{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:CDTVKYEZM73JAOS4HJNRY6OGCH","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":"619f2b9c0b0875e324a6c5f6307d8867b59bf38d913de2ab665b3b20d6ec9a42","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-05-02T20:33:11Z","title_canon_sha256":"ffee4f6bd73710258f3f99ead0c14ade4d2ef94e829ccf29a786e52992c3ae5f"},"schema_version":"1.0","source":{"id":"2205.01202","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.01202","created_at":"2026-07-05T04:40:27Z"},{"alias_kind":"arxiv_version","alias_value":"2205.01202v2","created_at":"2026-07-05T04:40:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.01202","created_at":"2026-07-05T04:40:27Z"},{"alias_kind":"pith_short_12","alias_value":"CDTVKYEZM73J","created_at":"2026-07-05T04:40:27Z"},{"alias_kind":"pith_short_16","alias_value":"CDTVKYEZM73JAOS4","created_at":"2026-07-05T04:40:27Z"},{"alias_kind":"pith_short_8","alias_value":"CDTVKYEZ","created_at":"2026-07-05T04:40:27Z"}],"graph_snapshots":[{"event_id":"sha256:dbac117497480a668b45c1faf1e1a624963b5d6dc3fb93692b149c0ce7e0d76c","target":"graph","created_at":"2026-07-05T04:40:27Z","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/2205.01202/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a deterioration in map quality, leading to poor localization, inefficient operations, and lost robots. Volumetric methods, such as truncated signed distance functions (TSDFs), have quickly gained traction due to their real-time production of a dense and detailed map, though map updating in scenes that change over time remains a challenge. We propose a framewor","authors_text":"Angela P. Schoellig, James Servos, Jingxing Qian, Jun Yang, Steven L. Waslander, Veronica Chatrath","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-05-02T20:33:11Z","title":"POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.01202","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:b0bedcb3e22f6ba10e844bbd23f76eff9bc0609a0208b798f25c46ec6859e4a4","target":"record","created_at":"2026-07-05T04:40:27Z","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":"619f2b9c0b0875e324a6c5f6307d8867b59bf38d913de2ab665b3b20d6ec9a42","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-05-02T20:33:11Z","title_canon_sha256":"ffee4f6bd73710258f3f99ead0c14ade4d2ef94e829ccf29a786e52992c3ae5f"},"schema_version":"1.0","source":{"id":"2205.01202","kind":"arxiv","version":2}},"canonical_sha256":"10e755609967f6903a5c3a5b1c79c611e32fe3fd2f6a012ad4683206cfcba937","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"10e755609967f6903a5c3a5b1c79c611e32fe3fd2f6a012ad4683206cfcba937","first_computed_at":"2026-07-05T04:40:27.180157Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:40:27.180157Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SaT5l3eFHKsdUCofEfoaiG76ZVTdGxqVnJ8fMBEM4u5H3+BauNxGWplS/qlgn1rn0I8gqVygcEoLE5zYtjQdCw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:40:27.180655Z","signed_message":"canonical_sha256_bytes"},"source_id":"2205.01202","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b0bedcb3e22f6ba10e844bbd23f76eff9bc0609a0208b798f25c46ec6859e4a4","sha256:dbac117497480a668b45c1faf1e1a624963b5d6dc3fb93692b149c0ce7e0d76c"],"state_sha256":"dea9664d86f7fff6fc3e39705ebfbaf1e7c9f1ee0f23da112d29f2a3f207639f"}