{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:GBSJZKWTROZWWEPX5ZP2QCIH6H","short_pith_number":"pith:GBSJZKWT","schema_version":"1.0","canonical_sha256":"30649caad38bb36b11f7ee5fa80907f1e09e3501627ef349795acfd02bcb06c8","source":{"kind":"arxiv","id":"1710.05772","version":1},"attestation_state":"computed","paper":{"title":"Data-Efficient Decentralized Visual SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Davide Scaramuzza, Siddharth Choudhary, Titus Cieslewski","submitted_at":"2017-10-16T15:11:49Z","abstract_excerpt":"Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight and versatile sensors, and being decentralized, it does not rely on communication to a central ground station. In this work, we integrate state-of-the-art decentralized SLAM components into a new, complete decentralized visual SLAM system. To allow for data association and co-optimization, existing decentralized visual SLAM systems regularly exchange the full"},"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":"1710.05772","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-16T15:11:49Z","cross_cats_sorted":[],"title_canon_sha256":"bf4f35307ced1c282ca31691a1460184f6c10905b4824d9880fb682323e225da","abstract_canon_sha256":"168565014f221eb489f8e17b71ead640ed6cefad940e678a864bad2bd1561a71"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:19:13.694911Z","signature_b64":"B36LUfDEI6AV2DkYhaQmdKvXVqvtX7KDkcyi5Mr5XW7mWnsvbJZBC9+h3z9BW7KLYczdtgidvHRz3/ZPRFQEBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"30649caad38bb36b11f7ee5fa80907f1e09e3501627ef349795acfd02bcb06c8","last_reissued_at":"2026-05-18T00:19:13.693859Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:19:13.693859Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Data-Efficient Decentralized Visual SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Davide Scaramuzza, Siddharth Choudhary, Titus Cieslewski","submitted_at":"2017-10-16T15:11:49Z","abstract_excerpt":"Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight and versatile sensors, and being decentralized, it does not rely on communication to a central ground station. In this work, we integrate state-of-the-art decentralized SLAM components into a new, complete decentralized visual SLAM system. To allow for data association and co-optimization, existing decentralized visual SLAM systems regularly exchange the full"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.05772","kind":"arxiv","version":1},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1710.05772","created_at":"2026-05-18T00:19:13.693977+00:00"},{"alias_kind":"arxiv_version","alias_value":"1710.05772v1","created_at":"2026-05-18T00:19:13.693977+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.05772","created_at":"2026-05-18T00:19:13.693977+00:00"},{"alias_kind":"pith_short_12","alias_value":"GBSJZKWTROZW","created_at":"2026-05-18T12:31:15.632608+00:00"},{"alias_kind":"pith_short_16","alias_value":"GBSJZKWTROZWWEPX","created_at":"2026-05-18T12:31:15.632608+00:00"},{"alias_kind":"pith_short_8","alias_value":"GBSJZKWT","created_at":"2026-05-18T12:31:15.632608+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/GBSJZKWTROZWWEPX5ZP2QCIH6H","json":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H.json","graph_json":"https://pith.science/api/pith-number/GBSJZKWTROZWWEPX5ZP2QCIH6H/graph.json","events_json":"https://pith.science/api/pith-number/GBSJZKWTROZWWEPX5ZP2QCIH6H/events.json","paper":"https://pith.science/paper/GBSJZKWT"},"agent_actions":{"view_html":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H","download_json":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H.json","view_paper":"https://pith.science/paper/GBSJZKWT","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1710.05772&json=true","fetch_graph":"https://pith.science/api/pith-number/GBSJZKWTROZWWEPX5ZP2QCIH6H/graph.json","fetch_events":"https://pith.science/api/pith-number/GBSJZKWTROZWWEPX5ZP2QCIH6H/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H/action/timestamp_anchor","attest_storage":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H/action/storage_attestation","attest_author":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H/action/author_attestation","sign_citation":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H/action/citation_signature","submit_replication":"https://pith.science/pith/GBSJZKWTROZWWEPX5ZP2QCIH6H/action/replication_record"}},"created_at":"2026-05-18T00:19:13.693977+00:00","updated_at":"2026-05-18T00:19:13.693977+00:00"}