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It generates local maps from LiDAR scans and aligns them using a ground alignment module to handle both planar and non-planar motion, uses density-preserving bird's-eye-view projections, extracts ORB feature descriptors, stores them in a binary search tree, and applies self-similarity pruning for accurate loop closure detection across platforms.","weakest_assumption":"That the combination of ground alignment and density-preserving BEV projections preserves sufficient place-specific geometric information for ORB features to enable reliable matching, even when sensor resolution, field of view, and motion profiles differ substantially between platforms."}},"verdict_id":"3410dc26-cd98-4824-a0e6-44562d446601"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:f900a7b4d5a4f00fc89fc2dbacda9d5a153e6aaec67f676eaf4e5813dcccaa9f","target":"record","created_at":"2026-07-16T01:21:38Z","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":"b2c41b13bc495332ee1d0405d600ac5e4838b697a245592d74e02a2dc658b164","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-01-13T15:17:10Z","title_canon_sha256":"94f43c8c19658dbcf4c98ed9463d3628c2ef98076d403b6d844d71aad13c5f40"},"schema_version":"1.0","source":{"id":"2501.07399","kind":"arxiv","version":2}},"canonical_sha256":"3297a8662c5d2264f88c4c30d6b4f0ed54c06b5fb3a8af28208f627128f4be1b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3297a8662c5d2264f88c4c30d6b4f0ed54c06b5fb3a8af28208f627128f4be1b","first_computed_at":"2026-07-16T01:21:38.739213Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-16T01:21:38.739213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qHvBPKEAOuYEooZEHJgoT2JnXzB/ScJTsWsp41qmAnEcmqgZy5tyTf4ECOHg9cKyZGVvc8+xALm4QkB0aJB8Cw==","signature_status":"signed_v1","signed_at":"2026-07-16T01:21:38.740178Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.07399","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f900a7b4d5a4f00fc89fc2dbacda9d5a153e6aaec67f676eaf4e5813dcccaa9f","sha256:555eabe863e8d540f4ec752658c2b1cee60d150572af18fadbf20be74585f5bd"],"state_sha256":"21709e9d78ee2e57559e064fa751225b1dff7379309e53be2f47ea47beb54f27"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"M/+w+J3Bk7PnVMVVVpkX80XGhKhl75AxPl3WrqCZhZLqpnf8r7Iwp5lFvPc09LrdIyw1xLas9RgZDqysfeueDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T17:52:55.478480Z","bundle_sha256":"daad63103b43dac4ef3e491be20ddc9bce99763adf186c72182d6e9000b4f4d5"}}