{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:CDNI4QAYGBWHWBP63LD3KDFTVX","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":"a394747d8b722eba21da8e33b70dbbdfbe1db6d6e0c7b1dde42117e0b8784165","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T08:59:39Z","title_canon_sha256":"e0753a53df8b904d85315b43e6db200012236dcc24d5a01ea6b6334e9e48831d"},"schema_version":"1.0","source":{"id":"2307.06632","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.06632","created_at":"2026-07-05T06:30:35Z"},{"alias_kind":"arxiv_version","alias_value":"2307.06632v1","created_at":"2026-07-05T06:30:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.06632","created_at":"2026-07-05T06:30:35Z"},{"alias_kind":"pith_short_12","alias_value":"CDNI4QAYGBWH","created_at":"2026-07-05T06:30:35Z"},{"alias_kind":"pith_short_16","alias_value":"CDNI4QAYGBWHWBP6","created_at":"2026-07-05T06:30:35Z"},{"alias_kind":"pith_short_8","alias_value":"CDNI4QAY","created_at":"2026-07-05T06:30:35Z"}],"graph_snapshots":[{"event_id":"sha256:e3b70ce7f6d0ddb1c8bdcabed13850a34f0a3825f1e6a65255b709d925d513f7","target":"graph","created_at":"2026-07-05T06:30:35Z","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/2307.06632/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Most of the existing LiDAR-inertial navigation systems are based on frame-to-map registrations, leading to inconsistency in state estimation. The newest solid-state LiDAR with a non-repetitive scanning pattern makes it possible to achieve a consistent LiDAR-inertial estimator by employing a frame-to-frame data association. In this letter, we propose a robust and consistent frame-to-frame LiDAR-inertial navigation system (FF-LINS) for solid-state LiDARs. With the INS-centric LiDAR frame processing, the keyframe point-cloud map is built using the accumulated point clouds to construct the frame-t","authors_text":"Hailiang Tang, Jingnan Liu, Linfu Wei, Liqiang Wang, Tisheng Zhang, Xiaoji Niu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T08:59:39Z","title":"FF-LINS: A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.06632","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":"sha256:75502e4899a9e25cb77bebe840e4789dab1b47bf05ad4c457cd4075108163960","target":"record","created_at":"2026-07-05T06:30:35Z","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":"a394747d8b722eba21da8e33b70dbbdfbe1db6d6e0c7b1dde42117e0b8784165","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T08:59:39Z","title_canon_sha256":"e0753a53df8b904d85315b43e6db200012236dcc24d5a01ea6b6334e9e48831d"},"schema_version":"1.0","source":{"id":"2307.06632","kind":"arxiv","version":1}},"canonical_sha256":"10da8e4018306c7b05fedac7b50cb3adf2fa088dde90a67c4681ca5493a736cb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"10da8e4018306c7b05fedac7b50cb3adf2fa088dde90a67c4681ca5493a736cb","first_computed_at":"2026-07-05T06:30:35.988127Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:30:35.988127Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wXHTZe1ptCBoaErx0gizjfvQHmJG0qQG5V3HlBDA1ib+r3itkR+QoLJkLpFm7LlEI7XUNNxeRCBdqCLWtZ5bCw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:30:35.988575Z","signed_message":"canonical_sha256_bytes"},"source_id":"2307.06632","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:75502e4899a9e25cb77bebe840e4789dab1b47bf05ad4c457cd4075108163960","sha256:e3b70ce7f6d0ddb1c8bdcabed13850a34f0a3825f1e6a65255b709d925d513f7"],"state_sha256":"4684bea31985512ceee4a25045699317bbb2596b28ce0e2ea071c382c326827d"}