{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:7KKRFMMOVFWI4KWRVRIAJRIC76","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":"431f7ad3813377d815bf557698b5f402324bdc7f3d667bd6a60f969545bb8ea2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T05:43:24Z","title_canon_sha256":"ae0f9a1c18c6d83feb50c0e7aee40c99d73d75eac9f0c7d1b9349545fc303f2e"},"schema_version":"1.0","source":{"id":"2010.09232","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.09232","created_at":"2026-07-05T04:37:15Z"},{"alias_kind":"arxiv_version","alias_value":"2010.09232v2","created_at":"2026-07-05T04:37:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.09232","created_at":"2026-07-05T04:37:15Z"},{"alias_kind":"pith_short_12","alias_value":"7KKRFMMOVFWI","created_at":"2026-07-05T04:37:15Z"},{"alias_kind":"pith_short_16","alias_value":"7KKRFMMOVFWI4KWR","created_at":"2026-07-05T04:37:15Z"},{"alias_kind":"pith_short_8","alias_value":"7KKRFMMO","created_at":"2026-07-05T04:37:15Z"}],"graph_snapshots":[{"event_id":"sha256:c46eac4faa6157574fe3f3720a15addb8c2520ad0a94daae77167bbcae51361f","target":"graph","created_at":"2026-07-05T04:37:15Z","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/2010.09232/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only requires a CPU. We focus on three main challenges of large-scale reconstruction: integration of long-range LiDAR scans at high frequency, the capacity to deform the reconstruction after loop closures are detected, and scalability for long-duration exploration. Our system extends upon a state-of-the-art efficient RGB-D volumetric reconstruction technique, called sup","authors_text":"Marco Camurri, Marija Popovic, Maurice Fallon, Milad Ramezani, Nils Funk, Sotiris Papatheodorou, Stefan Leutenegger, Yiduo Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T05:43:24Z","title":"Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.09232","kind":"arxiv","version":2},"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:a9099ff28cb2daed36b3dc572ed7f9f85fa3b80d969d5789295cabeeafa911b1","target":"record","created_at":"2026-07-05T04:37:15Z","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":"431f7ad3813377d815bf557698b5f402324bdc7f3d667bd6a60f969545bb8ea2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T05:43:24Z","title_canon_sha256":"ae0f9a1c18c6d83feb50c0e7aee40c99d73d75eac9f0c7d1b9349545fc303f2e"},"schema_version":"1.0","source":{"id":"2010.09232","kind":"arxiv","version":2}},"canonical_sha256":"fa9512b18ea96c8e2ad1ac5004c502ff8e6ed410767b2bad6d21e28f9386dfc6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa9512b18ea96c8e2ad1ac5004c502ff8e6ed410767b2bad6d21e28f9386dfc6","first_computed_at":"2026-07-05T04:37:15.393212Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:37:15.393212Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"O9NLMIvNybHuSAEcbTX31KmF79hiZb1ToOKg6I0Nx19ofzhJQMsuDYDBMA7qyCsDsTwIBYa4MDmZ7e3noER8AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:37:15.393922Z","signed_message":"canonical_sha256_bytes"},"source_id":"2010.09232","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a9099ff28cb2daed36b3dc572ed7f9f85fa3b80d969d5789295cabeeafa911b1","sha256:c46eac4faa6157574fe3f3720a15addb8c2520ad0a94daae77167bbcae51361f"],"state_sha256":"be28114d64bb793212754187ce58c6aee558fa60cb533341248c48adfb1f5326"}