{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:BCFU52N3LQB2C32YMPTWG2P7ES","short_pith_number":"pith:BCFU52N3","canonical_record":{"source":{"id":"1809.07494","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-20T06:52:16Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"2cb91bbdf0515cd2f3325807f462d4ecccf7c0898877b9ff88a203285e35f665","abstract_canon_sha256":"9a3bed5ae0c70f815452ae3f28412ec7aaaeee6db54b738a5ac98ccf5c239089"},"schema_version":"1.0"},"canonical_sha256":"088b4ee9bb5c03a16f5863e76369ff248fbfcc2f59dc74a368820151eda83ef4","source":{"kind":"arxiv","id":"1809.07494","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.07494","created_at":"2026-05-18T00:05:16Z"},{"alias_kind":"arxiv_version","alias_value":"1809.07494v1","created_at":"2026-05-18T00:05:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.07494","created_at":"2026-05-18T00:05:16Z"},{"alias_kind":"pith_short_12","alias_value":"BCFU52N3LQB2","created_at":"2026-05-18T12:32:13Z"},{"alias_kind":"pith_short_16","alias_value":"BCFU52N3LQB2C32Y","created_at":"2026-05-18T12:32:13Z"},{"alias_kind":"pith_short_8","alias_value":"BCFU52N3","created_at":"2026-05-18T12:32:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:BCFU52N3LQB2C32YMPTWG2P7ES","target":"record","payload":{"canonical_record":{"source":{"id":"1809.07494","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-20T06:52:16Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"2cb91bbdf0515cd2f3325807f462d4ecccf7c0898877b9ff88a203285e35f665","abstract_canon_sha256":"9a3bed5ae0c70f815452ae3f28412ec7aaaeee6db54b738a5ac98ccf5c239089"},"schema_version":"1.0"},"canonical_sha256":"088b4ee9bb5c03a16f5863e76369ff248fbfcc2f59dc74a368820151eda83ef4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:16.104347Z","signature_b64":"+FVuMyhZnb++J40hr/A5+8GGDcudnFXTsLXNtbgML4M3xc5kDpxpPBYVfmvIW+0qo8dMv3P8MGzZyliHzZKnDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"088b4ee9bb5c03a16f5863e76369ff248fbfcc2f59dc74a368820151eda83ef4","last_reissued_at":"2026-05-18T00:05:16.103632Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:16.103632Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.07494","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":"2026-05-18T00:05:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"a2rJ5B4grnhPJUAuzTzmk4q5qu5YMYuEwlURtxx9v7UVYjceatrELTlrAE6Xoa1W7CwSl774n2vK2XBQgQY7CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T05:20:20.403449Z"},"content_sha256":"942ca6d87fa1854b75f4281d8006e8655ad43eae60d36a621513c17583985e67","schema_version":"1.0","event_id":"sha256:942ca6d87fa1854b75f4281d8006e8655ad43eae60d36a621513c17583985e67"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:BCFU52N3LQB2C32YMPTWG2P7ES","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning a Local Feature Descriptor for 3D LiDAR Scans","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Ayush Dewan, Tim Caselitz, Wolfram Burgard","submitted_at":"2018-09-20T06:52:16Z","abstract_excerpt":"Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these problems but recently learned descriptors have been shown to perform more robustly. In this work, we propose a local feature descriptor for 3D LiDAR scans. The descriptor is learned using a Convolutional Neural Network (CNN). Our proposed architecture consists of a Siamese network for learning a feature descriptor and a metric learning network for matching the des"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.07494","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":""},"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":"2026-05-18T00:05:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cB/+ydB/nfEkdMZrrEEt7SzVz9BYt89JKGD58Hhcx8v+c8fWZBCcPd2gh4GAateyC6B7w09MNOhhygVpWfCGDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T05:20:20.403825Z"},"content_sha256":"779eeaf6d48cb76f3020d96c1adc2c5f532ec5f5a89463d26c0a9302e0c59669","schema_version":"1.0","event_id":"sha256:779eeaf6d48cb76f3020d96c1adc2c5f532ec5f5a89463d26c0a9302e0c59669"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BCFU52N3LQB2C32YMPTWG2P7ES/bundle.json","state_url":"https://pith.science/pith/BCFU52N3LQB2C32YMPTWG2P7ES/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BCFU52N3LQB2C32YMPTWG2P7ES/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":"2026-05-30T05:20:20Z","links":{"resolver":"https://pith.science/pith/BCFU52N3LQB2C32YMPTWG2P7ES","bundle":"https://pith.science/pith/BCFU52N3LQB2C32YMPTWG2P7ES/bundle.json","state":"https://pith.science/pith/BCFU52N3LQB2C32YMPTWG2P7ES/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BCFU52N3LQB2C32YMPTWG2P7ES/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:BCFU52N3LQB2C32YMPTWG2P7ES","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":"9a3bed5ae0c70f815452ae3f28412ec7aaaeee6db54b738a5ac98ccf5c239089","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-20T06:52:16Z","title_canon_sha256":"2cb91bbdf0515cd2f3325807f462d4ecccf7c0898877b9ff88a203285e35f665"},"schema_version":"1.0","source":{"id":"1809.07494","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.07494","created_at":"2026-05-18T00:05:16Z"},{"alias_kind":"arxiv_version","alias_value":"1809.07494v1","created_at":"2026-05-18T00:05:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.07494","created_at":"2026-05-18T00:05:16Z"},{"alias_kind":"pith_short_12","alias_value":"BCFU52N3LQB2","created_at":"2026-05-18T12:32:13Z"},{"alias_kind":"pith_short_16","alias_value":"BCFU52N3LQB2C32Y","created_at":"2026-05-18T12:32:13Z"},{"alias_kind":"pith_short_8","alias_value":"BCFU52N3","created_at":"2026-05-18T12:32:13Z"}],"graph_snapshots":[{"event_id":"sha256:779eeaf6d48cb76f3020d96c1adc2c5f532ec5f5a89463d26c0a9302e0c59669","target":"graph","created_at":"2026-05-18T00:05:16Z","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"},"paper":{"abstract_excerpt":"Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these problems but recently learned descriptors have been shown to perform more robustly. In this work, we propose a local feature descriptor for 3D LiDAR scans. The descriptor is learned using a Convolutional Neural Network (CNN). Our proposed architecture consists of a Siamese network for learning a feature descriptor and a metric learning network for matching the des","authors_text":"Ayush Dewan, Tim Caselitz, Wolfram Burgard","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-20T06:52:16Z","title":"Learning a Local Feature Descriptor for 3D LiDAR Scans"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.07494","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":"sha256:942ca6d87fa1854b75f4281d8006e8655ad43eae60d36a621513c17583985e67","target":"record","created_at":"2026-05-18T00:05:16Z","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":"9a3bed5ae0c70f815452ae3f28412ec7aaaeee6db54b738a5ac98ccf5c239089","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-09-20T06:52:16Z","title_canon_sha256":"2cb91bbdf0515cd2f3325807f462d4ecccf7c0898877b9ff88a203285e35f665"},"schema_version":"1.0","source":{"id":"1809.07494","kind":"arxiv","version":1}},"canonical_sha256":"088b4ee9bb5c03a16f5863e76369ff248fbfcc2f59dc74a368820151eda83ef4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"088b4ee9bb5c03a16f5863e76369ff248fbfcc2f59dc74a368820151eda83ef4","first_computed_at":"2026-05-18T00:05:16.103632Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:16.103632Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+FVuMyhZnb++J40hr/A5+8GGDcudnFXTsLXNtbgML4M3xc5kDpxpPBYVfmvIW+0qo8dMv3P8MGzZyliHzZKnDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:16.104347Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.07494","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:942ca6d87fa1854b75f4281d8006e8655ad43eae60d36a621513c17583985e67","sha256:779eeaf6d48cb76f3020d96c1adc2c5f532ec5f5a89463d26c0a9302e0c59669"],"state_sha256":"dabb718e12db2eab3e1098794a3d1714a1671d116cba5c09f0245386b8644f5e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ONsH5yGl8bkrBnqyEJj1ksYJtMJKMggrAcK4xhlE+YAh5jVfqANB+v/nd/cVlVmv6SYKgSbWwud5v+NQHe8FBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T05:20:20.408596Z","bundle_sha256":"3f759c2ca1d60af6ab0356b53172e2ea2b9fd0a1f78e34d6cda3c74958628c3d"}}