{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:AUG7VAGOE2ZSS2TXZLRME4WG2J","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":"fab9cca220caad0ee1e709a8ffa76beb51f6ddbdb2c7f2c836cefb18a5e352fd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T18:36:07Z","title_canon_sha256":"a7ad6cb8a79e2a750d15362da22347546cceb1ea4115c2239596c5d1188f82dd"},"schema_version":"1.0","source":{"id":"2409.12256","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.12256","created_at":"2026-07-05T11:10:00Z"},{"alias_kind":"arxiv_version","alias_value":"2409.12256v2","created_at":"2026-07-05T11:10:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.12256","created_at":"2026-07-05T11:10:00Z"},{"alias_kind":"pith_short_12","alias_value":"AUG7VAGOE2ZS","created_at":"2026-07-05T11:10:00Z"},{"alias_kind":"pith_short_16","alias_value":"AUG7VAGOE2ZSS2TX","created_at":"2026-07-05T11:10:00Z"},{"alias_kind":"pith_short_8","alias_value":"AUG7VAGO","created_at":"2026-07-05T11:10:00Z"}],"graph_snapshots":[{"event_id":"sha256:a0567d6917fb8194351caa5faf4993c55018a5869fac563d46c2c234edbb5cca","target":"graph","created_at":"2026-07-05T11:10:00Z","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/2409.12256/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A key element of many odometry pipelines using spinning frequency-modulated continuous-wave (FMCW) radar is the extraction of a point-cloud from the raw signal. This extraction greatly impacts the overall performance of point-cloud-based odometry. This paper provides a first-of-its-kind, comprehensive comparison of 13 common radar point-cloud extractors for the task of iterative closest point based odometry in autonomous driving environments. Each extractor's parameters are tuned and tested on two FMCW radar datasets using approximately 176km of data from public roads. We find that the simples","authors_text":"Daniil Lisus, Elliot Preston-Krebs, Timothy D. Barfoot","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T18:36:07Z","title":"The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.12256","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:c6ee82581a9f6491fd21cf0b643a122c4405e9d84232180f17daad4a27235f7e","target":"record","created_at":"2026-07-05T11:10:00Z","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":"fab9cca220caad0ee1e709a8ffa76beb51f6ddbdb2c7f2c836cefb18a5e352fd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T18:36:07Z","title_canon_sha256":"a7ad6cb8a79e2a750d15362da22347546cceb1ea4115c2239596c5d1188f82dd"},"schema_version":"1.0","source":{"id":"2409.12256","kind":"arxiv","version":2}},"canonical_sha256":"050dfa80ce26b3296a77cae2c272c6d266f74fcaf212dacd62db6815ae3856b5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"050dfa80ce26b3296a77cae2c272c6d266f74fcaf212dacd62db6815ae3856b5","first_computed_at":"2026-07-05T11:10:00.825511Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:10:00.825511Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"w69ync1lvsxsX15GBgcjMrBLcS0bwsGWsayJKFfKGcfDY2t7dB67mUnNLOuGIq4AnKJCJYk7YNWBNieNehmSDg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:10:00.826020Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.12256","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c6ee82581a9f6491fd21cf0b643a122c4405e9d84232180f17daad4a27235f7e","sha256:a0567d6917fb8194351caa5faf4993c55018a5869fac563d46c2c234edbb5cca"],"state_sha256":"9ded5d769eb55f0a41b204526ba409173cf95120e4fc464f59dd5a220a3a8c18"}