{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:6HALA7CVCEI6KA6F63OWMLKI37","short_pith_number":"pith:6HALA7CV","canonical_record":{"source":{"id":"1908.04558","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-13T09:28:01Z","cross_cats_sorted":[],"title_canon_sha256":"6fde6afe854443a05c88ce4d105bdf9534701261e6ac05160c27bf2bd555f1af","abstract_canon_sha256":"1a486b443057f291bad81e456387da5c949412dce698ec0522c4bd0b1e75666a"},"schema_version":"1.0"},"canonical_sha256":"f1c0b07c551111e503c5f6dd662d48dfe2175bb133f2bff633ea44afdf68a08e","source":{"kind":"arxiv","id":"1908.04558","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.04558","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"arxiv_version","alias_value":"1908.04558v1","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.04558","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"pith_short_12","alias_value":"6HALA7CVCEI6","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"pith_short_16","alias_value":"6HALA7CVCEI6KA6F","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"pith_short_8","alias_value":"6HALA7CV","created_at":"2026-07-04T23:55:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:6HALA7CVCEI6KA6F63OWMLKI37","target":"record","payload":{"canonical_record":{"source":{"id":"1908.04558","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-13T09:28:01Z","cross_cats_sorted":[],"title_canon_sha256":"6fde6afe854443a05c88ce4d105bdf9534701261e6ac05160c27bf2bd555f1af","abstract_canon_sha256":"1a486b443057f291bad81e456387da5c949412dce698ec0522c4bd0b1e75666a"},"schema_version":"1.0"},"canonical_sha256":"f1c0b07c551111e503c5f6dd662d48dfe2175bb133f2bff633ea44afdf68a08e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-04T23:55:14.757436Z","signature_b64":"1o4PUdxUNI+IXcWPrEmN3ucIAsi9iB8Lk2u2r5vsQHdqjQeMZhOfP+/0fpY0IoHNJKzBBcLJDKbh51BZPjZMDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f1c0b07c551111e503c5f6dd662d48dfe2175bb133f2bff633ea44afdf68a08e","last_reissued_at":"2026-07-04T23:55:14.757066Z","signature_status":"signed_v1","first_computed_at":"2026-07-04T23:55:14.757066Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.04558","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":"2026-07-04T23:55:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+LKS5i7aXakv2DvvdqQomyIvSWI3deRUQ4WNwKJR1niT7swgPWl7OAjuuTJEFB5KycO3N2UAJsu5bAOHCCJQDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:15:03.773655Z"},"content_sha256":"1b39a6df7d53df6845c50d6ccd1fb559f88d2c7ac8d657801d6e48516e442705","schema_version":"1.0","event_id":"sha256:1b39a6df7d53df6845c50d6ccd1fb559f88d2c7ac8d657801d6e48516e442705"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:6HALA7CVCEI6KA6F63OWMLKI37","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Loop Closure Detection in Closed Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Achim Schweikard, Elmar Rueckert, Nils Rottmann, Ralf Bruder","submitted_at":"2019-08-13T09:28:01Z","abstract_excerpt":"Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR sensors, cameras or time of flight sensors. In this work, we propose a loop closure detection method based only on odometry data which can be generated using low-range or binary signal sensors together with simple wall following techniques. We show how to include the detected loop closing constraints into a pose graph formulation such that standard pose graph opt"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.04558","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/1908.04558/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":"2026-07-04T23:55:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3DMnlOmIpksisGCbFFBSpTy7NCVzbULqzE/bP0Tlsb45EF6fkSWIsuxQuXuYsp0cs+z9j/HE8QnBDKdDB7NSBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:15:03.774165Z"},"content_sha256":"6980b3d07aa8a172b8a2506d91d39b531d1f50fd017878549a1c583c30320f97","schema_version":"1.0","event_id":"sha256:6980b3d07aa8a172b8a2506d91d39b531d1f50fd017878549a1c583c30320f97"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6HALA7CVCEI6KA6F63OWMLKI37/bundle.json","state_url":"https://pith.science/pith/6HALA7CVCEI6KA6F63OWMLKI37/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6HALA7CVCEI6KA6F63OWMLKI37/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":"2026-08-16T14:15:03Z","links":{"resolver":"https://pith.science/pith/6HALA7CVCEI6KA6F63OWMLKI37","bundle":"https://pith.science/pith/6HALA7CVCEI6KA6F63OWMLKI37/bundle.json","state":"https://pith.science/pith/6HALA7CVCEI6KA6F63OWMLKI37/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6HALA7CVCEI6KA6F63OWMLKI37/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:6HALA7CVCEI6KA6F63OWMLKI37","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":"1a486b443057f291bad81e456387da5c949412dce698ec0522c4bd0b1e75666a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-13T09:28:01Z","title_canon_sha256":"6fde6afe854443a05c88ce4d105bdf9534701261e6ac05160c27bf2bd555f1af"},"schema_version":"1.0","source":{"id":"1908.04558","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.04558","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"arxiv_version","alias_value":"1908.04558v1","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.04558","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"pith_short_12","alias_value":"6HALA7CVCEI6","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"pith_short_16","alias_value":"6HALA7CVCEI6KA6F","created_at":"2026-07-04T23:55:14Z"},{"alias_kind":"pith_short_8","alias_value":"6HALA7CV","created_at":"2026-07-04T23:55:14Z"}],"graph_snapshots":[{"event_id":"sha256:6980b3d07aa8a172b8a2506d91d39b531d1f50fd017878549a1c583c30320f97","target":"graph","created_at":"2026-07-04T23:55:14Z","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/1908.04558/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR sensors, cameras or time of flight sensors. In this work, we propose a loop closure detection method based only on odometry data which can be generated using low-range or binary signal sensors together with simple wall following techniques. We show how to include the detected loop closing constraints into a pose graph formulation such that standard pose graph opt","authors_text":"Achim Schweikard, Elmar Rueckert, Nils Rottmann, Ralf Bruder","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-13T09:28:01Z","title":"Loop Closure Detection in Closed Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.04558","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":"sha256:1b39a6df7d53df6845c50d6ccd1fb559f88d2c7ac8d657801d6e48516e442705","target":"record","created_at":"2026-07-04T23:55:14Z","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":"1a486b443057f291bad81e456387da5c949412dce698ec0522c4bd0b1e75666a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-13T09:28:01Z","title_canon_sha256":"6fde6afe854443a05c88ce4d105bdf9534701261e6ac05160c27bf2bd555f1af"},"schema_version":"1.0","source":{"id":"1908.04558","kind":"arxiv","version":1}},"canonical_sha256":"f1c0b07c551111e503c5f6dd662d48dfe2175bb133f2bff633ea44afdf68a08e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f1c0b07c551111e503c5f6dd662d48dfe2175bb133f2bff633ea44afdf68a08e","first_computed_at":"2026-07-04T23:55:14.757066Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:55:14.757066Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1o4PUdxUNI+IXcWPrEmN3ucIAsi9iB8Lk2u2r5vsQHdqjQeMZhOfP+/0fpY0IoHNJKzBBcLJDKbh51BZPjZMDA==","signature_status":"signed_v1","signed_at":"2026-07-04T23:55:14.757436Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.04558","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1b39a6df7d53df6845c50d6ccd1fb559f88d2c7ac8d657801d6e48516e442705","sha256:6980b3d07aa8a172b8a2506d91d39b531d1f50fd017878549a1c583c30320f97"],"state_sha256":"ed9b236b0fbf4a3376df4b061438fb8095f549398ab21bb771b87a2ae4ece840"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0bqZReDc+tAEm869bRLTNu8qp2PX/ytc+F9W69HyEUrFHtBaPi8r9JXb1+C6E+kusv2dBQCDHVf2Nl9/ySzwAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T14:15:03.779273Z","bundle_sha256":"7bacc2ffcfa371f60bf584a529e443bee4c84790e12a7b25c60430f8e8371e82"}}