{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:4V5EQYRRL2V36B3WDHOZ6LOFQ5","short_pith_number":"pith:4V5EQYRR","schema_version":"1.0","canonical_sha256":"e57a4862315eabbf077619dd9f2dc5877ab94a608720b1a86aa829c951d97528","source":{"kind":"arxiv","id":"2209.03666","version":1},"attestation_state":"computed","paper":{"title":"R$^3$LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Fu Zhang, Jiarong Lin","submitted_at":"2022-09-08T09:26:20Z","abstract_excerpt":"Simultaneous localization and mapping (SLAM) are crucial for autonomous robots (e.g., self-driving cars, autonomous drones), 3D mapping systems, and AR/VR applications. This work proposed a novel LiDAR-inertial-visual fusion framework termed R$^3$LIVE++ to achieve robust and accurate state estimation while simultaneously reconstructing the radiance map on the fly. R$^3$LIVE++ consists of a LiDAR-inertial odometry (LIO) and a visual-inertial odometry (VIO), both running in real-time. The LIO subsystem utilizes the measurements from a LiDAR for reconstructing the geometric structure (i.e., the p"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2209.03666","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-08T09:26:20Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"a0371c2da571b087c8a4369575ce96cdf8e26c0d4236d8d3d273cf40daa936b8","abstract_canon_sha256":"253b0b32065c5875f85dd9047a53c2215fc784f98e3bf7970101023b4513231c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:55:44.635968Z","signature_b64":"Fv06AnOEBvFLLZujCVoa5Qe55kc0d4+jWW2o9mJppO41EtqW7YnpPUF+v32w9ZpcR0Pi7POtOnXnARDJMnmMCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e57a4862315eabbf077619dd9f2dc5877ab94a608720b1a86aa829c951d97528","last_reissued_at":"2026-07-05T04:55:44.635537Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:55:44.635537Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"R$^3$LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Fu Zhang, Jiarong Lin","submitted_at":"2022-09-08T09:26:20Z","abstract_excerpt":"Simultaneous localization and mapping (SLAM) are crucial for autonomous robots (e.g., self-driving cars, autonomous drones), 3D mapping systems, and AR/VR applications. This work proposed a novel LiDAR-inertial-visual fusion framework termed R$^3$LIVE++ to achieve robust and accurate state estimation while simultaneously reconstructing the radiance map on the fly. R$^3$LIVE++ consists of a LiDAR-inertial odometry (LIO) and a visual-inertial odometry (VIO), both running in real-time. The LIO subsystem utilizes the measurements from a LiDAR for reconstructing the geometric structure (i.e., the p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.03666","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/2209.03666/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2209.03666","created_at":"2026-07-05T04:55:44.635607+00:00"},{"alias_kind":"arxiv_version","alias_value":"2209.03666v1","created_at":"2026-07-05T04:55:44.635607+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.03666","created_at":"2026-07-05T04:55:44.635607+00:00"},{"alias_kind":"pith_short_12","alias_value":"4V5EQYRRL2V3","created_at":"2026-07-05T04:55:44.635607+00:00"},{"alias_kind":"pith_short_16","alias_value":"4V5EQYRRL2V36B3W","created_at":"2026-07-05T04:55:44.635607+00:00"},{"alias_kind":"pith_short_8","alias_value":"4V5EQYRR","created_at":"2026-07-05T04:55:44.635607+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5","json":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5.json","graph_json":"https://pith.science/api/pith-number/4V5EQYRRL2V36B3WDHOZ6LOFQ5/graph.json","events_json":"https://pith.science/api/pith-number/4V5EQYRRL2V36B3WDHOZ6LOFQ5/events.json","paper":"https://pith.science/paper/4V5EQYRR"},"agent_actions":{"view_html":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5","download_json":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5.json","view_paper":"https://pith.science/paper/4V5EQYRR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2209.03666&json=true","fetch_graph":"https://pith.science/api/pith-number/4V5EQYRRL2V36B3WDHOZ6LOFQ5/graph.json","fetch_events":"https://pith.science/api/pith-number/4V5EQYRRL2V36B3WDHOZ6LOFQ5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5/action/storage_attestation","attest_author":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5/action/author_attestation","sign_citation":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5/action/citation_signature","submit_replication":"https://pith.science/pith/4V5EQYRRL2V36B3WDHOZ6LOFQ5/action/replication_record"}},"created_at":"2026-07-05T04:55:44.635607+00:00","updated_at":"2026-07-05T04:55:44.635607+00:00"}