{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:EJXUOEZ26J5SZDLVV76WFHT4PU","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":"61c5a7462545401473f309cf1ce9bc197f99b6e57d06f96b63f767f603743f61","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-06T17:15:39Z","title_canon_sha256":"758a4cf20cfcd96c6c408d360a1ccba2b178a6bc6eeb6aca97bef75143ff0b4e"},"schema_version":"1.0","source":{"id":"2209.02658","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.02658","created_at":"2026-07-05T04:55:13Z"},{"alias_kind":"arxiv_version","alias_value":"2209.02658v1","created_at":"2026-07-05T04:55:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.02658","created_at":"2026-07-05T04:55:13Z"},{"alias_kind":"pith_short_12","alias_value":"EJXUOEZ26J5S","created_at":"2026-07-05T04:55:13Z"},{"alias_kind":"pith_short_16","alias_value":"EJXUOEZ26J5SZDLV","created_at":"2026-07-05T04:55:13Z"},{"alias_kind":"pith_short_8","alias_value":"EJXUOEZ2","created_at":"2026-07-05T04:55:13Z"}],"graph_snapshots":[{"event_id":"sha256:76078e3e85b241def55636b5c569904cb7d5b20c1a0c660011c87e6826d7d3ae","target":"graph","created_at":"2026-07-05T04:55:13Z","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/2209.02658/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a method for the robust selection of measurements in a simultaneous localization and mapping (SLAM) framework. Existing methods check consistency or compatibility on a pairwise basis, however many measurement types are not sufficiently constrained in a pairwise scenario to determine if either measurement is inconsistent with the other. This paper presents group-$k$ consistency maximization (G$k$CM) that estimates the largest set of measurements that is internally group-$k$ consistent. Solving for the largest set of group-$k$ consistent measurements can be formulated as an i","authors_text":"Brendon Forsgren, Joshua G. Mangelson, Michael Kaess, Ram Vasudevan, Timothy W. McLain","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-06T17:15:39Z","title":"Group-$k$ Consistent Measurement Set Maximization for Robust Outlier Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.02658","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":"sha256:1d04f380f527f663a2dd5499ad56fd66092a4a677737807a041a459235b71596","target":"record","created_at":"2026-07-05T04:55:13Z","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":"61c5a7462545401473f309cf1ce9bc197f99b6e57d06f96b63f767f603743f61","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-06T17:15:39Z","title_canon_sha256":"758a4cf20cfcd96c6c408d360a1ccba2b178a6bc6eeb6aca97bef75143ff0b4e"},"schema_version":"1.0","source":{"id":"2209.02658","kind":"arxiv","version":1}},"canonical_sha256":"226f47133af27b2c8d75affd629e7c7d269523a918a8feeef8c3688e7c557c7e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"226f47133af27b2c8d75affd629e7c7d269523a918a8feeef8c3688e7c557c7e","first_computed_at":"2026-07-05T04:55:13.761825Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:55:13.761825Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/sYoIQeY8a1XDN5OjKRl1Uflaors8am6lKLvqG11nmdxsbmcyZjWOL2g6wSKbwzav5hspMYxhrSYCC4SRVKsAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:55:13.762250Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.02658","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1d04f380f527f663a2dd5499ad56fd66092a4a677737807a041a459235b71596","sha256:76078e3e85b241def55636b5c569904cb7d5b20c1a0c660011c87e6826d7d3ae"],"state_sha256":"4a0c1fd779cc70cd1877baed4a1416f7960b730de5aeb0892cda0bc0ad8ed882"}