{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:7JTHYPEHRFMOHQB2EKP5JUSSES","short_pith_number":"pith:7JTHYPEH","canonical_record":{"source":{"id":"1908.03605","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-09T19:26:56Z","cross_cats_sorted":[],"title_canon_sha256":"cfb84a0ba153e3ac5497c9ecc5724844ab9bedccf432879353458be865fb8aa2","abstract_canon_sha256":"d5981753b0010f2e7450c838b6d2a95b3229833afb3e439af9ec4d1b2887d7d1"},"schema_version":"1.0"},"canonical_sha256":"fa667c3c878958e3c03a229fd4d25224b396af4ee64fed517dd9b2d7351a73be","source":{"kind":"arxiv","id":"1908.03605","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.03605","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"arxiv_version","alias_value":"1908.03605v1","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.03605","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"pith_short_12","alias_value":"7JTHYPEHRFMO","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"pith_short_16","alias_value":"7JTHYPEHRFMOHQB2","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"pith_short_8","alias_value":"7JTHYPEH","created_at":"2026-07-04T23:52:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:7JTHYPEHRFMOHQB2EKP5JUSSES","target":"record","payload":{"canonical_record":{"source":{"id":"1908.03605","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-09T19:26:56Z","cross_cats_sorted":[],"title_canon_sha256":"cfb84a0ba153e3ac5497c9ecc5724844ab9bedccf432879353458be865fb8aa2","abstract_canon_sha256":"d5981753b0010f2e7450c838b6d2a95b3229833afb3e439af9ec4d1b2887d7d1"},"schema_version":"1.0"},"canonical_sha256":"fa667c3c878958e3c03a229fd4d25224b396af4ee64fed517dd9b2d7351a73be","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-04T23:52:42.744049Z","signature_b64":"7coRRA67kQLJfVbrWsLUPN2qgjnp/Mw8IrwcOm8b4wst4ADjxLY4RfYWUrRMBCTwJxvahSQ1MxTqs1LW0d+JAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fa667c3c878958e3c03a229fd4d25224b396af4ee64fed517dd9b2d7351a73be","last_reissued_at":"2026-07-04T23:52:42.743515Z","signature_status":"signed_v1","first_computed_at":"2026-07-04T23:52:42.743515Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.03605","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":"2026-07-04T23:52:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0O8S6mOvGLgPE3YUhMAkcmYlO5pQOThph6LldOv2WGqFhY2ZUlacdohSYthu1sz3A493JUqyMq8y81sInT8TDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T08:02:05.491234Z"},"content_sha256":"dfd43d78497ae55da33bf415bea93681b8cfda33f4c2733121cc6cd64b2c0670","schema_version":"1.0","event_id":"sha256:dfd43d78497ae55da33bf415bea93681b8cfda33f4c2733121cc6cd64b2c0670"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:7JTHYPEHRFMOHQB2EKP5JUSSES","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"View management for lifelong visual maps","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dimitri Lisin, Jimmy Briggs, Manjunath Narayana, Mario E. Munich, Nandan Banerjee, Ryan C. Connolly","submitted_at":"2019-08-09T19:26:56Z","abstract_excerpt":"The time complexity of making observations and loop closures in a graph-based visual SLAM system is a function of the number of views stored. Clever algorithms, such as approximate nearest neighbor search, can make this function sub-linear. Despite this, over time the number of views can still grow to a point at which the speed and/or accuracy of the system becomes unacceptable, especially in computation- and memory-constrained SLAM systems. However, not all views are created equal. Some views are rarely observed, because they have been created in an unusual lighting condition, or from low qua"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.03605","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/1908.03605/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":"2026-07-04T23:52:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OMQ8DoX8JBRaqZthXOItNomFsP0etgzg4P0EuifSd1i6bZcZLq5lMTyCtGpJkyaifYiimVQWjloTEZAXn0PQBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T08:02:05.491829Z"},"content_sha256":"90d1e2bb29b1eb983bcdb11a095e015f6b7354b716ad7ad68bce5e646d1b2f18","schema_version":"1.0","event_id":"sha256:90d1e2bb29b1eb983bcdb11a095e015f6b7354b716ad7ad68bce5e646d1b2f18"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7JTHYPEHRFMOHQB2EKP5JUSSES/bundle.json","state_url":"https://pith.science/pith/7JTHYPEHRFMOHQB2EKP5JUSSES/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7JTHYPEHRFMOHQB2EKP5JUSSES/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":"2026-08-16T08:02:05Z","links":{"resolver":"https://pith.science/pith/7JTHYPEHRFMOHQB2EKP5JUSSES","bundle":"https://pith.science/pith/7JTHYPEHRFMOHQB2EKP5JUSSES/bundle.json","state":"https://pith.science/pith/7JTHYPEHRFMOHQB2EKP5JUSSES/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7JTHYPEHRFMOHQB2EKP5JUSSES/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:7JTHYPEHRFMOHQB2EKP5JUSSES","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":"d5981753b0010f2e7450c838b6d2a95b3229833afb3e439af9ec4d1b2887d7d1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-09T19:26:56Z","title_canon_sha256":"cfb84a0ba153e3ac5497c9ecc5724844ab9bedccf432879353458be865fb8aa2"},"schema_version":"1.0","source":{"id":"1908.03605","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.03605","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"arxiv_version","alias_value":"1908.03605v1","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.03605","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"pith_short_12","alias_value":"7JTHYPEHRFMO","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"pith_short_16","alias_value":"7JTHYPEHRFMOHQB2","created_at":"2026-07-04T23:52:42Z"},{"alias_kind":"pith_short_8","alias_value":"7JTHYPEH","created_at":"2026-07-04T23:52:42Z"}],"graph_snapshots":[{"event_id":"sha256:90d1e2bb29b1eb983bcdb11a095e015f6b7354b716ad7ad68bce5e646d1b2f18","target":"graph","created_at":"2026-07-04T23:52:42Z","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/1908.03605/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The time complexity of making observations and loop closures in a graph-based visual SLAM system is a function of the number of views stored. Clever algorithms, such as approximate nearest neighbor search, can make this function sub-linear. Despite this, over time the number of views can still grow to a point at which the speed and/or accuracy of the system becomes unacceptable, especially in computation- and memory-constrained SLAM systems. However, not all views are created equal. Some views are rarely observed, because they have been created in an unusual lighting condition, or from low qua","authors_text":"Dimitri Lisin, Jimmy Briggs, Manjunath Narayana, Mario E. Munich, Nandan Banerjee, Ryan C. Connolly","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-09T19:26:56Z","title":"View management for lifelong visual maps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.03605","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:dfd43d78497ae55da33bf415bea93681b8cfda33f4c2733121cc6cd64b2c0670","target":"record","created_at":"2026-07-04T23:52:42Z","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":"d5981753b0010f2e7450c838b6d2a95b3229833afb3e439af9ec4d1b2887d7d1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-09T19:26:56Z","title_canon_sha256":"cfb84a0ba153e3ac5497c9ecc5724844ab9bedccf432879353458be865fb8aa2"},"schema_version":"1.0","source":{"id":"1908.03605","kind":"arxiv","version":1}},"canonical_sha256":"fa667c3c878958e3c03a229fd4d25224b396af4ee64fed517dd9b2d7351a73be","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa667c3c878958e3c03a229fd4d25224b396af4ee64fed517dd9b2d7351a73be","first_computed_at":"2026-07-04T23:52:42.743515Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:52:42.743515Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7coRRA67kQLJfVbrWsLUPN2qgjnp/Mw8IrwcOm8b4wst4ADjxLY4RfYWUrRMBCTwJxvahSQ1MxTqs1LW0d+JAA==","signature_status":"signed_v1","signed_at":"2026-07-04T23:52:42.744049Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.03605","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dfd43d78497ae55da33bf415bea93681b8cfda33f4c2733121cc6cd64b2c0670","sha256:90d1e2bb29b1eb983bcdb11a095e015f6b7354b716ad7ad68bce5e646d1b2f18"],"state_sha256":"4a79d453f70f8b674a7a0e2fb4d5f43dc4d355f97e47901b31603863edeee741"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"P54enqY3dyiwJxh92mpvbS9jgZxFwQMDY6USaDdnMZzgNj0SDTMm/EnaAnpHM+X8rehAek6QxaimC3RWcvxrBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T08:02:05.495838Z","bundle_sha256":"3315909cf39dcdb4f529e6985439d7194f8495ac69072fe9320d3058d5e61bfa"}}