{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:JY2MMCBEQPOOVMWQPUWZGAIS2J","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":"a357894d0cf0b740ee4bb2317dba1e95644dce6901c2a23e48af2854023a51b1","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-06-23T22:15:22Z","title_canon_sha256":"4cc49af25371dbaeffa0b1eed9f7444da2b3967520d78617d9b63677a79735b2"},"schema_version":"1.0","source":{"id":"2106.12671","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.12671","created_at":"2026-07-05T02:52:04Z"},{"alias_kind":"arxiv_version","alias_value":"2106.12671v1","created_at":"2026-07-05T02:52:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.12671","created_at":"2026-07-05T02:52:04Z"},{"alias_kind":"pith_short_12","alias_value":"JY2MMCBEQPOO","created_at":"2026-07-05T02:52:04Z"},{"alias_kind":"pith_short_16","alias_value":"JY2MMCBEQPOOVMWQ","created_at":"2026-07-05T02:52:04Z"},{"alias_kind":"pith_short_8","alias_value":"JY2MMCBE","created_at":"2026-07-05T02:52:04Z"}],"graph_snapshots":[{"event_id":"sha256:85421a1e04cee57d717e6880ba97394105cfa1ac6f3c1abc54e0089deee925f9","target":"graph","created_at":"2026-07-05T02:52:04Z","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/2106.12671/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visual place recognition is a fundamental capability for the localization of mobile robots. It places image retrieval in the practical context of physical agents operating in a physical world. It is an active field of research and many different approaches have been proposed and evaluated in many different experiments. In the following, we argue that due to variations of this practical context and individual design decisions, place recognition experiments are barely comparable across different papers and that there is a variety of properties that can change from one experiment to another. We p","authors_text":"Peer Neubert, Stefan Schubert","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-06-23T22:15:22Z","title":"What makes visual place recognition easy or hard?"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.12671","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":"sha256:19d3afe06b3192b40c7f914e7a40efabff065c9d4a4ea48bb0bd98da8358c18a","target":"record","created_at":"2026-07-05T02:52:04Z","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":"a357894d0cf0b740ee4bb2317dba1e95644dce6901c2a23e48af2854023a51b1","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-06-23T22:15:22Z","title_canon_sha256":"4cc49af25371dbaeffa0b1eed9f7444da2b3967520d78617d9b63677a79735b2"},"schema_version":"1.0","source":{"id":"2106.12671","kind":"arxiv","version":1}},"canonical_sha256":"4e34c6082483dceab2d07d2d930112d26ba3c53e29a0bccff45d839e2e234534","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4e34c6082483dceab2d07d2d930112d26ba3c53e29a0bccff45d839e2e234534","first_computed_at":"2026-07-05T02:52:04.811855Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:52:04.811855Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/4KyllAhttt7Ch1luIxSqX5BaSK0T/+LQ90jme9v/Zwt9SZRdiXJm5jM86Cg7p8M3zKAneGfS391bALD1toqAA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:52:04.812323Z","signed_message":"canonical_sha256_bytes"},"source_id":"2106.12671","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:19d3afe06b3192b40c7f914e7a40efabff065c9d4a4ea48bb0bd98da8358c18a","sha256:85421a1e04cee57d717e6880ba97394105cfa1ac6f3c1abc54e0089deee925f9"],"state_sha256":"042d0de93ad80552b2372315462898c7326b2441eec400243248b75b85a0dcdc"}