{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:AHMNZIOYRWRBD7QHYIHYXWY2I5","short_pith_number":"pith:AHMNZIOY","schema_version":"1.0","canonical_sha256":"01d8dca1d88da211fe07c20f8bdb1a4742248ff08209bdb7819d5b025dea91ae","source":{"kind":"arxiv","id":"2507.04311","version":1},"attestation_state":"computed","paper":{"title":"Vibration-aware Lidar-Inertial Odometry based on Point-wise Post-Undistortion Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bin Han, Enci Xu, Shaoqiang Qiu, Wenxuan Li, Yan Dong, Yang Liu","submitted_at":"2025-07-06T09:35:58Z","abstract_excerpt":"High-speed ground robots moving on unstructured terrains generate intense high-frequency vibrations, leading to LiDAR scan distortions in Lidar-inertial odometry (LIO). Accurate and efficient undistortion is extremely challenging due to (1) rapid and non-smooth state changes during intense vibrations and (2) unpredictable IMU noise coupled with a limited IMU sampling frequency. To address this issue, this paper introduces post-undistortion uncertainty. First, we model the undistortion errors caused by linear and angular vibrations and assign post-undistortion uncertainty to each point. We then"},"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":"2507.04311","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-06T09:35:58Z","cross_cats_sorted":[],"title_canon_sha256":"e0aec9d5dde9f3db519947a9ce2e928f22e839847cd3bb9780dbda2476429589","abstract_canon_sha256":"7adf8ab2bcb45ac6f5e5c017e9447604d3c5e4ecc07870cadf64a014a686498b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:37:25.243690Z","signature_b64":"ttasxsjuEdfecP1LcbyT7uafsPFA22bENP+M+BzdizO139R0JOYubidQb0oLbHMInPkeme1uZYiFeguMFJw2BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"01d8dca1d88da211fe07c20f8bdb1a4742248ff08209bdb7819d5b025dea91ae","last_reissued_at":"2026-07-05T11:37:25.243191Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:37:25.243191Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Vibration-aware Lidar-Inertial Odometry based on Point-wise Post-Undistortion Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bin Han, Enci Xu, Shaoqiang Qiu, Wenxuan Li, Yan Dong, Yang Liu","submitted_at":"2025-07-06T09:35:58Z","abstract_excerpt":"High-speed ground robots moving on unstructured terrains generate intense high-frequency vibrations, leading to LiDAR scan distortions in Lidar-inertial odometry (LIO). Accurate and efficient undistortion is extremely challenging due to (1) rapid and non-smooth state changes during intense vibrations and (2) unpredictable IMU noise coupled with a limited IMU sampling frequency. To address this issue, this paper introduces post-undistortion uncertainty. First, we model the undistortion errors caused by linear and angular vibrations and assign post-undistortion uncertainty to each point. We then"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.04311","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/2507.04311/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":"2507.04311","created_at":"2026-07-05T11:37:25.243250+00:00"},{"alias_kind":"arxiv_version","alias_value":"2507.04311v1","created_at":"2026-07-05T11:37:25.243250+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.04311","created_at":"2026-07-05T11:37:25.243250+00:00"},{"alias_kind":"pith_short_12","alias_value":"AHMNZIOYRWRB","created_at":"2026-07-05T11:37:25.243250+00:00"},{"alias_kind":"pith_short_16","alias_value":"AHMNZIOYRWRBD7QH","created_at":"2026-07-05T11:37:25.243250+00:00"},{"alias_kind":"pith_short_8","alias_value":"AHMNZIOY","created_at":"2026-07-05T11:37:25.243250+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/AHMNZIOYRWRBD7QHYIHYXWY2I5","json":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5.json","graph_json":"https://pith.science/api/pith-number/AHMNZIOYRWRBD7QHYIHYXWY2I5/graph.json","events_json":"https://pith.science/api/pith-number/AHMNZIOYRWRBD7QHYIHYXWY2I5/events.json","paper":"https://pith.science/paper/AHMNZIOY"},"agent_actions":{"view_html":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5","download_json":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5.json","view_paper":"https://pith.science/paper/AHMNZIOY","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2507.04311&json=true","fetch_graph":"https://pith.science/api/pith-number/AHMNZIOYRWRBD7QHYIHYXWY2I5/graph.json","fetch_events":"https://pith.science/api/pith-number/AHMNZIOYRWRBD7QHYIHYXWY2I5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5/action/storage_attestation","attest_author":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5/action/author_attestation","sign_citation":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5/action/citation_signature","submit_replication":"https://pith.science/pith/AHMNZIOYRWRBD7QHYIHYXWY2I5/action/replication_record"}},"created_at":"2026-07-05T11:37:25.243250+00:00","updated_at":"2026-07-05T11:37:25.243250+00:00"}