{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:H4RTAOSVLVKYTZD5MFTHAM26XQ","short_pith_number":"pith:H4RTAOSV","canonical_record":{"source":{"id":"2209.05708","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-13T03:36:34Z","cross_cats_sorted":[],"title_canon_sha256":"3cf64096e2fcedae85c47f7201dfe42f1437afb8f1de73dae912d515a68af5f2","abstract_canon_sha256":"3cc3026ce2e1d210f09e7604484683aa112bd5c7f3ba32d256ab6092cb73a110"},"schema_version":"1.0"},"canonical_sha256":"3f23303a555d5589e47d616670335ebc2e777e39ef0ab458d483bceda4caeb60","source":{"kind":"arxiv","id":"2209.05708","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.05708","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"arxiv_version","alias_value":"2209.05708v1","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.05708","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"pith_short_12","alias_value":"H4RTAOSVLVKY","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"pith_short_16","alias_value":"H4RTAOSVLVKYTZD5","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"pith_short_8","alias_value":"H4RTAOSV","created_at":"2026-07-05T04:56:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:H4RTAOSVLVKYTZD5MFTHAM26XQ","target":"record","payload":{"canonical_record":{"source":{"id":"2209.05708","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-13T03:36:34Z","cross_cats_sorted":[],"title_canon_sha256":"3cf64096e2fcedae85c47f7201dfe42f1437afb8f1de73dae912d515a68af5f2","abstract_canon_sha256":"3cc3026ce2e1d210f09e7604484683aa112bd5c7f3ba32d256ab6092cb73a110"},"schema_version":"1.0"},"canonical_sha256":"3f23303a555d5589e47d616670335ebc2e777e39ef0ab458d483bceda4caeb60","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:56:49.214590Z","signature_b64":"MxTQ8FKyUuXN6CayZIlctykebfU/GoE16WrYChKQobPyvnwguLpxdSgzFXOrKvbLIV8nTB0Ra/2EQBlaDpG0CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3f23303a555d5589e47d616670335ebc2e777e39ef0ab458d483bceda4caeb60","last_reissued_at":"2026-07-05T04:56:49.214183Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:56:49.214183Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.05708","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:56:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YYRhIFBlttXqhuY1BmPBlKBTFY7abtAu24vwRPSle5zgfL5r2Dh0fxGMYqeRG9XOWcALa0txsh1UFgNQpoPdCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T07:58:30.191036Z"},"content_sha256":"b577308c44c7bf5647577b3cdcc2481f560f06937d22d5a10088843cac590213","schema_version":"1.0","event_id":"sha256:b577308c44c7bf5647577b3cdcc2481f560f06937d22d5a10088843cac590213"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:H4RTAOSVLVKYTZD5MFTHAM26XQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"InTEn-LOAM: Intensity and Temporal Enhanced LiDAR Odometry and Mapping","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bin Tian, Guangyun Li, Gui Jianjun, Shuaixin Li, Yao Wen, Zhu Xiaozhou","submitted_at":"2022-09-13T03:36:34Z","abstract_excerpt":"Traditional LiDAR odometry (LO) systems mainly leverage geometric information obtained from the traversed surroundings to register laser scans and estimate LiDAR ego-motion, while it may be unreliable in dynamic or unstructured environments. This paper proposes InTEn-LOAM, a low-drift and robust LiDAR odometry and mapping method that fully exploits implicit information of laser sweeps (i.e., geometric, intensity, and temporal characteristics). Scanned points are projected to cylindrical images, which facilitate the efficient and adaptive extraction of various types of features, i.e., ground, b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.05708","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2209.05708/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:56:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ezBnuFR16OkIfFq/y5t5hPqcAfKNc6I0Vfy/5JTQ5D9vi+sLKlzVpCWMqzTdSEalXZ3SRligGPrFYPcmen7zDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T07:58:30.192038Z"},"content_sha256":"8a5c4751437474ed8d75f4ff68c675153bb33e675889551447b6a9b38ff9a72f","schema_version":"1.0","event_id":"sha256:8a5c4751437474ed8d75f4ff68c675153bb33e675889551447b6a9b38ff9a72f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H4RTAOSVLVKYTZD5MFTHAM26XQ/bundle.json","state_url":"https://pith.science/pith/H4RTAOSVLVKYTZD5MFTHAM26XQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H4RTAOSVLVKYTZD5MFTHAM26XQ/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":"2026-08-12T07:58:30Z","links":{"resolver":"https://pith.science/pith/H4RTAOSVLVKYTZD5MFTHAM26XQ","bundle":"https://pith.science/pith/H4RTAOSVLVKYTZD5MFTHAM26XQ/bundle.json","state":"https://pith.science/pith/H4RTAOSVLVKYTZD5MFTHAM26XQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H4RTAOSVLVKYTZD5MFTHAM26XQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:H4RTAOSVLVKYTZD5MFTHAM26XQ","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":"3cc3026ce2e1d210f09e7604484683aa112bd5c7f3ba32d256ab6092cb73a110","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-13T03:36:34Z","title_canon_sha256":"3cf64096e2fcedae85c47f7201dfe42f1437afb8f1de73dae912d515a68af5f2"},"schema_version":"1.0","source":{"id":"2209.05708","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.05708","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"arxiv_version","alias_value":"2209.05708v1","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.05708","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"pith_short_12","alias_value":"H4RTAOSVLVKY","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"pith_short_16","alias_value":"H4RTAOSVLVKYTZD5","created_at":"2026-07-05T04:56:49Z"},{"alias_kind":"pith_short_8","alias_value":"H4RTAOSV","created_at":"2026-07-05T04:56:49Z"}],"graph_snapshots":[{"event_id":"sha256:8a5c4751437474ed8d75f4ff68c675153bb33e675889551447b6a9b38ff9a72f","target":"graph","created_at":"2026-07-05T04:56:49Z","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/2209.05708/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Traditional LiDAR odometry (LO) systems mainly leverage geometric information obtained from the traversed surroundings to register laser scans and estimate LiDAR ego-motion, while it may be unreliable in dynamic or unstructured environments. This paper proposes InTEn-LOAM, a low-drift and robust LiDAR odometry and mapping method that fully exploits implicit information of laser sweeps (i.e., geometric, intensity, and temporal characteristics). Scanned points are projected to cylindrical images, which facilitate the efficient and adaptive extraction of various types of features, i.e., ground, b","authors_text":"Bin Tian, Guangyun Li, Gui Jianjun, Shuaixin Li, Yao Wen, Zhu Xiaozhou","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-13T03:36:34Z","title":"InTEn-LOAM: Intensity and Temporal Enhanced LiDAR Odometry and Mapping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.05708","kind":"arxiv","version":1},"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:b577308c44c7bf5647577b3cdcc2481f560f06937d22d5a10088843cac590213","target":"record","created_at":"2026-07-05T04:56:49Z","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":"3cc3026ce2e1d210f09e7604484683aa112bd5c7f3ba32d256ab6092cb73a110","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-13T03:36:34Z","title_canon_sha256":"3cf64096e2fcedae85c47f7201dfe42f1437afb8f1de73dae912d515a68af5f2"},"schema_version":"1.0","source":{"id":"2209.05708","kind":"arxiv","version":1}},"canonical_sha256":"3f23303a555d5589e47d616670335ebc2e777e39ef0ab458d483bceda4caeb60","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3f23303a555d5589e47d616670335ebc2e777e39ef0ab458d483bceda4caeb60","first_computed_at":"2026-07-05T04:56:49.214183Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:56:49.214183Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MxTQ8FKyUuXN6CayZIlctykebfU/GoE16WrYChKQobPyvnwguLpxdSgzFXOrKvbLIV8nTB0Ra/2EQBlaDpG0CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:56:49.214590Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.05708","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b577308c44c7bf5647577b3cdcc2481f560f06937d22d5a10088843cac590213","sha256:8a5c4751437474ed8d75f4ff68c675153bb33e675889551447b6a9b38ff9a72f"],"state_sha256":"c1f92081ca63ddc73ce2b8c1d023a5e6c7ec269b566ea065e9835dcc66970c0a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HuNCybF38msM/KVpSbh9PEun0xZ37nmNCdVoQZaleAL7zeDqCgHFKM2IG/12Dztsw6q+htm+rtKIoxM38qzQAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T07:58:30.196065Z","bundle_sha256":"51c36b6a8453d7cda79964a9d564e4ffc1aa4205629106cf54689cc9d81d32d1"}}