{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:FFJN5N2QP6C2JJFT2WUI6JBVV2","short_pith_number":"pith:FFJN5N2Q","canonical_record":{"source":{"id":"1506.00746","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-02T04:37:37Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"0af7cfef92e049cb3b949dbd1b7956d7add7a9d0c11ad67551215774d8599663","abstract_canon_sha256":"b33757dc3b03a44e3bd98c4e7126230a812537a7f30e1e94d21c066572e97288"},"schema_version":"1.0"},"canonical_sha256":"2952deb7507f85a4a4b3d5a88f2435aebe323b81ca1b47f0a6ddb86ce26829c4","source":{"kind":"arxiv","id":"1506.00746","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1506.00746","created_at":"2026-05-18T01:36:37Z"},{"alias_kind":"arxiv_version","alias_value":"1506.00746v2","created_at":"2026-05-18T01:36:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1506.00746","created_at":"2026-05-18T01:36:37Z"},{"alias_kind":"pith_short_12","alias_value":"FFJN5N2QP6C2","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_16","alias_value":"FFJN5N2QP6C2JJFT","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_8","alias_value":"FFJN5N2Q","created_at":"2026-05-18T12:29:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:FFJN5N2QP6C2JJFT2WUI6JBVV2","target":"record","payload":{"canonical_record":{"source":{"id":"1506.00746","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-02T04:37:37Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"0af7cfef92e049cb3b949dbd1b7956d7add7a9d0c11ad67551215774d8599663","abstract_canon_sha256":"b33757dc3b03a44e3bd98c4e7126230a812537a7f30e1e94d21c066572e97288"},"schema_version":"1.0"},"canonical_sha256":"2952deb7507f85a4a4b3d5a88f2435aebe323b81ca1b47f0a6ddb86ce26829c4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:36:37.952933Z","signature_b64":"MFTBUSWW0agtamb65oGPgvKFbiZSA5dq77UlBYZrss9upPioWlwMHgbnH4z6eyj2wAyHZH6+Yh6aQl/PsuvoCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2952deb7507f85a4a4b3d5a88f2435aebe323b81ca1b47f0a6ddb86ce26829c4","last_reissued_at":"2026-05-18T01:36:37.952234Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:36:37.952234Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1506.00746","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":"2026-05-18T01:36:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q1KAxCwYhjmHIA5aL5lc6nOYCwg5TJT8/cl01yU4UjcaP2ocBixfhGhsbC+bCRiDxNghJlxuGO1T2vMgeWFMCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T18:53:12.212871Z"},"content_sha256":"2c470e4b4471acdca558b25de1051a4b41e69f192e2ae53b9f16f19e5dcf2acd","schema_version":"1.0","event_id":"sha256:2c470e4b4471acdca558b25de1051a4b41e69f192e2ae53b9f16f19e5dcf2acd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:FFJN5N2QP6C2JJFT2WUI6JBVV2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.RO","authors_text":"David Rosen, Frank Dellaert, Giuseppe Calafiore, John Leonard, Luca Carlone","submitted_at":"2015-06-02T04:37:37Z","abstract_excerpt":"State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide guarantees on the quality of the estimate. This paper shows that Lagrangian duality is a powerful tool to assess the quality of a given candidate solution. Our contribution is threefold. First, we discuss a revised formulation of the SLAM inference problem. We show that this formulation is probabilistically grounded and has the advantage of leading to an optimi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1506.00746","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":""},"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":"2026-05-18T01:36:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5YP27grSZU9OIaQcpyQXysmxJaNRjsZb3ba/b3JzPIbLyxOlgdwmvjJe/rckn01Gw0zKN/TG0BqIoB9s+jxrBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T18:53:12.213529Z"},"content_sha256":"4ccded27bec9edae93813e96efc94eaaba7936e03182414e800645064aaf5c25","schema_version":"1.0","event_id":"sha256:4ccded27bec9edae93813e96efc94eaaba7936e03182414e800645064aaf5c25"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FFJN5N2QP6C2JJFT2WUI6JBVV2/bundle.json","state_url":"https://pith.science/pith/FFJN5N2QP6C2JJFT2WUI6JBVV2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FFJN5N2QP6C2JJFT2WUI6JBVV2/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":"2026-05-26T18:53:12Z","links":{"resolver":"https://pith.science/pith/FFJN5N2QP6C2JJFT2WUI6JBVV2","bundle":"https://pith.science/pith/FFJN5N2QP6C2JJFT2WUI6JBVV2/bundle.json","state":"https://pith.science/pith/FFJN5N2QP6C2JJFT2WUI6JBVV2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FFJN5N2QP6C2JJFT2WUI6JBVV2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:FFJN5N2QP6C2JJFT2WUI6JBVV2","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":"b33757dc3b03a44e3bd98c4e7126230a812537a7f30e1e94d21c066572e97288","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-02T04:37:37Z","title_canon_sha256":"0af7cfef92e049cb3b949dbd1b7956d7add7a9d0c11ad67551215774d8599663"},"schema_version":"1.0","source":{"id":"1506.00746","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1506.00746","created_at":"2026-05-18T01:36:37Z"},{"alias_kind":"arxiv_version","alias_value":"1506.00746v2","created_at":"2026-05-18T01:36:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1506.00746","created_at":"2026-05-18T01:36:37Z"},{"alias_kind":"pith_short_12","alias_value":"FFJN5N2QP6C2","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_16","alias_value":"FFJN5N2QP6C2JJFT","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_8","alias_value":"FFJN5N2Q","created_at":"2026-05-18T12:29:19Z"}],"graph_snapshots":[{"event_id":"sha256:4ccded27bec9edae93813e96efc94eaaba7936e03182414e800645064aaf5c25","target":"graph","created_at":"2026-05-18T01:36:37Z","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":"State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide guarantees on the quality of the estimate. This paper shows that Lagrangian duality is a powerful tool to assess the quality of a given candidate solution. Our contribution is threefold. First, we discuss a revised formulation of the SLAM inference problem. We show that this formulation is probabilistically grounded and has the advantage of leading to an optimi","authors_text":"David Rosen, Frank Dellaert, Giuseppe Calafiore, John Leonard, Luca Carlone","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-02T04:37:37Z","title":"Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1506.00746","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":"sha256:2c470e4b4471acdca558b25de1051a4b41e69f192e2ae53b9f16f19e5dcf2acd","target":"record","created_at":"2026-05-18T01:36:37Z","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":"b33757dc3b03a44e3bd98c4e7126230a812537a7f30e1e94d21c066572e97288","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-06-02T04:37:37Z","title_canon_sha256":"0af7cfef92e049cb3b949dbd1b7956d7add7a9d0c11ad67551215774d8599663"},"schema_version":"1.0","source":{"id":"1506.00746","kind":"arxiv","version":2}},"canonical_sha256":"2952deb7507f85a4a4b3d5a88f2435aebe323b81ca1b47f0a6ddb86ce26829c4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2952deb7507f85a4a4b3d5a88f2435aebe323b81ca1b47f0a6ddb86ce26829c4","first_computed_at":"2026-05-18T01:36:37.952234Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:36:37.952234Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MFTBUSWW0agtamb65oGPgvKFbiZSA5dq77UlBYZrss9upPioWlwMHgbnH4z6eyj2wAyHZH6+Yh6aQl/PsuvoCw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:36:37.952933Z","signed_message":"canonical_sha256_bytes"},"source_id":"1506.00746","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2c470e4b4471acdca558b25de1051a4b41e69f192e2ae53b9f16f19e5dcf2acd","sha256:4ccded27bec9edae93813e96efc94eaaba7936e03182414e800645064aaf5c25"],"state_sha256":"f25cc27f1a4fdb3b53dcd22b0cbfc35830ded2fe25fefc16cbd0c11d863e56dd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uhei93Ac7yyQ+eDqjUq/f+yop8g31CXfjVv8STu6iSlcqpsBpNGCI78n9Z78z/ynWMKeazZqekwsI6PWaELWDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T18:53:12.217013Z","bundle_sha256":"e5a39eca0c22a6bbeec7261fa489870238cfc4c9355c9137374c5732d3adfb67"}}