{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2016:CPQJYUN62KH3RGWBULAYI5R4RZ","short_pith_number":"pith:CPQJYUN6","schema_version":"1.0","canonical_sha256":"13e09c51bed28fb89ac1a2c184763c8e65f7d0b6a1baff218c0fe380f2be41ee","source":{"kind":"arxiv","id":"1604.08087","version":1},"attestation_state":"computed","paper":{"title":"Consistent Map-based 3D Localization on Mobile Devices","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Esha D. Nerurkar, Joel A. Hesch, Ryan C. DuToit, Stergios I. Roumeliotis","submitted_at":"2016-04-27T14:28:47Z","abstract_excerpt":"The objective of this paper is to provide consistent, real-time 3D localization capabilities to mobile devices navigating within previously mapped areas. To this end, we introduce the Cholesky-Schmidt-Kalman filter (C-SKF), which explicitly considers the uncertainty of the prior map, by employing the sparse Cholesky factor of the map's Hessian, instead of its dense covariance--as is the case for the Schmidt-Kalman filter (SKF). By doing so, the C-SKF has memory requirements typically linear in the size of the map, as opposed to quadratic for storing the map's covariance. Moreover, and in order"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1604.08087","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-27T14:28:47Z","cross_cats_sorted":[],"title_canon_sha256":"be684e571e294e2ddc2a0a5991484b5d35620e24927061428dacf8738183a3ce","abstract_canon_sha256":"260841df976b0927f08333241dcd1660eb88d8cf5b183facc482417feec51cba"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:16:08.186466Z","signature_b64":"f+ggd9pO4x6ZdOM9vj6vMAvbIAl9gahk9rZtgZlsxgsUZ8QFCkUnfe90/NeQisnH8SjII0DZUrTdDWOvBsCoCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"13e09c51bed28fb89ac1a2c184763c8e65f7d0b6a1baff218c0fe380f2be41ee","last_reissued_at":"2026-05-18T01:16:08.185719Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:16:08.185719Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Consistent Map-based 3D Localization on Mobile Devices","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Esha D. Nerurkar, Joel A. Hesch, Ryan C. DuToit, Stergios I. Roumeliotis","submitted_at":"2016-04-27T14:28:47Z","abstract_excerpt":"The objective of this paper is to provide consistent, real-time 3D localization capabilities to mobile devices navigating within previously mapped areas. To this end, we introduce the Cholesky-Schmidt-Kalman filter (C-SKF), which explicitly considers the uncertainty of the prior map, by employing the sparse Cholesky factor of the map's Hessian, instead of its dense covariance--as is the case for the Schmidt-Kalman filter (SKF). By doing so, the C-SKF has memory requirements typically linear in the size of the map, as opposed to quadratic for storing the map's covariance. Moreover, and in order"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.08087","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1604.08087","created_at":"2026-05-18T01:16:08.185832+00:00"},{"alias_kind":"arxiv_version","alias_value":"1604.08087v1","created_at":"2026-05-18T01:16:08.185832+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.08087","created_at":"2026-05-18T01:16:08.185832+00:00"},{"alias_kind":"pith_short_12","alias_value":"CPQJYUN62KH3","created_at":"2026-05-18T12:30:09.641336+00:00"},{"alias_kind":"pith_short_16","alias_value":"CPQJYUN62KH3RGWB","created_at":"2026-05-18T12:30:09.641336+00:00"},{"alias_kind":"pith_short_8","alias_value":"CPQJYUN6","created_at":"2026-05-18T12:30:09.641336+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ","json":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ.json","graph_json":"https://pith.science/api/pith-number/CPQJYUN62KH3RGWBULAYI5R4RZ/graph.json","events_json":"https://pith.science/api/pith-number/CPQJYUN62KH3RGWBULAYI5R4RZ/events.json","paper":"https://pith.science/paper/CPQJYUN6"},"agent_actions":{"view_html":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ","download_json":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ.json","view_paper":"https://pith.science/paper/CPQJYUN6","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1604.08087&json=true","fetch_graph":"https://pith.science/api/pith-number/CPQJYUN62KH3RGWBULAYI5R4RZ/graph.json","fetch_events":"https://pith.science/api/pith-number/CPQJYUN62KH3RGWBULAYI5R4RZ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ/action/storage_attestation","attest_author":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ/action/author_attestation","sign_citation":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ/action/citation_signature","submit_replication":"https://pith.science/pith/CPQJYUN62KH3RGWBULAYI5R4RZ/action/replication_record"}},"created_at":"2026-05-18T01:16:08.185832+00:00","updated_at":"2026-05-18T01:16:08.185832+00:00"}