{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:DLN66SSJWI62VTE4VSRZNW2WYP","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":"0f1180f96b4f17d29ead383c2705bfe6130fdab89a4728dbbe45a73e782506d0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-19T11:16:54Z","title_canon_sha256":"89659625234c43e3ddb0d24679f26fa3a17abfa8b7fd8c823ae01d476a47cdd6"},"schema_version":"1.0","source":{"id":"2108.08621","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.08621","created_at":"2026-07-05T04:17:15Z"},{"alias_kind":"arxiv_version","alias_value":"2108.08621v1","created_at":"2026-07-05T04:17:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.08621","created_at":"2026-07-05T04:17:15Z"},{"alias_kind":"pith_short_12","alias_value":"DLN66SSJWI62","created_at":"2026-07-05T04:17:15Z"},{"alias_kind":"pith_short_16","alias_value":"DLN66SSJWI62VTE4","created_at":"2026-07-05T04:17:15Z"},{"alias_kind":"pith_short_8","alias_value":"DLN66SSJ","created_at":"2026-07-05T04:17:15Z"}],"graph_snapshots":[{"event_id":"sha256:3a6948e0e6ce085ebe0e0ff556e01e2201035a80cc20253cfc4d657dc4e75d8d","target":"graph","created_at":"2026-07-05T04:17:15Z","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/2108.08621/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reliable and accurate localization is crucial for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, lamps, etc., are ideal landmarks for localization in urban environments due to their local distinctiveness and long-term stability. In this paper, we present a novel, accurate, and fast pole extraction approach that runs online and has little computational demands such that this information can be used for a localization system. Our method performs all computations directly on range images generated from 3D LiDAR scans, which avoids processing 3D point cloud explicitly ","authors_text":"Cyrill Stachniss, Hao Dong, Xieyuanli Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-19T11:16:54Z","title":"Online Range Image-based Pole Extractor for Long-term LiDAR Localization in Urban Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.08621","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":"sha256:7a5949c4a7f53e6744a4dec1b8f048ccf1022ad012a8f109a3a716218f30ea46","target":"record","created_at":"2026-07-05T04:17:15Z","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":"0f1180f96b4f17d29ead383c2705bfe6130fdab89a4728dbbe45a73e782506d0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-19T11:16:54Z","title_canon_sha256":"89659625234c43e3ddb0d24679f26fa3a17abfa8b7fd8c823ae01d476a47cdd6"},"schema_version":"1.0","source":{"id":"2108.08621","kind":"arxiv","version":1}},"canonical_sha256":"1adbef4a49b23daacc9caca396db56c3c013a26434fed28536ba3814d0944ea7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1adbef4a49b23daacc9caca396db56c3c013a26434fed28536ba3814d0944ea7","first_computed_at":"2026-07-05T04:17:15.701010Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:17:15.701010Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"t895081Vjuzi0YGCxsQRqvo9QaEYnq4HkMh/oZ4ExFzZUrukJaBWFJCHCYZI0/ESDgQnycObNPWDPNzannE+BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:17:15.701483Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.08621","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7a5949c4a7f53e6744a4dec1b8f048ccf1022ad012a8f109a3a716218f30ea46","sha256:3a6948e0e6ce085ebe0e0ff556e01e2201035a80cc20253cfc4d657dc4e75d8d"],"state_sha256":"1fafbe7c268dcc03dd5c78b9df0adbcd0b5de54722c69217e787944bbbd14eb5"}