{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:ES2C3QKRINA4BMQOYSYOXLX3RM","short_pith_number":"pith:ES2C3QKR","canonical_record":{"source":{"id":"2209.07626","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T21:55:48Z","cross_cats_sorted":[],"title_canon_sha256":"d852d07489742e84c5e045ac1e258f19f4f84fe0589e2741f82f882ac41ff5bd","abstract_canon_sha256":"a74ef3e4452c8cbc697c099a5834b98f19b9c30d1b8810d48f8429b04d4f8f18"},"schema_version":"1.0"},"canonical_sha256":"24b42dc1514341c0b20ec4b0ebaefb8b1fc07d0bd8d6318bced698126edd5b66","source":{"kind":"arxiv","id":"2209.07626","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07626","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07626v2","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07626","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"pith_short_12","alias_value":"ES2C3QKRINA4","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"pith_short_16","alias_value":"ES2C3QKRINA4BMQO","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"pith_short_8","alias_value":"ES2C3QKR","created_at":"2026-07-05T05:23:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:ES2C3QKRINA4BMQOYSYOXLX3RM","target":"record","payload":{"canonical_record":{"source":{"id":"2209.07626","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T21:55:48Z","cross_cats_sorted":[],"title_canon_sha256":"d852d07489742e84c5e045ac1e258f19f4f84fe0589e2741f82f882ac41ff5bd","abstract_canon_sha256":"a74ef3e4452c8cbc697c099a5834b98f19b9c30d1b8810d48f8429b04d4f8f18"},"schema_version":"1.0"},"canonical_sha256":"24b42dc1514341c0b20ec4b0ebaefb8b1fc07d0bd8d6318bced698126edd5b66","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:23:33.473483Z","signature_b64":"DPXudHzBQLtF4Q3KNw8ar/fJAlEWS0mHie2u5ckD1AxI6J7AIL2GbKnvO13pYcXTDMtB7BoxzYnqYHYra0h5Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"24b42dc1514341c0b20ec4b0ebaefb8b1fc07d0bd8d6318bced698126edd5b66","last_reissued_at":"2026-07-05T05:23:33.473068Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:23:33.473068Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.07626","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:23:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ig+20MA1iUEcvsj86DhCWYYlv5RQxAf6uUbXvJ4lANhr3gkLUjDzG+LpllRl6iz1xyYZjsZ7q7jyRwDrN745AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T05:35:07.644012Z"},"content_sha256":"c1d8c43f0c09735edcbeee824eaa0bb3756def4753219cc82d10ea9351d18465","schema_version":"1.0","event_id":"sha256:c1d8c43f0c09735edcbeee824eaa0bb3756def4753219cc82d10ea9351d18465"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:ES2C3QKRINA4BMQOYSYOXLX3RM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Incremental cycle bases for cycle-based pose graph optimization","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brendon Forsgren, Kevin Brink, Prashant Ganesh, Timothy McLain","submitted_at":"2022-09-15T21:55:48Z","abstract_excerpt":"Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements are inter-pose constraints. The vast majority of pose graph optimization techniques are vertex based (variables are robot poses), but recent work has parameterized the pose graph optimization problem in a relative fashion (variables are the transformations between poses) that utilizes a minimum cycle basis to maximize the sparsity of the problem. We explore the construction of a cycle basis in an incremental manner "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07626","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/2209.07626/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:23:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tQX1Y1IdKqWiDCg/T1Z3kJubGt7n3AX8mD3ZRb5yKL5a+M32Vscs+RBSxMM//rfzzX9SV9FeaZTyBUUSr58TAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T05:35:07.645347Z"},"content_sha256":"34d5ef72c6d24815536cbc58d55576aa739364e3a061d2986bc5765f177d889f","schema_version":"1.0","event_id":"sha256:34d5ef72c6d24815536cbc58d55576aa739364e3a061d2986bc5765f177d889f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ES2C3QKRINA4BMQOYSYOXLX3RM/bundle.json","state_url":"https://pith.science/pith/ES2C3QKRINA4BMQOYSYOXLX3RM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ES2C3QKRINA4BMQOYSYOXLX3RM/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-11T05:35:07Z","links":{"resolver":"https://pith.science/pith/ES2C3QKRINA4BMQOYSYOXLX3RM","bundle":"https://pith.science/pith/ES2C3QKRINA4BMQOYSYOXLX3RM/bundle.json","state":"https://pith.science/pith/ES2C3QKRINA4BMQOYSYOXLX3RM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ES2C3QKRINA4BMQOYSYOXLX3RM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:ES2C3QKRINA4BMQOYSYOXLX3RM","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":"a74ef3e4452c8cbc697c099a5834b98f19b9c30d1b8810d48f8429b04d4f8f18","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T21:55:48Z","title_canon_sha256":"d852d07489742e84c5e045ac1e258f19f4f84fe0589e2741f82f882ac41ff5bd"},"schema_version":"1.0","source":{"id":"2209.07626","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07626","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07626v2","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07626","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"pith_short_12","alias_value":"ES2C3QKRINA4","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"pith_short_16","alias_value":"ES2C3QKRINA4BMQO","created_at":"2026-07-05T05:23:33Z"},{"alias_kind":"pith_short_8","alias_value":"ES2C3QKR","created_at":"2026-07-05T05:23:33Z"}],"graph_snapshots":[{"event_id":"sha256:34d5ef72c6d24815536cbc58d55576aa739364e3a061d2986bc5765f177d889f","target":"graph","created_at":"2026-07-05T05:23:33Z","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/2209.07626/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements are inter-pose constraints. The vast majority of pose graph optimization techniques are vertex based (variables are robot poses), but recent work has parameterized the pose graph optimization problem in a relative fashion (variables are the transformations between poses) that utilizes a minimum cycle basis to maximize the sparsity of the problem. We explore the construction of a cycle basis in an incremental manner ","authors_text":"Brendon Forsgren, Kevin Brink, Prashant Ganesh, Timothy McLain","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T21:55:48Z","title":"Incremental cycle bases for cycle-based pose graph optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07626","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:c1d8c43f0c09735edcbeee824eaa0bb3756def4753219cc82d10ea9351d18465","target":"record","created_at":"2026-07-05T05:23:33Z","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":"a74ef3e4452c8cbc697c099a5834b98f19b9c30d1b8810d48f8429b04d4f8f18","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T21:55:48Z","title_canon_sha256":"d852d07489742e84c5e045ac1e258f19f4f84fe0589e2741f82f882ac41ff5bd"},"schema_version":"1.0","source":{"id":"2209.07626","kind":"arxiv","version":2}},"canonical_sha256":"24b42dc1514341c0b20ec4b0ebaefb8b1fc07d0bd8d6318bced698126edd5b66","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"24b42dc1514341c0b20ec4b0ebaefb8b1fc07d0bd8d6318bced698126edd5b66","first_computed_at":"2026-07-05T05:23:33.473068Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:23:33.473068Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DPXudHzBQLtF4Q3KNw8ar/fJAlEWS0mHie2u5ckD1AxI6J7AIL2GbKnvO13pYcXTDMtB7BoxzYnqYHYra0h5Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:23:33.473483Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.07626","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c1d8c43f0c09735edcbeee824eaa0bb3756def4753219cc82d10ea9351d18465","sha256:34d5ef72c6d24815536cbc58d55576aa739364e3a061d2986bc5765f177d889f"],"state_sha256":"cadb8d4a93994515bd5a3c64ded3a643afdb7d0a720c8f48efc7384e51d316c8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jr0FQz0AwIziMrt4OWkti9eCrwStiMYr6AtrseOJvldpNuOpe2Z+VVUDR3KarFyajuoEiTAB5NkZMX5k8dvUBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T05:35:07.651358Z","bundle_sha256":"c22375ad85919a6bf6c05fdc8a4d27a977656f58a26b01c32f820f6c513148b8"}}