{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:FTBLNWYLRWA7XC4FQ67LUNZFIH","short_pith_number":"pith:FTBLNWYL","schema_version":"1.0","canonical_sha256":"2cc2b6db0b8d81fb8b8587beba372541d764749fae34a13d027a94fa3bdd2e28","source":{"kind":"arxiv","id":"2211.02445","version":3},"attestation_state":"computed","paper":{"title":"Lidar-level localization with radar? The CFEAR approach to accurate, fast and robust large-scale radar odometry in diverse environments","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Achim J. Lilienthal, Anas Alhashimi, Daniel Adolfsson, Henrik Andreasson, Martin Magnusson","submitted_at":"2022-11-04T13:32:15Z","abstract_excerpt":"This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland, and indoors in warehouses and mines - without changing parameters. Our method integrates motion compensation within a sweep with one-to-many scan registration that minimizes distances between nearby oriented surface points and mitigates outliers with a robust loss function. Extending our previous approach CFEAR, we present an in-depth investigation on a wid"},"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":"2211.02445","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-04T13:32:15Z","cross_cats_sorted":[],"title_canon_sha256":"7a5a8761fd3c74aaa228ea7fedbacfd1c0b5536e173505337201a680d9d1f8c9","abstract_canon_sha256":"c2fac937c4b0a534ef4f8e5d3bb6d1a1013fe9653ca21127de2923728323b688"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:00:57.784387Z","signature_b64":"jeoJKH7ND+AvUK8+dBUuN+P6dYZEZ96W5HZHwo4oWgPq+dCtxO88VVb4bHZvVcdRoHPsi9yQi2AY/9M06rvtAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2cc2b6db0b8d81fb8b8587beba372541d764749fae34a13d027a94fa3bdd2e28","last_reissued_at":"2026-07-05T06:00:57.783985Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:00:57.783985Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Lidar-level localization with radar? The CFEAR approach to accurate, fast and robust large-scale radar odometry in diverse environments","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Achim J. Lilienthal, Anas Alhashimi, Daniel Adolfsson, Henrik Andreasson, Martin Magnusson","submitted_at":"2022-11-04T13:32:15Z","abstract_excerpt":"This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland, and indoors in warehouses and mines - without changing parameters. Our method integrates motion compensation within a sweep with one-to-many scan registration that minimizes distances between nearby oriented surface points and mitigates outliers with a robust loss function. Extending our previous approach CFEAR, we present an in-depth investigation on a wid"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.02445","kind":"arxiv","version":3},"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/2211.02445/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":"2211.02445","created_at":"2026-07-05T06:00:57.784041+00:00"},{"alias_kind":"arxiv_version","alias_value":"2211.02445v3","created_at":"2026-07-05T06:00:57.784041+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.02445","created_at":"2026-07-05T06:00:57.784041+00:00"},{"alias_kind":"pith_short_12","alias_value":"FTBLNWYLRWA7","created_at":"2026-07-05T06:00:57.784041+00:00"},{"alias_kind":"pith_short_16","alias_value":"FTBLNWYLRWA7XC4F","created_at":"2026-07-05T06:00:57.784041+00:00"},{"alias_kind":"pith_short_8","alias_value":"FTBLNWYL","created_at":"2026-07-05T06:00:57.784041+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH","json":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH.json","graph_json":"https://pith.science/api/pith-number/FTBLNWYLRWA7XC4FQ67LUNZFIH/graph.json","events_json":"https://pith.science/api/pith-number/FTBLNWYLRWA7XC4FQ67LUNZFIH/events.json","paper":"https://pith.science/paper/FTBLNWYL"},"agent_actions":{"view_html":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH","download_json":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH.json","view_paper":"https://pith.science/paper/FTBLNWYL","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2211.02445&json=true","fetch_graph":"https://pith.science/api/pith-number/FTBLNWYLRWA7XC4FQ67LUNZFIH/graph.json","fetch_events":"https://pith.science/api/pith-number/FTBLNWYLRWA7XC4FQ67LUNZFIH/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH/action/timestamp_anchor","attest_storage":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH/action/storage_attestation","attest_author":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH/action/author_attestation","sign_citation":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH/action/citation_signature","submit_replication":"https://pith.science/pith/FTBLNWYLRWA7XC4FQ67LUNZFIH/action/replication_record"}},"created_at":"2026-07-05T06:00:57.784041+00:00","updated_at":"2026-07-05T06:00:57.784041+00:00"}