{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:FQS5NPB57EB4NYYMAXI3LGOCVP","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":"1afbbf15c2d3553f4b0eaa4d7bb77bad219d2a070e442ff900428e8874068643","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-06T09:43:11Z","title_canon_sha256":"6dd69d4599105fd0a5381a73dc45d4aafd47ee2c3834177684237d2ff2eae2ea"},"schema_version":"1.0","source":{"id":"2204.02693","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.02693","created_at":"2026-07-05T04:27:31Z"},{"alias_kind":"arxiv_version","alias_value":"2204.02693v2","created_at":"2026-07-05T04:27:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.02693","created_at":"2026-07-05T04:27:31Z"},{"alias_kind":"pith_short_12","alias_value":"FQS5NPB57EB4","created_at":"2026-07-05T04:27:31Z"},{"alias_kind":"pith_short_16","alias_value":"FQS5NPB57EB4NYYM","created_at":"2026-07-05T04:27:31Z"},{"alias_kind":"pith_short_8","alias_value":"FQS5NPB5","created_at":"2026-07-05T04:27:31Z"}],"graph_snapshots":[{"event_id":"sha256:3a7017cd1ac6a67415231cd3a7f1d16187101723b7b2cc33ba40803767ce81c5","target":"graph","created_at":"2026-07-05T04:27:31Z","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/2204.02693/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the reconstructed map. In this work, we present a systematic exploration mapping and planning framework that deals with drifted localization, allowing efficient and globally consistent reconstruction. A real-time re-integration-based mapping approach along with a frame pruning mechanism is proposed, which rectifies map distortion effectively when drifted localization is corrected upon detecting loop-closure. Besides, an e","authors_text":"Boyu Zhou, Luqi Wang, Shaojie Shen, Yichen Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-06T09:43:11Z","title":"Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.02693","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:ae7a427fa8b338c34c8bb76319927d30f0cce0528f19974f4b67ed71ff587b3f","target":"record","created_at":"2026-07-05T04:27:31Z","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":"1afbbf15c2d3553f4b0eaa4d7bb77bad219d2a070e442ff900428e8874068643","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-06T09:43:11Z","title_canon_sha256":"6dd69d4599105fd0a5381a73dc45d4aafd47ee2c3834177684237d2ff2eae2ea"},"schema_version":"1.0","source":{"id":"2204.02693","kind":"arxiv","version":2}},"canonical_sha256":"2c25d6bc3df903c6e30c05d1b599c2abc6b5a442b7719cae19bc3268abb6ea00","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2c25d6bc3df903c6e30c05d1b599c2abc6b5a442b7719cae19bc3268abb6ea00","first_computed_at":"2026-07-05T04:27:31.004906Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:27:31.004906Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lgxTKENO6vXFtK5feft1+N5JtNPf4Jm3TIqx/wZBjO8xvw/BsL+KvnaFpNbwUeAB55rTqmyeC2ybdfPidaMeDA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:27:31.005404Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.02693","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ae7a427fa8b338c34c8bb76319927d30f0cce0528f19974f4b67ed71ff587b3f","sha256:3a7017cd1ac6a67415231cd3a7f1d16187101723b7b2cc33ba40803767ce81c5"],"state_sha256":"3ff5781e7f8eac2e21fffbf46d66c74252220619f0813ad5a402e4fc90f0cc62"}