Pith Number

pith:J6PFFOJD

pith:2026:J6PFFOJD5IJDLTT2ADPI4RUTFY

not attested not anchored not stored refs pending

Environment-Adaptive Solid-State LiDAR-Inertial Odometry

Bingtao Ma, Chalermchon Satirapod, Changjun Gu, Zhi Zhang

Local normal-vector constraints and degeneracy-guided map updates stabilize solid-state LiDAR-inertial odometry in extreme environments.

arxiv:2604.15864 v2 · 2026-04-17 · cs.RO

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\pithnumber{J6PFFOJD5IJDLTT2ADPI4RUTFY}

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Record completeness

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3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Experimental results demonstrate that the proposed method achieves superior mapping accuracy and robustness in extreme and perceptually degraded environments, with an average RMSE reduction of up to 12.8% compared to the baseline method.

C2weakest assumption

That local normal-vector constraints will reliably suppress localization drift in degenerate scenarios and that the degeneration-guided map update strategy will improve map precision enough to enhance subsequent localization.

C3one line summary

An adaptive LiDAR-inertial odometry method cuts localization RMSE by up to 12.8% in extreme environments via normal-vector constraints and smart map maintenance.

Receipt and verification

First computed	2026-05-29T01:05:09.993308Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4f9e52b923ea1235ce7a00de8e46932e2ba59deeecd72a5e73e5a0f5fa60b5bb

Aliases

arxiv: 2604.15864 · arxiv_version: 2604.15864v2 · doi: 10.48550/arxiv.2604.15864 · pith_short_12: J6PFFOJD5IJD · pith_short_16: J6PFFOJD5IJDLTT2 · pith_short_8: J6PFFOJD

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/J6PFFOJD5IJDLTT2ADPI4RUTFY \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 4f9e52b923ea1235ce7a00de8e46932e2ba59deeecd72a5e73e5a0f5fa60b5bb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "eea90c39b136409d56af30a846adc6e23ebd10bec5835d4414490d5a1a52cfa7",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-17T09:13:52Z",
    "title_canon_sha256": "dc405ece255c2d8d76bf853d10e5b5beb2f303b1f787281c43f2f22d791a734e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.15864",
    "kind": "arxiv",
    "version": 2
  }
}