{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:BPT56OLQ46MHJIIJIIUV5NTB75","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":"85fbf734e64f29dd247d3d8edfc428c2f3310ef7ce8a6769d25ca356d7a21657","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-08-06T02:06:23Z","title_canon_sha256":"940d274a7b33dfd202b9a6a844090022f22f0718a02cec343347e461600450ea"},"schema_version":"1.0","source":{"id":"1608.02052","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1608.02052","created_at":"2026-05-18T01:09:41Z"},{"alias_kind":"arxiv_version","alias_value":"1608.02052v1","created_at":"2026-05-18T01:09:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1608.02052","created_at":"2026-05-18T01:09:41Z"},{"alias_kind":"pith_short_12","alias_value":"BPT56OLQ46MH","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"BPT56OLQ46MHJIIJ","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"BPT56OLQ","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:ce673d8cb6e69e0e3f23a130ba709bedb031bb75493141a43fb184a5297eaa4d","target":"graph","created_at":"2026-05-18T01:09:41Z","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":"Loop closure detection, which is the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a visual place recognition (VPR) task. However, even state-of-the-art VPR techniques generate a considerable number of false positives as a result of confusing visual features and perceptual aliasing. In this paper, we propose a robust incremental framework for loop closure detection, termed incremental loop closure verification. Our approach reformulates the problem of loop closure detection as an instance of a multi-model hy","authors_text":"Kanji Tanaka","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-08-06T02:06:23Z","title":"Multi-Model Hypothesize-and-Verify Approach for Incremental Loop Closure Verification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1608.02052","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:a48774b71fedfdec86ec1286e9ae75bb97ce1531b084f630063655ce597a460e","target":"record","created_at":"2026-05-18T01:09:41Z","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":"85fbf734e64f29dd247d3d8edfc428c2f3310ef7ce8a6769d25ca356d7a21657","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2016-08-06T02:06:23Z","title_canon_sha256":"940d274a7b33dfd202b9a6a844090022f22f0718a02cec343347e461600450ea"},"schema_version":"1.0","source":{"id":"1608.02052","kind":"arxiv","version":1}},"canonical_sha256":"0be7df3970e79874a10942295eb661ff712255bf6497a949dc68e0152fff8b4f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0be7df3970e79874a10942295eb661ff712255bf6497a949dc68e0152fff8b4f","first_computed_at":"2026-05-18T01:09:41.064005Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:09:41.064005Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8UjTX6HTMIfz1MhAPdui613fCwc37WEqhxLblQU3f13ylpe13m9O1FchJ5top6JVj/n2ZgWYjdDaBL+u9PaICg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:09:41.064478Z","signed_message":"canonical_sha256_bytes"},"source_id":"1608.02052","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a48774b71fedfdec86ec1286e9ae75bb97ce1531b084f630063655ce597a460e","sha256:ce673d8cb6e69e0e3f23a130ba709bedb031bb75493141a43fb184a5297eaa4d"],"state_sha256":"b21bd9eeb23a8d78dbc18d58d1507ad1a765cab23dd41e1f2997a2f7026c9126"}