{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:6TLPYF5ORHRAQDOFUDB2LIB4U4","short_pith_number":"pith:6TLPYF5O","schema_version":"1.0","canonical_sha256":"f4d6fc17ae89e2080dc5a0c3a5a03ca703156b598f83933041d9c7f8f03bdc0c","source":{"kind":"arxiv","id":"2602.08417","version":2},"attestation_state":"computed","paper":{"title":"Graph-Loc: Robust Graph-Based LiDAR Pose Tracking with Compact Structural Map Priors under Low Observability and Occlusion","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jingchuan Wang, Rui Li, Tianchen Deng, Wentao Zhao, Yanbo Wang, Yihe Niu, Zikun Chen","submitted_at":"2026-02-09T09:19:47Z","abstract_excerpt":"Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observations are often partial, repetitive, and heavily occluded. We propose Graph-Loc, a graph-based localization framework that tracks the platform pose against compact structural map priors represented as a lightweight point-line graph. Such priors can be constructed from heterogeneous sources commonly available in practice, including polygon outlines vectorized from occupancy/grid maps and CAD/model/floor-plan layouts."},"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":"2602.08417","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-09T09:19:47Z","cross_cats_sorted":[],"title_canon_sha256":"41de374a02ec65437b4184090631bfa441c281cd4b756558a60bfdc4f3fc2a2f","abstract_canon_sha256":"62f3a9d50d1f943f99cc7b71f8810ff58a2bc72cbfdc0a33ec72c78bdbe4240a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-10T01:19:42.109574Z","signature_b64":"a4RFAKvjNiioSaFtPkTNP4q84OrMvtNfzE0iaRuYJKWHRP6a1AVZwuVh96Vsur/t3HiEepRyAntglN+X+fbFCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f4d6fc17ae89e2080dc5a0c3a5a03ca703156b598f83933041d9c7f8f03bdc0c","last_reissued_at":"2026-07-10T01:19:42.109020Z","signature_status":"signed_v1","first_computed_at":"2026-07-10T01:19:42.109020Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Graph-Loc: Robust Graph-Based LiDAR Pose Tracking with Compact Structural Map Priors under Low Observability and Occlusion","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jingchuan Wang, Rui Li, Tianchen Deng, Wentao Zhao, Yanbo Wang, Yihe Niu, Zikun Chen","submitted_at":"2026-02-09T09:19:47Z","abstract_excerpt":"Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observations are often partial, repetitive, and heavily occluded. We propose Graph-Loc, a graph-based localization framework that tracks the platform pose against compact structural map priors represented as a lightweight point-line graph. Such priors can be constructed from heterogeneous sources commonly available in practice, including polygon outlines vectorized from occupancy/grid maps and CAD/model/floor-plan layouts."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.08417","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2602.08417/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":"2602.08417","created_at":"2026-07-10T01:19:42.109075+00:00"},{"alias_kind":"arxiv_version","alias_value":"2602.08417v2","created_at":"2026-07-10T01:19:42.109075+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.08417","created_at":"2026-07-10T01:19:42.109075+00:00"},{"alias_kind":"pith_short_12","alias_value":"6TLPYF5ORHRA","created_at":"2026-07-10T01:19:42.109075+00:00"},{"alias_kind":"pith_short_16","alias_value":"6TLPYF5ORHRAQDOF","created_at":"2026-07-10T01:19:42.109075+00:00"},{"alias_kind":"pith_short_8","alias_value":"6TLPYF5O","created_at":"2026-07-10T01:19:42.109075+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/6TLPYF5ORHRAQDOFUDB2LIB4U4","json":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4.json","graph_json":"https://pith.science/api/pith-number/6TLPYF5ORHRAQDOFUDB2LIB4U4/graph.json","events_json":"https://pith.science/api/pith-number/6TLPYF5ORHRAQDOFUDB2LIB4U4/events.json","paper":"https://pith.science/paper/6TLPYF5O"},"agent_actions":{"view_html":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4","download_json":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4.json","view_paper":"https://pith.science/paper/6TLPYF5O","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2602.08417&json=true","fetch_graph":"https://pith.science/api/pith-number/6TLPYF5ORHRAQDOFUDB2LIB4U4/graph.json","fetch_events":"https://pith.science/api/pith-number/6TLPYF5ORHRAQDOFUDB2LIB4U4/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4/action/timestamp_anchor","attest_storage":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4/action/storage_attestation","attest_author":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4/action/author_attestation","sign_citation":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4/action/citation_signature","submit_replication":"https://pith.science/pith/6TLPYF5ORHRAQDOFUDB2LIB4U4/action/replication_record"}},"created_at":"2026-07-10T01:19:42.109075+00:00","updated_at":"2026-07-10T01:19:42.109075+00:00"}