{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:C3UA2TY3KUYLCGKTEAH4T6DNK5","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":"4b90ac4d9ec1428207a977254e52bfcddd81924db89a5348b2533f1e12e1e37f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T09:09:21Z","title_canon_sha256":"62d26afc43689d7bb5a4e0870835ca7f22dc7f1b51c85431cb37b504e9a1ec4a"},"schema_version":"1.0","source":{"id":"2409.20111","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.20111","created_at":"2026-07-05T09:13:27Z"},{"alias_kind":"arxiv_version","alias_value":"2409.20111v1","created_at":"2026-07-05T09:13:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.20111","created_at":"2026-07-05T09:13:27Z"},{"alias_kind":"pith_short_12","alias_value":"C3UA2TY3KUYL","created_at":"2026-07-05T09:13:27Z"},{"alias_kind":"pith_short_16","alias_value":"C3UA2TY3KUYLCGKT","created_at":"2026-07-05T09:13:27Z"},{"alias_kind":"pith_short_8","alias_value":"C3UA2TY3","created_at":"2026-07-05T09:13:27Z"}],"graph_snapshots":[{"event_id":"sha256:1cd903aab349d16db5910f904f2696e90a7958835831e91e6b89723605c9354f","target":"graph","created_at":"2026-07-05T09:13:27Z","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/2409.20111/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"3D Gaussian Splatting algorithms excel in novel view rendering applications and have been adapted to extend the capabilities of traditional SLAM systems. However, current Gaussian Splatting SLAM methods, designed mainly for hand-held RGB or RGB-D sensors, struggle with tracking drifts when used with rotating RGB-D camera setups. In this paper, we propose a robust Gaussian Splatting SLAM architecture that utilizes inputs from rotating multiple RGB-D cameras to achieve accurate localization and photorealistic rendering performance. The carefully designed Gaussian Splatting Loop Closure module ef","authors_text":"Chau Yuen, Chengang Yan, Feng Xu, Xin Li, Yanyan Li, Youxu Fang, Zunjie Zhu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T09:09:21Z","title":"Robust Gaussian Splatting SLAM by Leveraging Loop Closure"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.20111","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:bf7b2c70d17bcd57ca5ac2888cc801ef611724c722b939ce9e6778f315ace552","target":"record","created_at":"2026-07-05T09:13:27Z","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":"4b90ac4d9ec1428207a977254e52bfcddd81924db89a5348b2533f1e12e1e37f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T09:09:21Z","title_canon_sha256":"62d26afc43689d7bb5a4e0870835ca7f22dc7f1b51c85431cb37b504e9a1ec4a"},"schema_version":"1.0","source":{"id":"2409.20111","kind":"arxiv","version":1}},"canonical_sha256":"16e80d4f1b5530b11953200fc9f86d575142cf081d1b16b792f2b201094bf667","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"16e80d4f1b5530b11953200fc9f86d575142cf081d1b16b792f2b201094bf667","first_computed_at":"2026-07-05T09:13:27.768235Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:13:27.768235Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"h7TB94pwv+3PyXUPH2q4Hsiol/PmO1iwxwRL96NhTZTLpplzKoBxsSfVKtC/rDgKQ1J3qp6aLb4vSCaj9jmnCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:13:27.768742Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.20111","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bf7b2c70d17bcd57ca5ac2888cc801ef611724c722b939ce9e6778f315ace552","sha256:1cd903aab349d16db5910f904f2696e90a7958835831e91e6b89723605c9354f"],"state_sha256":"605cb6a30468f9dbace3da40a43b2e4a4c9258cc5869bed7bd995644cf38dbec"}