{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:DKZH7YMURFI4JAIQOSQ2FXKIFO","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":"2f374bcaff79e4d9ec16f616910296bec63b57516dfe473c0ebcc088c760385b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-24T04:07:28Z","title_canon_sha256":"ca084d9e593e3a3ab2881f83995835fd7af5327782a428f9d8cbfc7cf4ecd2c1"},"schema_version":"1.0","source":{"id":"1506.07236","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1506.07236","created_at":"2026-05-18T01:38:51Z"},{"alias_kind":"arxiv_version","alias_value":"1506.07236v2","created_at":"2026-05-18T01:38:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1506.07236","created_at":"2026-05-18T01:38:51Z"},{"alias_kind":"pith_short_12","alias_value":"DKZH7YMURFI4","created_at":"2026-05-18T12:29:17Z"},{"alias_kind":"pith_short_16","alias_value":"DKZH7YMURFI4JAIQ","created_at":"2026-05-18T12:29:17Z"},{"alias_kind":"pith_short_8","alias_value":"DKZH7YMU","created_at":"2026-05-18T12:29:17Z"}],"graph_snapshots":[{"event_id":"sha256:36d64625b5731172969cc095898f0dc2cd117f0424f546ab1e94b07eb8b6cbb5","target":"graph","created_at":"2026-05-18T01:38:51Z","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":"Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial self-position. Recently, RANdom SAmple Consensus (RANSAC), a robust multi-hypothesis estimator, has been successfully applied to offline relocation in static environments. On the other hand, online relocation in dynamic environments is still a difficult problem, for available computation time is always limited, and for measurement include many outliers. To realize real","authors_text":"Eiji Kondo, Kanji Tanaka","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-24T04:07:28Z","title":"Incremental RANSAC for Online Relocation in Large Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1506.07236","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:d5b24b7d35fa801a92cd10c0f3362be0646d6f3bcdcda69c211ffd63d66aacce","target":"record","created_at":"2026-05-18T01:38:51Z","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":"2f374bcaff79e4d9ec16f616910296bec63b57516dfe473c0ebcc088c760385b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-24T04:07:28Z","title_canon_sha256":"ca084d9e593e3a3ab2881f83995835fd7af5327782a428f9d8cbfc7cf4ecd2c1"},"schema_version":"1.0","source":{"id":"1506.07236","kind":"arxiv","version":2}},"canonical_sha256":"1ab27fe1948951c4811074a1a2dd482babbb3c0e5f6ba975ddf009dc6e10c690","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1ab27fe1948951c4811074a1a2dd482babbb3c0e5f6ba975ddf009dc6e10c690","first_computed_at":"2026-05-18T01:38:51.633820Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:38:51.633820Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dlnEXGN+Ut8+MQapNUKU8AKOJXXQTn6Lkpcl29yC8abMzTRe+gtV3OquLAxumiusYAgcGD4+dctTa8SD+TBJCg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:38:51.634370Z","signed_message":"canonical_sha256_bytes"},"source_id":"1506.07236","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d5b24b7d35fa801a92cd10c0f3362be0646d6f3bcdcda69c211ffd63d66aacce","sha256:36d64625b5731172969cc095898f0dc2cd117f0424f546ab1e94b07eb8b6cbb5"],"state_sha256":"30370bc3e2a92f677b63ab4084e7b8137e4f550205b179881d2be5f0c718a8fb"}