{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:H7CXTASTSKZDG4U3FHPX643LXY","short_pith_number":"pith:H7CXTAST","canonical_record":{"source":{"id":"1912.05023","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-12-02T03:17:44Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"5e335de508de8fb7aa8367bd8a6eff447e513a2a330a0f465dde78e2abae96a9","abstract_canon_sha256":"57b0fcdcc46e955f53612810e7e570ec9f76c481f68a5f05744796e2669d64c8"},"schema_version":"1.0"},"canonical_sha256":"3fc579825392b233729b29df7f736bbe15ea7c692be31e83906003700a4b2f0c","source":{"kind":"arxiv","id":"1912.05023","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1912.05023","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"arxiv_version","alias_value":"1912.05023v1","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1912.05023","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"pith_short_12","alias_value":"H7CXTASTSKZD","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"pith_short_16","alias_value":"H7CXTASTSKZDG4U3","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"pith_short_8","alias_value":"H7CXTAST","created_at":"2026-07-05T00:25:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:H7CXTASTSKZDG4U3FHPX643LXY","target":"record","payload":{"canonical_record":{"source":{"id":"1912.05023","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-12-02T03:17:44Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"5e335de508de8fb7aa8367bd8a6eff447e513a2a330a0f465dde78e2abae96a9","abstract_canon_sha256":"57b0fcdcc46e955f53612810e7e570ec9f76c481f68a5f05744796e2669d64c8"},"schema_version":"1.0"},"canonical_sha256":"3fc579825392b233729b29df7f736bbe15ea7c692be31e83906003700a4b2f0c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:25:31.125866Z","signature_b64":"m9nrxzLXK8gZ8gI2tWolPogJgBWbATyyagoJsIAyA8Vf7h9S+QOANbPH9FOsANzZhHKhMhSnXdqWGC8IjKU8AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3fc579825392b233729b29df7f736bbe15ea7c692be31e83906003700a4b2f0c","last_reissued_at":"2026-07-05T00:25:31.125378Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:25:31.125378Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1912.05023","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":"2026-07-05T00:25:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4m2DSUDUPyLOn22dLGqyw03ZNbhwFUp7vFVpESxXNK6dz97RdZoYsXsS0DyPOlLSOhYu1olg78fHTzljYsUTAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T06:46:51.228387Z"},"content_sha256":"e8bbe46398b60727059e86484659e85e1aeaf1cb5c51d9b4b008cf313571adf5","schema_version":"1.0","event_id":"sha256:e8bbe46398b60727059e86484659e85e1aeaf1cb5c51d9b4b008cf313571adf5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:H7CXTASTSKZDG4U3FHPX643LXY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Robust Stereo Camera Localization Method with Prior LiDAR Map Constrains","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Cheng-zhong Xu, Dong Han, Lujia Wang, Zuhao Zou","submitted_at":"2019-12-02T03:17:44Z","abstract_excerpt":"In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization methods become unreliable when the sunlight changes greatly. Therefore, inexpensive and reliable methods are required. In this paper, we propose a stereo visual localization method based on the prior LiDAR map. Different from the conventional visual localization system, we design a novel visual optimization model by matching planar information between the LiD"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1912.05023","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/1912.05023/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":"2026-07-05T00:25:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QH8Ucgkeylg+sLYBm6H0QjPCjZaT1LLeRiPpXhM1Cum7fMfM1NX/DrLI1bgIo10+FsEO+qwHwxQXhAQQU4AVCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T06:46:51.229027Z"},"content_sha256":"66164e1662030e85390c824493d722d8c65ac5c925bb5faedbe591c1eb3531de","schema_version":"1.0","event_id":"sha256:66164e1662030e85390c824493d722d8c65ac5c925bb5faedbe591c1eb3531de"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H7CXTASTSKZDG4U3FHPX643LXY/bundle.json","state_url":"https://pith.science/pith/H7CXTASTSKZDG4U3FHPX643LXY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H7CXTASTSKZDG4U3FHPX643LXY/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":"2026-07-09T06:46:51Z","links":{"resolver":"https://pith.science/pith/H7CXTASTSKZDG4U3FHPX643LXY","bundle":"https://pith.science/pith/H7CXTASTSKZDG4U3FHPX643LXY/bundle.json","state":"https://pith.science/pith/H7CXTASTSKZDG4U3FHPX643LXY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H7CXTASTSKZDG4U3FHPX643LXY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:H7CXTASTSKZDG4U3FHPX643LXY","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":"57b0fcdcc46e955f53612810e7e570ec9f76c481f68a5f05744796e2669d64c8","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-12-02T03:17:44Z","title_canon_sha256":"5e335de508de8fb7aa8367bd8a6eff447e513a2a330a0f465dde78e2abae96a9"},"schema_version":"1.0","source":{"id":"1912.05023","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1912.05023","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"arxiv_version","alias_value":"1912.05023v1","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1912.05023","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"pith_short_12","alias_value":"H7CXTASTSKZD","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"pith_short_16","alias_value":"H7CXTASTSKZDG4U3","created_at":"2026-07-05T00:25:31Z"},{"alias_kind":"pith_short_8","alias_value":"H7CXTAST","created_at":"2026-07-05T00:25:31Z"}],"graph_snapshots":[{"event_id":"sha256:66164e1662030e85390c824493d722d8c65ac5c925bb5faedbe591c1eb3531de","target":"graph","created_at":"2026-07-05T00:25:31Z","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/1912.05023/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization methods become unreliable when the sunlight changes greatly. Therefore, inexpensive and reliable methods are required. In this paper, we propose a stereo visual localization method based on the prior LiDAR map. Different from the conventional visual localization system, we design a novel visual optimization model by matching planar information between the LiD","authors_text":"Cheng-zhong Xu, Dong Han, Lujia Wang, Zuhao Zou","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-12-02T03:17:44Z","title":"A Robust Stereo Camera Localization Method with Prior LiDAR Map Constrains"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1912.05023","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:e8bbe46398b60727059e86484659e85e1aeaf1cb5c51d9b4b008cf313571adf5","target":"record","created_at":"2026-07-05T00:25:31Z","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":"57b0fcdcc46e955f53612810e7e570ec9f76c481f68a5f05744796e2669d64c8","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-12-02T03:17:44Z","title_canon_sha256":"5e335de508de8fb7aa8367bd8a6eff447e513a2a330a0f465dde78e2abae96a9"},"schema_version":"1.0","source":{"id":"1912.05023","kind":"arxiv","version":1}},"canonical_sha256":"3fc579825392b233729b29df7f736bbe15ea7c692be31e83906003700a4b2f0c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3fc579825392b233729b29df7f736bbe15ea7c692be31e83906003700a4b2f0c","first_computed_at":"2026-07-05T00:25:31.125378Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:25:31.125378Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"m9nrxzLXK8gZ8gI2tWolPogJgBWbATyyagoJsIAyA8Vf7h9S+QOANbPH9FOsANzZhHKhMhSnXdqWGC8IjKU8AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:25:31.125866Z","signed_message":"canonical_sha256_bytes"},"source_id":"1912.05023","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e8bbe46398b60727059e86484659e85e1aeaf1cb5c51d9b4b008cf313571adf5","sha256:66164e1662030e85390c824493d722d8c65ac5c925bb5faedbe591c1eb3531de"],"state_sha256":"9654c628bf67e4ca92a0b8d78eb66ab9203c89df2ad4fa51b9df6bc16179ded7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Yx1Qae4KLZ7g9ox+HrJxkf2jD1Rjeeo/wSzwcu1Y/MQKObk9nbSOERJZtVlkq8zSWt+WKcD2uNOg4+daWrF1DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T06:46:51.232083Z","bundle_sha256":"0fc3c700cf575013feeee7556cd8611e674bd70c18d131d516cc304bc8443a99"}}