{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:JONVAH5H3A4YSMP7EUXRUEQ2XG","short_pith_number":"pith:JONVAH5H","canonical_record":{"source":{"id":"1709.05533","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-16T15:43:46Z","cross_cats_sorted":[],"title_canon_sha256":"f286ac7cadccf951630da8c0a26ddbf589beb6840f864f043db3883e87e531c6","abstract_canon_sha256":"cb9f960ba8f6dd7c8c1656f0033acc8874a83985e61ac35f594523bd712d563d"},"schema_version":"1.0"},"canonical_sha256":"4b9b501fa7d8398931ff252f1a121ab983be35bf134c6851bfa60bb7757778a2","source":{"kind":"arxiv","id":"1709.05533","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.05533","created_at":"2026-05-18T00:21:40Z"},{"alias_kind":"arxiv_version","alias_value":"1709.05533v2","created_at":"2026-05-18T00:21:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.05533","created_at":"2026-05-18T00:21:40Z"},{"alias_kind":"pith_short_12","alias_value":"JONVAH5H3A4Y","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_16","alias_value":"JONVAH5H3A4YSMP7","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_8","alias_value":"JONVAH5H","created_at":"2026-05-18T12:31:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:JONVAH5H3A4YSMP7EUXRUEQ2XG","target":"record","payload":{"canonical_record":{"source":{"id":"1709.05533","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-16T15:43:46Z","cross_cats_sorted":[],"title_canon_sha256":"f286ac7cadccf951630da8c0a26ddbf589beb6840f864f043db3883e87e531c6","abstract_canon_sha256":"cb9f960ba8f6dd7c8c1656f0033acc8874a83985e61ac35f594523bd712d563d"},"schema_version":"1.0"},"canonical_sha256":"4b9b501fa7d8398931ff252f1a121ab983be35bf134c6851bfa60bb7757778a2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:21:40.871994Z","signature_b64":"MoDkQ+xWPay/jdKaNY9h3kBCEj5pG2E+L3rXsG8845aqg01opN0jN/A158dpLjAOI66IhpGxiP/mxtxsrligDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4b9b501fa7d8398931ff252f1a121ab983be35bf134c6851bfa60bb7757778a2","last_reissued_at":"2026-05-18T00:21:40.871278Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:21:40.871278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1709.05533","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:21:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9kZbUTqSkegFseRE6XerNpAo71LQ7/6Wqev6QKaSKVTMb54ARBbdav1k3RaWz6RZeQJV0H3Z/2e8d6CvuBDUBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T20:07:23.178561Z"},"content_sha256":"d41b54dc3ead13434db9753c682534daa8085d994c37f3f87da18044b3beb63e","schema_version":"1.0","event_id":"sha256:d41b54dc3ead13434db9753c682534daa8085d994c37f3f87da18044b3beb63e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:JONVAH5H3A4YSMP7EUXRUEQ2XG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fabian Bl\\\"ochliger, Marcin Dymczyk, Marius Fehr, Roland Siegwart, Thomas Schneider","submitted_at":"2017-09-16T15:43:46Z","abstract_excerpt":"Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many state-of-the-art navigation approaches only operate locally instead of gaining a more conceptual understanding of the planning objective. This limits the complexity of tasks a robot can accomplish and makes it harder to deal with uncertainties that are present in the context of real-time robotics applications. In this work, we present Topomap, a framework which simplifies "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.05533","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:21:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f/+rd1WB1tdGZVFza0AFa364Y9xgZYELMSZPkSAONQZLZ3GrNG2dpI004OzxbbW+T/MDIniwDjIvfia3UiLkDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T20:07:23.178912Z"},"content_sha256":"b503b4967f582cda57c57a1dbbc98fcc6fa01d6fed97f8c70e378acf592c871c","schema_version":"1.0","event_id":"sha256:b503b4967f582cda57c57a1dbbc98fcc6fa01d6fed97f8c70e378acf592c871c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JONVAH5H3A4YSMP7EUXRUEQ2XG/bundle.json","state_url":"https://pith.science/pith/JONVAH5H3A4YSMP7EUXRUEQ2XG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JONVAH5H3A4YSMP7EUXRUEQ2XG/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":"2026-05-21T20:07:23Z","links":{"resolver":"https://pith.science/pith/JONVAH5H3A4YSMP7EUXRUEQ2XG","bundle":"https://pith.science/pith/JONVAH5H3A4YSMP7EUXRUEQ2XG/bundle.json","state":"https://pith.science/pith/JONVAH5H3A4YSMP7EUXRUEQ2XG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JONVAH5H3A4YSMP7EUXRUEQ2XG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:JONVAH5H3A4YSMP7EUXRUEQ2XG","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":"cb9f960ba8f6dd7c8c1656f0033acc8874a83985e61ac35f594523bd712d563d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-16T15:43:46Z","title_canon_sha256":"f286ac7cadccf951630da8c0a26ddbf589beb6840f864f043db3883e87e531c6"},"schema_version":"1.0","source":{"id":"1709.05533","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.05533","created_at":"2026-05-18T00:21:40Z"},{"alias_kind":"arxiv_version","alias_value":"1709.05533v2","created_at":"2026-05-18T00:21:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.05533","created_at":"2026-05-18T00:21:40Z"},{"alias_kind":"pith_short_12","alias_value":"JONVAH5H3A4Y","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_16","alias_value":"JONVAH5H3A4YSMP7","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_8","alias_value":"JONVAH5H","created_at":"2026-05-18T12:31:24Z"}],"graph_snapshots":[{"event_id":"sha256:b503b4967f582cda57c57a1dbbc98fcc6fa01d6fed97f8c70e378acf592c871c","target":"graph","created_at":"2026-05-18T00:21:40Z","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"},"paper":{"abstract_excerpt":"Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many state-of-the-art navigation approaches only operate locally instead of gaining a more conceptual understanding of the planning objective. This limits the complexity of tasks a robot can accomplish and makes it harder to deal with uncertainties that are present in the context of real-time robotics applications. In this work, we present Topomap, a framework which simplifies ","authors_text":"Fabian Bl\\\"ochliger, Marcin Dymczyk, Marius Fehr, Roland Siegwart, Thomas Schneider","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-16T15:43:46Z","title":"Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.05533","kind":"arxiv","version":2},"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:d41b54dc3ead13434db9753c682534daa8085d994c37f3f87da18044b3beb63e","target":"record","created_at":"2026-05-18T00:21:40Z","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":"cb9f960ba8f6dd7c8c1656f0033acc8874a83985e61ac35f594523bd712d563d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-16T15:43:46Z","title_canon_sha256":"f286ac7cadccf951630da8c0a26ddbf589beb6840f864f043db3883e87e531c6"},"schema_version":"1.0","source":{"id":"1709.05533","kind":"arxiv","version":2}},"canonical_sha256":"4b9b501fa7d8398931ff252f1a121ab983be35bf134c6851bfa60bb7757778a2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4b9b501fa7d8398931ff252f1a121ab983be35bf134c6851bfa60bb7757778a2","first_computed_at":"2026-05-18T00:21:40.871278Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:21:40.871278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MoDkQ+xWPay/jdKaNY9h3kBCEj5pG2E+L3rXsG8845aqg01opN0jN/A158dpLjAOI66IhpGxiP/mxtxsrligDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:21:40.871994Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.05533","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d41b54dc3ead13434db9753c682534daa8085d994c37f3f87da18044b3beb63e","sha256:b503b4967f582cda57c57a1dbbc98fcc6fa01d6fed97f8c70e378acf592c871c"],"state_sha256":"33f59cc314b443e2c42bdbadc5ef4a09715b3548c84bd73d882cf6f5f47b6694"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mdmewTvhgMFB8Z8KA6ennnkEPNrbGhLErmkkrq00YLkyHpp8AjRuESrzhU7Eg+ekfl6hPDtmi62zWcykdIgzAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-21T20:07:23.181903Z","bundle_sha256":"63c9b98174d66b1addcbff6706ef30d4df8354a8c0b37820446abe7dc3f6ace9"}}