{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:DQH3OISDMQ26FUIZYH7W7VQWD5","short_pith_number":"pith:DQH3OISD","schema_version":"1.0","canonical_sha256":"1c0fb722436435e2d119c1ff6fd6161f732e4af50b4bc22dbdcb8fbb32742a3f","source":{"kind":"arxiv","id":"2402.19044","version":2},"attestation_state":"computed","paper":{"title":"DMSA -- Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Skuddis, Norbert Haala","submitted_at":"2024-02-29T11:18:28Z","abstract_excerpt":"We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust against small overlaps and dynamic objects, since no direct correspondences are assumed between point clouds. Instead, all points are merged into a global point cloud, whose scattering is then iteratively reduced. This is achieved by dividing the global point cloud into uniform grid cells whose contents are subsequently modeled by normal distributions. We s"},"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":"2402.19044","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-29T11:18:28Z","cross_cats_sorted":[],"title_canon_sha256":"eeae3415bf91dcf4dd92d22b96f061327823c1647d6c7ef20a8c8a51c2305825","abstract_canon_sha256":"932e4d4b2c2a234c163421cf64847e3bcd3ca5c5f969c61db72b36858afe623f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:32:37.852555Z","signature_b64":"hs6G7Eh/FqfM+MgUHHG4Sl8H2nmo43lnNbB8tCvbn68j4sPblm8+b4obHMriL1dZJnHEnvE6MCfSmvhjKNoSDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1c0fb722436435e2d119c1ff6fd6161f732e4af50b4bc22dbdcb8fbb32742a3f","last_reissued_at":"2026-07-05T08:32:37.852069Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:32:37.852069Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"DMSA -- Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Skuddis, Norbert Haala","submitted_at":"2024-02-29T11:18:28Z","abstract_excerpt":"We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust against small overlaps and dynamic objects, since no direct correspondences are assumed between point clouds. Instead, all points are merged into a global point cloud, whose scattering is then iteratively reduced. This is achieved by dividing the global point cloud into uniform grid cells whose contents are subsequently modeled by normal distributions. We s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.19044","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2402.19044/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2402.19044","created_at":"2026-07-05T08:32:37.852127+00:00"},{"alias_kind":"arxiv_version","alias_value":"2402.19044v2","created_at":"2026-07-05T08:32:37.852127+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.19044","created_at":"2026-07-05T08:32:37.852127+00:00"},{"alias_kind":"pith_short_12","alias_value":"DQH3OISDMQ26","created_at":"2026-07-05T08:32:37.852127+00:00"},{"alias_kind":"pith_short_16","alias_value":"DQH3OISDMQ26FUIZ","created_at":"2026-07-05T08:32:37.852127+00:00"},{"alias_kind":"pith_short_8","alias_value":"DQH3OISD","created_at":"2026-07-05T08:32:37.852127+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2412.11760","citing_title":"Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continuous-Time Trajectories","ref_index":38,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5","json":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5.json","graph_json":"https://pith.science/api/pith-number/DQH3OISDMQ26FUIZYH7W7VQWD5/graph.json","events_json":"https://pith.science/api/pith-number/DQH3OISDMQ26FUIZYH7W7VQWD5/events.json","paper":"https://pith.science/paper/DQH3OISD"},"agent_actions":{"view_html":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5","download_json":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5.json","view_paper":"https://pith.science/paper/DQH3OISD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2402.19044&json=true","fetch_graph":"https://pith.science/api/pith-number/DQH3OISDMQ26FUIZYH7W7VQWD5/graph.json","fetch_events":"https://pith.science/api/pith-number/DQH3OISDMQ26FUIZYH7W7VQWD5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5/action/storage_attestation","attest_author":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5/action/author_attestation","sign_citation":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5/action/citation_signature","submit_replication":"https://pith.science/pith/DQH3OISDMQ26FUIZYH7W7VQWD5/action/replication_record"}},"created_at":"2026-07-05T08:32:37.852127+00:00","updated_at":"2026-07-05T08:32:37.852127+00:00"}