{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:5ZLEGK6T6Y6ZWNKFHMIAERM7VJ","short_pith_number":"pith:5ZLEGK6T","canonical_record":{"source":{"id":"1909.01423","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-03T19:53:21Z","cross_cats_sorted":[],"title_canon_sha256":"0b20d297663d63dd7b933352a9a68b110af3275fb7e69239cdd2af3c9abb0246","abstract_canon_sha256":"2739bbb98089b26c6288986c13656ca652a08ad92ec4b7c3f7cd8a40698f4811"},"schema_version":"1.0"},"canonical_sha256":"ee56432bd3f63d9b35453b1002459faa6264897ef852e19f3522b833a3504836","source":{"kind":"arxiv","id":"1909.01423","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.01423","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"arxiv_version","alias_value":"1909.01423v1","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.01423","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"pith_short_12","alias_value":"5ZLEGK6T6Y6Z","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"pith_short_16","alias_value":"5ZLEGK6T6Y6ZWNKF","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"pith_short_8","alias_value":"5ZLEGK6T","created_at":"2026-07-05T00:02:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:5ZLEGK6T6Y6ZWNKFHMIAERM7VJ","target":"record","payload":{"canonical_record":{"source":{"id":"1909.01423","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-03T19:53:21Z","cross_cats_sorted":[],"title_canon_sha256":"0b20d297663d63dd7b933352a9a68b110af3275fb7e69239cdd2af3c9abb0246","abstract_canon_sha256":"2739bbb98089b26c6288986c13656ca652a08ad92ec4b7c3f7cd8a40698f4811"},"schema_version":"1.0"},"canonical_sha256":"ee56432bd3f63d9b35453b1002459faa6264897ef852e19f3522b833a3504836","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:02:16.152091Z","signature_b64":"GJpzxZ71PtsWgb2dN7IuHNjEf7YEm/AmbS6QGYkYZfrQFyTAsI4Go3VW7mbKwt69EmpnBE6RuCN1m5IOPxt3Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ee56432bd3f63d9b35453b1002459faa6264897ef852e19f3522b833a3504836","last_reissued_at":"2026-07-05T00:02:16.151557Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:02:16.151557Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1909.01423","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":"2026-07-05T00:02:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oEOrpcE5crK7Z9wBmSGOJT+LnpBEtAdjJBP2IgxBAAIL0UQpDhH/g+OVm8w1OLCXLcSvdapgxakdGtqG/PnvCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T22:14:10.880835Z"},"content_sha256":"02b23f327dc9d446e51d50e4c867315aa2188c57e9eed8e87b04275096247b13","schema_version":"1.0","event_id":"sha256:02b23f327dc9d446e51d50e4c867315aa2188c57e9eed8e87b04275096247b13"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:5ZLEGK6T6Y6ZWNKFHMIAERM7VJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Exploration Without Global Consistency Using Local Volume Consolidation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andreas Ziegler, Davide Scaramuzza, Titus Cieslewski","submitted_at":"2019-09-03T19:53:21Z","abstract_excerpt":"In exploration, the goal is to build a map of an unknown environment. Most state-of-the-art approaches use map representations that require drift-free state estimates to function properly. Real-world state estimators, however, exhibit drift. In this paper, we present a 2D map representation for exploration that is robust to drift. Rather than a global map, it uses local metric volumes connected by relative pose estimates. This pose-graph does not need to be globally consistent. Overlaps between the volumes are resolved locally, rather than on the faulty estimate of space. We demonstrate our re"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.01423","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/1909.01423/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":"2026-07-05T00:02:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OeYrAoS6sZVJpzq9b4YDdpRT1DdgW6zmWuFvlm5WK2I1tJGgdj20shaaNrIWtvd4H7TVWjveQv0UHIbJoJ5yBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T22:14:10.881353Z"},"content_sha256":"4b722be4db1ebbc2043e69ea1ee4137403f428824491e912e1d3b19bc8e87d6b","schema_version":"1.0","event_id":"sha256:4b722be4db1ebbc2043e69ea1ee4137403f428824491e912e1d3b19bc8e87d6b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5ZLEGK6T6Y6ZWNKFHMIAERM7VJ/bundle.json","state_url":"https://pith.science/pith/5ZLEGK6T6Y6ZWNKFHMIAERM7VJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5ZLEGK6T6Y6ZWNKFHMIAERM7VJ/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":"2026-08-21T22:14:10Z","links":{"resolver":"https://pith.science/pith/5ZLEGK6T6Y6ZWNKFHMIAERM7VJ","bundle":"https://pith.science/pith/5ZLEGK6T6Y6ZWNKFHMIAERM7VJ/bundle.json","state":"https://pith.science/pith/5ZLEGK6T6Y6ZWNKFHMIAERM7VJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5ZLEGK6T6Y6ZWNKFHMIAERM7VJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:5ZLEGK6T6Y6ZWNKFHMIAERM7VJ","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":"2739bbb98089b26c6288986c13656ca652a08ad92ec4b7c3f7cd8a40698f4811","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-03T19:53:21Z","title_canon_sha256":"0b20d297663d63dd7b933352a9a68b110af3275fb7e69239cdd2af3c9abb0246"},"schema_version":"1.0","source":{"id":"1909.01423","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.01423","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"arxiv_version","alias_value":"1909.01423v1","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.01423","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"pith_short_12","alias_value":"5ZLEGK6T6Y6Z","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"pith_short_16","alias_value":"5ZLEGK6T6Y6ZWNKF","created_at":"2026-07-05T00:02:16Z"},{"alias_kind":"pith_short_8","alias_value":"5ZLEGK6T","created_at":"2026-07-05T00:02:16Z"}],"graph_snapshots":[{"event_id":"sha256:4b722be4db1ebbc2043e69ea1ee4137403f428824491e912e1d3b19bc8e87d6b","target":"graph","created_at":"2026-07-05T00:02:16Z","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/1909.01423/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In exploration, the goal is to build a map of an unknown environment. Most state-of-the-art approaches use map representations that require drift-free state estimates to function properly. Real-world state estimators, however, exhibit drift. In this paper, we present a 2D map representation for exploration that is robust to drift. Rather than a global map, it uses local metric volumes connected by relative pose estimates. This pose-graph does not need to be globally consistent. Overlaps between the volumes are resolved locally, rather than on the faulty estimate of space. We demonstrate our re","authors_text":"Andreas Ziegler, Davide Scaramuzza, Titus Cieslewski","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-03T19:53:21Z","title":"Exploration Without Global Consistency Using Local Volume Consolidation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.01423","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":"sha256:02b23f327dc9d446e51d50e4c867315aa2188c57e9eed8e87b04275096247b13","target":"record","created_at":"2026-07-05T00:02:16Z","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":"2739bbb98089b26c6288986c13656ca652a08ad92ec4b7c3f7cd8a40698f4811","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-03T19:53:21Z","title_canon_sha256":"0b20d297663d63dd7b933352a9a68b110af3275fb7e69239cdd2af3c9abb0246"},"schema_version":"1.0","source":{"id":"1909.01423","kind":"arxiv","version":1}},"canonical_sha256":"ee56432bd3f63d9b35453b1002459faa6264897ef852e19f3522b833a3504836","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ee56432bd3f63d9b35453b1002459faa6264897ef852e19f3522b833a3504836","first_computed_at":"2026-07-05T00:02:16.151557Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:02:16.151557Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GJpzxZ71PtsWgb2dN7IuHNjEf7YEm/AmbS6QGYkYZfrQFyTAsI4Go3VW7mbKwt69EmpnBE6RuCN1m5IOPxt3Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:02:16.152091Z","signed_message":"canonical_sha256_bytes"},"source_id":"1909.01423","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:02b23f327dc9d446e51d50e4c867315aa2188c57e9eed8e87b04275096247b13","sha256:4b722be4db1ebbc2043e69ea1ee4137403f428824491e912e1d3b19bc8e87d6b"],"state_sha256":"17d7e0e21a2094165007f04816e9416df8c54af6f03776d51c22527b2b42bfb1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5wUOxh8GPOCR5CbXA2q4IaGV1w2bEHygbA0jaKQXWn8I2WoxtftWmIXnjV5+POXSc1siqa7ZD7jfCFYAYvCpDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T22:14:10.886510Z","bundle_sha256":"c7d98c5efa9817703cfeed238280723a92d5ce2ab8fe01fa14a5f05eb6e5fe20"}}