, Raquel Urtasun, Shenlong Wang","submitted_at":"2020-12-20T11:56:23Z","abstract_excerpt":"In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then conducted through an efficient convolutional matching between the embeddings. Our full system can operate in real-time at 15Hz while achieving centimeter level accuracy across different LiDAR sensors and environments. Our experiments illustrate the performance of the proposed approach over a large-scale dataset consisting of over 4000km of driving."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.10902","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/2012.10902/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":"2026-07-05T02:00:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pHIukL/AvcWmzMifTlbJ9ub4omxcYEheJyIgEYy7bWts+g/S4pJ0Snn4fqSR/VJJnODYF6nGUfV4zyXWNXKpDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T00:09:18.652665Z"},"content_sha256":"54015bb2e8f44b113e7ccb1c390ba4172e778eced9a86840087d803e5426b909","schema_version":"1.0","event_id":"sha256:54015bb2e8f44b113e7ccb1c390ba4172e778eced9a86840087d803e5426b909"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3UXAPLKSW4IBJBAUH24TWAZQSZ/bundle.json","state_url":"https://pith.science/pith/3UXAPLKSW4IBJBAUH24TWAZQSZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3UXAPLKSW4IBJBAUH24TWAZQSZ/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":"2026-07-09T00:09:18Z","links":{"resolver":"https://pith.science/pith/3UXAPLKSW4IBJBAUH24TWAZQSZ","bundle":"https://pith.science/pith/3UXAPLKSW4IBJBAUH24TWAZQSZ/bundle.json","state":"https://pith.science/pith/3UXAPLKSW4IBJBAUH24TWAZQSZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3UXAPLKSW4IBJBAUH24TWAZQSZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:3UXAPLKSW4IBJBAUH24TWAZQSZ","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":"0ce29f91ede7b95d2dc7dae66ae4fe4a761f4464370f32b069af194dc48eb807","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-20T11:56:23Z","title_canon_sha256":"6cadc5a94986fa20b5eaabc123313f142a73881971d5a6cfa75213aafefa35a5"},"schema_version":"1.0","source":{"id":"2012.10902","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.10902","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"arxiv_version","alias_value":"2012.10902v1","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.10902","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"pith_short_12","alias_value":"3UXAPLKSW4IB","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"pith_short_16","alias_value":"3UXAPLKSW4IBJBAU","created_at":"2026-07-05T02:00:56Z"},{"alias_kind":"pith_short_8","alias_value":"3UXAPLKS","created_at":"2026-07-05T02:00:56Z"}],"graph_snapshots":[{"event_id":"sha256:54015bb2e8f44b113e7ccb1c390ba4172e778eced9a86840087d803e5426b909","target":"graph","created_at":"2026-07-05T02:00:56Z","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/2012.10902/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then conducted through an efficient convolutional matching between the embeddings. Our full system can operate in real-time at 15Hz while achieving centimeter level accuracy across different LiDAR sensors and environments. Our experiments illustrate the performance of the proposed approach over a large-scale dataset consisting of over 4000km of driving.","authors_text":"Andrei Pokrovsky, Ioan Andrei B\\^arsan, Raquel Urtasun, Shenlong Wang","cross_cats":["cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-20T11:56:23Z","title":"Learning to Localize Using a LiDAR Intensity Map"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.10902","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:e5478439a3b9bbf8468df1cf05f8adf6fac0d5574ee9e326c6edbab42ac35889","target":"record","created_at":"2026-07-05T02:00:56Z","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":"0ce29f91ede7b95d2dc7dae66ae4fe4a761f4464370f32b069af194dc48eb807","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-12-20T11:56:23Z","title_canon_sha256":"6cadc5a94986fa20b5eaabc123313f142a73881971d5a6cfa75213aafefa35a5"},"schema_version":"1.0","source":{"id":"2012.10902","kind":"arxiv","version":1}},"canonical_sha256":"dd2e07ad52b7101484143eb93b03309662f73a5a0585a7cbf9f6354d0c4ef1fc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dd2e07ad52b7101484143eb93b03309662f73a5a0585a7cbf9f6354d0c4ef1fc","first_computed_at":"2026-07-05T02:00:56.726395Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:00:56.726395Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ymWHBGcH4UdShhrC9eoZ4tO+Bg1wdmPcLjwzTOUz68DRnQYuHb0YaodJIntgZZxNXuMKJ+qKo6UecBWkNnf0Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:00:56.726772Z","signed_message":"canonical_sha256_bytes"},"source_id":"2012.10902","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e5478439a3b9bbf8468df1cf05f8adf6fac0d5574ee9e326c6edbab42ac35889","sha256:54015bb2e8f44b113e7ccb1c390ba4172e778eced9a86840087d803e5426b909"],"state_sha256":"e551df33d8a4ac6fc045d8631bd043671e98fd295824ee9e43351d33b344318e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Pa2zdiC1L4SIlxIycL1gskaFLLpOj14a0T5nQkZOxF4A+HpxOnKjbRMmFqsq0++QN34ojAnTfatWv5N6adJ8Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T00:09:18.654752Z","bundle_sha256":"f9946da54c6072d4aae8d00de2a7a3a020a7de4f096ca44efc79d68557affa05"}}