{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:ICEW4CCY5XRKDDMVIY24NX3LAA","short_pith_number":"pith:ICEW4CCY","canonical_record":{"source":{"id":"2109.06596","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T11:36:16Z","cross_cats_sorted":[],"title_canon_sha256":"c527b5ed00a355c2a8c487f81429c0df3da5240279026980439eeead2207586e","abstract_canon_sha256":"be1f37c2a1333dcd2d7a921251330944dbc12f8081018e2d300bef11d2617dc2"},"schema_version":"1.0"},"canonical_sha256":"40896e0858ede2a18d954635c6df6b0021f2b9e86fada8446b615caabd0c1f50","source":{"kind":"arxiv","id":"2109.06596","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.06596","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"arxiv_version","alias_value":"2109.06596v1","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.06596","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"pith_short_12","alias_value":"ICEW4CCY5XRK","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"pith_short_16","alias_value":"ICEW4CCY5XRKDDMV","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"pith_short_8","alias_value":"ICEW4CCY","created_at":"2026-07-05T04:54:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:ICEW4CCY5XRKDDMVIY24NX3LAA","target":"record","payload":{"canonical_record":{"source":{"id":"2109.06596","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T11:36:16Z","cross_cats_sorted":[],"title_canon_sha256":"c527b5ed00a355c2a8c487f81429c0df3da5240279026980439eeead2207586e","abstract_canon_sha256":"be1f37c2a1333dcd2d7a921251330944dbc12f8081018e2d300bef11d2617dc2"},"schema_version":"1.0"},"canonical_sha256":"40896e0858ede2a18d954635c6df6b0021f2b9e86fada8446b615caabd0c1f50","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:54:15.876527Z","signature_b64":"gHbEN6kxjbOQhdpz6utBkusD/Xf+w92Dr+30gUZoIwHeIo2u4xGd28bBlC2xbIGUPHtgWPLMqItRzn5V/sHLDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"40896e0858ede2a18d954635c6df6b0021f2b9e86fada8446b615caabd0c1f50","last_reissued_at":"2026-07-05T04:54:15.875982Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:54:15.875982Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.06596","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":"2026-07-05T04:54:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WAnK3Gnv1aM19O+M6/NiQBz7Xwm4UZtf7HNwc0t+k1q0JJIIPsomlBjwM4zzsbinkJEGaN1XhkMSzfE9+pi6Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T09:35:48.204524Z"},"content_sha256":"95614d970af7bae44a1b8663d41a9e3535ba1bf6ce09b6f25a7f1a29f71c8b3b","schema_version":"1.0","event_id":"sha256:95614d970af7bae44a1b8663d41a9e3535ba1bf6ce09b6f25a7f1a29f71c8b3b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:ICEW4CCY5XRKDDMVIY24NX3LAA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cedric Le Gentil, Mallikarjuna Vayugundla, Martin J. Schuster, Riccardo Giubilato, Rudolph Triebel, Teresa Vidal-Calleja","submitted_at":"2021-09-14T11:36:16Z","abstract_excerpt":"Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to urban or man-made environments, where the presence of unique objects and structures offer unique cues for localization, the appearance of unstructured natural environments is often ambiguous and self-similar, hindering the performances of loop closure detection. In this paper, we present an approach to improve the robustness of place recognition in the context "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.06596","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/2109.06596/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":"2026-07-05T04:54:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"z/MZppy4nMk14bdPQFYwKvrLc+Y/6SZggle3x+ba0Qu1Y1+xLrDO0yVWyyQ6ak96/J0nwU9n8mChXJepUKZYBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T09:35:48.205412Z"},"content_sha256":"581ba96e5092db615daf53c24a215d5606bbe4ea875136a9946160f14addfb26","schema_version":"1.0","event_id":"sha256:581ba96e5092db615daf53c24a215d5606bbe4ea875136a9946160f14addfb26"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ICEW4CCY5XRKDDMVIY24NX3LAA/bundle.json","state_url":"https://pith.science/pith/ICEW4CCY5XRKDDMVIY24NX3LAA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ICEW4CCY5XRKDDMVIY24NX3LAA/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":"2026-08-12T09:35:48Z","links":{"resolver":"https://pith.science/pith/ICEW4CCY5XRKDDMVIY24NX3LAA","bundle":"https://pith.science/pith/ICEW4CCY5XRKDDMVIY24NX3LAA/bundle.json","state":"https://pith.science/pith/ICEW4CCY5XRKDDMVIY24NX3LAA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ICEW4CCY5XRKDDMVIY24NX3LAA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ICEW4CCY5XRKDDMVIY24NX3LAA","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":"be1f37c2a1333dcd2d7a921251330944dbc12f8081018e2d300bef11d2617dc2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T11:36:16Z","title_canon_sha256":"c527b5ed00a355c2a8c487f81429c0df3da5240279026980439eeead2207586e"},"schema_version":"1.0","source":{"id":"2109.06596","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.06596","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"arxiv_version","alias_value":"2109.06596v1","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.06596","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"pith_short_12","alias_value":"ICEW4CCY5XRK","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"pith_short_16","alias_value":"ICEW4CCY5XRKDDMV","created_at":"2026-07-05T04:54:15Z"},{"alias_kind":"pith_short_8","alias_value":"ICEW4CCY","created_at":"2026-07-05T04:54:15Z"}],"graph_snapshots":[{"event_id":"sha256:581ba96e5092db615daf53c24a215d5606bbe4ea875136a9946160f14addfb26","target":"graph","created_at":"2026-07-05T04:54:15Z","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/2109.06596/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to urban or man-made environments, where the presence of unique objects and structures offer unique cues for localization, the appearance of unstructured natural environments is often ambiguous and self-similar, hindering the performances of loop closure detection. In this paper, we present an approach to improve the robustness of place recognition in the context ","authors_text":"Cedric Le Gentil, Mallikarjuna Vayugundla, Martin J. Schuster, Riccardo Giubilato, Rudolph Triebel, Teresa Vidal-Calleja","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T11:36:16Z","title":"GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.06596","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":"sha256:95614d970af7bae44a1b8663d41a9e3535ba1bf6ce09b6f25a7f1a29f71c8b3b","target":"record","created_at":"2026-07-05T04:54:15Z","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":"be1f37c2a1333dcd2d7a921251330944dbc12f8081018e2d300bef11d2617dc2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-14T11:36:16Z","title_canon_sha256":"c527b5ed00a355c2a8c487f81429c0df3da5240279026980439eeead2207586e"},"schema_version":"1.0","source":{"id":"2109.06596","kind":"arxiv","version":1}},"canonical_sha256":"40896e0858ede2a18d954635c6df6b0021f2b9e86fada8446b615caabd0c1f50","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"40896e0858ede2a18d954635c6df6b0021f2b9e86fada8446b615caabd0c1f50","first_computed_at":"2026-07-05T04:54:15.875982Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:54:15.875982Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gHbEN6kxjbOQhdpz6utBkusD/Xf+w92Dr+30gUZoIwHeIo2u4xGd28bBlC2xbIGUPHtgWPLMqItRzn5V/sHLDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:54:15.876527Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.06596","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:95614d970af7bae44a1b8663d41a9e3535ba1bf6ce09b6f25a7f1a29f71c8b3b","sha256:581ba96e5092db615daf53c24a215d5606bbe4ea875136a9946160f14addfb26"],"state_sha256":"b80e0c685da10e4b879494d64004f7b2c5828b9e2d29dd52a4838df230fcccb6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zposhODt/jmuxcwrH+Uzl+e/tfwyuW88xdy57CAhG/vYfNyOB6oXuqnLiZGQBP+F6YwsaXuiDPHjeIJ2PisDCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T09:35:48.221531Z","bundle_sha256":"70e401fa8f570424db9a8f6b4164ccc5d25aea079c476ba1f0685e4b177021b7"}}