{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:JGT4YEKATIQYAOHSQKIC2TLQBO","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":"f4ddceca21477f1fdfaaa75029968ee9b3a55408627ba916f6cd07f03c1514b9","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-31T19:14:12Z","title_canon_sha256":"08345d1467b7f9943b52e0008f6f0845141da969a9dd17d886ceee0a27bb0d27"},"schema_version":"1.0","source":{"id":"2402.00129","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.00129","created_at":"2026-07-05T10:14:38Z"},{"alias_kind":"arxiv_version","alias_value":"2402.00129v5","created_at":"2026-07-05T10:14:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.00129","created_at":"2026-07-05T10:14:38Z"},{"alias_kind":"pith_short_12","alias_value":"JGT4YEKATIQY","created_at":"2026-07-05T10:14:38Z"},{"alias_kind":"pith_short_16","alias_value":"JGT4YEKATIQYAOHS","created_at":"2026-07-05T10:14:38Z"},{"alias_kind":"pith_short_8","alias_value":"JGT4YEKA","created_at":"2026-07-05T10:14:38Z"}],"graph_snapshots":[{"event_id":"sha256:dda17784b64b8a5a504e0984c1413cb656bd53a140d08bf6907d1d6d06356c25","target":"graph","created_at":"2026-07-05T10:14:38Z","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/2402.00129/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"LiDARs are widely used for mapping and localization in dynamic environments. However, their high cost limits their widespread adoption. On the other hand, monocular localization in LiDAR maps using inexpensive cameras is a cost-effective alternative for large-scale deployment. Nevertheless, most existing approaches struggle to generalize to new sensor setups and environments, requiring retraining or fine-tuning. In this paper, we present CMRNext, a novel approach for camera-LIDAR matching that is independent of sensor-specific parameters, generalizable, and can be used in the wild for monocula","authors_text":"Abhinav Valada, Daniele Cattaneo","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-31T19:14:12Z","title":"CMRNext: Camera to LiDAR Matching in the Wild for Localization and Extrinsic Calibration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.00129","kind":"arxiv","version":5},"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:d590145b99a6e59f504e98d5160ed52b9de1d42f3285c648218ca43553659f2e","target":"record","created_at":"2026-07-05T10:14:38Z","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":"f4ddceca21477f1fdfaaa75029968ee9b3a55408627ba916f6cd07f03c1514b9","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-31T19:14:12Z","title_canon_sha256":"08345d1467b7f9943b52e0008f6f0845141da969a9dd17d886ceee0a27bb0d27"},"schema_version":"1.0","source":{"id":"2402.00129","kind":"arxiv","version":5}},"canonical_sha256":"49a7cc11409a218038f282902d4d700b916cb65fb66055488ff85f34a12a8338","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"49a7cc11409a218038f282902d4d700b916cb65fb66055488ff85f34a12a8338","first_computed_at":"2026-07-05T10:14:38.078671Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:14:38.078671Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"L6nplyFC5Ky8NmXnMUVbpfYLx/gmBvXA2Mhm9vs5Trfy8z4LNf9I4SF6goWjyQwYucZ8j4E6lOacF8WhLmk9DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:14:38.079129Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.00129","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d590145b99a6e59f504e98d5160ed52b9de1d42f3285c648218ca43553659f2e","sha256:dda17784b64b8a5a504e0984c1413cb656bd53a140d08bf6907d1d6d06356c25"],"state_sha256":"b4599c1e1f870bf7881e9b8ebffac51c95c94ecd7a9819ee151406b3045b8fc9"}