{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:4DXROPXVSPE6XJIROE3U3YF26D","short_pith_number":"pith:4DXROPXV","canonical_record":{"source":{"id":"1612.07386","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-21T23:21:29Z","cross_cats_sorted":[],"title_canon_sha256":"71feb8107a189185c5452675fa6b492a949869feb7970e5f7ef39590744c7b81","abstract_canon_sha256":"bad2c311e0bfd226f8e1d46c69d282348bd82cd569b675e290162348ce5cb828"},"schema_version":"1.0"},"canonical_sha256":"e0ef173ef593c9eba51171374de0baf0ffec23f7e9959cd2c12747c087c41433","source":{"kind":"arxiv","id":"1612.07386","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.07386","created_at":"2026-05-18T00:51:24Z"},{"alias_kind":"arxiv_version","alias_value":"1612.07386v2","created_at":"2026-05-18T00:51:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.07386","created_at":"2026-05-18T00:51:24Z"},{"alias_kind":"pith_short_12","alias_value":"4DXROPXVSPE6","created_at":"2026-05-18T12:29:58Z"},{"alias_kind":"pith_short_16","alias_value":"4DXROPXVSPE6XJIR","created_at":"2026-05-18T12:29:58Z"},{"alias_kind":"pith_short_8","alias_value":"4DXROPXV","created_at":"2026-05-18T12:29:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:4DXROPXVSPE6XJIROE3U3YF26D","target":"record","payload":{"canonical_record":{"source":{"id":"1612.07386","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-21T23:21:29Z","cross_cats_sorted":[],"title_canon_sha256":"71feb8107a189185c5452675fa6b492a949869feb7970e5f7ef39590744c7b81","abstract_canon_sha256":"bad2c311e0bfd226f8e1d46c69d282348bd82cd569b675e290162348ce5cb828"},"schema_version":"1.0"},"canonical_sha256":"e0ef173ef593c9eba51171374de0baf0ffec23f7e9959cd2c12747c087c41433","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:51:24.774042Z","signature_b64":"nayepwgbQ2E2YCp0qnj4/rYNlB4dBZt/V87CvcGk38EbeePZvqdGFDrMMNzVxskYPL2BeW9/+i43eDowPTBPCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e0ef173ef593c9eba51171374de0baf0ffec23f7e9959cd2c12747c087c41433","last_reissued_at":"2026-05-18T00:51:24.773359Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:51:24.773359Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1612.07386","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:51:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4kdkZO3Npira5PLapWKMEubQtKDuBR6HYXvZXApSzw1XK69A90XglVs7NuCkgr3KGu0j0N9kb3ZslkCShBkCBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T22:06:03.080574Z"},"content_sha256":"47ee56efc5b999109c41aafdd3862f9df5a251a286eff7396c75607d8886f087","schema_version":"1.0","event_id":"sha256:47ee56efc5b999109c41aafdd3862f9df5a251a286eff7396c75607d8886f087"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:4DXROPXVSPE6XJIROE3U3YF26D","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Afonso S. Bandeira, David M. Rosen, John J. Leonard, Luca Carlone","submitted_at":"2016-12-21T23:21:29Z","abstract_excerpt":"Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measurements between them. This problem is typically formulated as a nonconvex maximum-likelihood estimation that is computationally hard to solve in general. Nevertheless, in this paper we present an algorithm that is able to efficiently recover certifiably globally optimal solutions of the special Euclidean synchronization problem in a non-adversarial noise regime. The crux of our approach is the development of a semidef"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.07386","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:51:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VuuqutK/m8VpN7OBj31uJZ8l0UKSiHHIU/xnIh6L0dGRjEDTq/KtxJFIhWzOcDbE2b1bjaqxxPYoAwibk5c8Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T22:06:03.081262Z"},"content_sha256":"b30d46af0bcbdbd6cb5ddc88e4b7b3a6cce8455334531cb3d99ff21670410ba8","schema_version":"1.0","event_id":"sha256:b30d46af0bcbdbd6cb5ddc88e4b7b3a6cce8455334531cb3d99ff21670410ba8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4DXROPXVSPE6XJIROE3U3YF26D/bundle.json","state_url":"https://pith.science/pith/4DXROPXVSPE6XJIROE3U3YF26D/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4DXROPXVSPE6XJIROE3U3YF26D/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":"2026-05-28T22:06:03Z","links":{"resolver":"https://pith.science/pith/4DXROPXVSPE6XJIROE3U3YF26D","bundle":"https://pith.science/pith/4DXROPXVSPE6XJIROE3U3YF26D/bundle.json","state":"https://pith.science/pith/4DXROPXVSPE6XJIROE3U3YF26D/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4DXROPXVSPE6XJIROE3U3YF26D/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:4DXROPXVSPE6XJIROE3U3YF26D","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":"bad2c311e0bfd226f8e1d46c69d282348bd82cd569b675e290162348ce5cb828","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-21T23:21:29Z","title_canon_sha256":"71feb8107a189185c5452675fa6b492a949869feb7970e5f7ef39590744c7b81"},"schema_version":"1.0","source":{"id":"1612.07386","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.07386","created_at":"2026-05-18T00:51:24Z"},{"alias_kind":"arxiv_version","alias_value":"1612.07386v2","created_at":"2026-05-18T00:51:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.07386","created_at":"2026-05-18T00:51:24Z"},{"alias_kind":"pith_short_12","alias_value":"4DXROPXVSPE6","created_at":"2026-05-18T12:29:58Z"},{"alias_kind":"pith_short_16","alias_value":"4DXROPXVSPE6XJIR","created_at":"2026-05-18T12:29:58Z"},{"alias_kind":"pith_short_8","alias_value":"4DXROPXV","created_at":"2026-05-18T12:29:58Z"}],"graph_snapshots":[{"event_id":"sha256:b30d46af0bcbdbd6cb5ddc88e4b7b3a6cce8455334531cb3d99ff21670410ba8","target":"graph","created_at":"2026-05-18T00:51:24Z","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":"Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measurements between them. This problem is typically formulated as a nonconvex maximum-likelihood estimation that is computationally hard to solve in general. Nevertheless, in this paper we present an algorithm that is able to efficiently recover certifiably globally optimal solutions of the special Euclidean synchronization problem in a non-adversarial noise regime. The crux of our approach is the development of a semidef","authors_text":"Afonso S. Bandeira, David M. Rosen, John J. Leonard, Luca Carlone","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-21T23:21:29Z","title":"SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.07386","kind":"arxiv","version":2},"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":"sha256:47ee56efc5b999109c41aafdd3862f9df5a251a286eff7396c75607d8886f087","target":"record","created_at":"2026-05-18T00:51:24Z","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":"bad2c311e0bfd226f8e1d46c69d282348bd82cd569b675e290162348ce5cb828","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-21T23:21:29Z","title_canon_sha256":"71feb8107a189185c5452675fa6b492a949869feb7970e5f7ef39590744c7b81"},"schema_version":"1.0","source":{"id":"1612.07386","kind":"arxiv","version":2}},"canonical_sha256":"e0ef173ef593c9eba51171374de0baf0ffec23f7e9959cd2c12747c087c41433","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e0ef173ef593c9eba51171374de0baf0ffec23f7e9959cd2c12747c087c41433","first_computed_at":"2026-05-18T00:51:24.773359Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:51:24.773359Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nayepwgbQ2E2YCp0qnj4/rYNlB4dBZt/V87CvcGk38EbeePZvqdGFDrMMNzVxskYPL2BeW9/+i43eDowPTBPCA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:51:24.774042Z","signed_message":"canonical_sha256_bytes"},"source_id":"1612.07386","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:47ee56efc5b999109c41aafdd3862f9df5a251a286eff7396c75607d8886f087","sha256:b30d46af0bcbdbd6cb5ddc88e4b7b3a6cce8455334531cb3d99ff21670410ba8"],"state_sha256":"9f0e7ed64f5733af47e98062174ab9d4769d0df4d2586d0c1baea684273fa484"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J3vBCgaIMqZFvHCCFq8hLsIe1nfiR9ZtuLMgwSjuj17+UBunKCBkc23I2idmZqZm70VtwC373eCgvypVTJoMDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T22:06:03.084943Z","bundle_sha256":"22ecd64ec9ae5a6d173835435b83f50fae5bd9e222e78d9ad9a7e9197c2347b7"}}