{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:KH7Y2QV2QDYE3FBDQJ36SEUECS","short_pith_number":"pith:KH7Y2QV2","canonical_record":{"source":{"id":"1809.06690","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-18T13:19:33Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"feb846095948cb93f2ec20ca8dba16d36574cb962beaaf3ff6bac30ad38c97e4","abstract_canon_sha256":"cdbaec2630fa3a4f4bcc01b042269b15e53930f488f4fcd9b2766a85f1c9a6a4"},"schema_version":"1.0"},"canonical_sha256":"51ff8d42ba80f04d94238277e9128414ba3615afc163729fd6d0e7a7b2803d0e","source":{"kind":"arxiv","id":"1809.06690","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.06690","created_at":"2026-05-18T00:05:24Z"},{"alias_kind":"arxiv_version","alias_value":"1809.06690v1","created_at":"2026-05-18T00:05:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.06690","created_at":"2026-05-18T00:05:24Z"},{"alias_kind":"pith_short_12","alias_value":"KH7Y2QV2QDYE","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_16","alias_value":"KH7Y2QV2QDYE3FBD","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_8","alias_value":"KH7Y2QV2","created_at":"2026-05-18T12:32:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:KH7Y2QV2QDYE3FBDQJ36SEUECS","target":"record","payload":{"canonical_record":{"source":{"id":"1809.06690","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-18T13:19:33Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"feb846095948cb93f2ec20ca8dba16d36574cb962beaaf3ff6bac30ad38c97e4","abstract_canon_sha256":"cdbaec2630fa3a4f4bcc01b042269b15e53930f488f4fcd9b2766a85f1c9a6a4"},"schema_version":"1.0"},"canonical_sha256":"51ff8d42ba80f04d94238277e9128414ba3615afc163729fd6d0e7a7b2803d0e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:24.978041Z","signature_b64":"DjkzAhkJzA/LqTReCGoxBDvzZ1x1hQpskGYRR7gandnFm2cWQFJFXEiahWHyhFYwwTKeoHPt4CL5KufHoKdWDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"51ff8d42ba80f04d94238277e9128414ba3615afc163729fd6d0e7a7b2803d0e","last_reissued_at":"2026-05-18T00:05:24.977420Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:24.977420Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.06690","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":"2026-05-18T00:05:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d+v6SF0bnMRUVWR6AkIOOY1WYYoFPa6qEgmlxunkZwOVp/owIIQFRSKqGOK0B1a19xRkoZNddKHA9Q8wPG5jDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T19:59:41.415779Z"},"content_sha256":"5148cf07074325d6ea7e6ce6cfe6a18de91a18f22c7e91fe0127373aee1049ad","schema_version":"1.0","event_id":"sha256:5148cf07074325d6ea7e6ce6cfe6a18de91a18f22c7e91fe0127373aee1049ad"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:KH7Y2QV2QDYE3FBDQJ36SEUECS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Adding Cues to Binary Feature Descriptors for Visual Place Recognition","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Dominik Schlegel, Giorgio Grisetti","submitted_at":"2018-09-18T13:19:33Z","abstract_excerpt":"In this paper we propose an approach to embed continuous and selector cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending each feature descriptor with a binary string that encodes a cue and supports the Hamming distance metric. Augmenting the descriptors in such a way has the advantage of being transparent to the procedure used to compare them. We present two concrete applications of our methodology, demonstrating the two considered types of cues. In addition to that, we conducted on these applications a broad quantitative and comparativ"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.06690","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":""},"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":"2026-05-18T00:05:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s0UWw11fcL0E3PxnKE02CbYYPu5D+gF7HOW3WzSfZNmH/IM90A5zHIw4fRTzbxECYpZFk4DhSWfNvNmgp+4pAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T19:59:41.416523Z"},"content_sha256":"ae7f38e1444e6f1366c30ad5dc506fa9377d74ec829f261c1bb8f790c8fffc9f","schema_version":"1.0","event_id":"sha256:ae7f38e1444e6f1366c30ad5dc506fa9377d74ec829f261c1bb8f790c8fffc9f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KH7Y2QV2QDYE3FBDQJ36SEUECS/bundle.json","state_url":"https://pith.science/pith/KH7Y2QV2QDYE3FBDQJ36SEUECS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KH7Y2QV2QDYE3FBDQJ36SEUECS/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":"2026-06-06T19:59:41Z","links":{"resolver":"https://pith.science/pith/KH7Y2QV2QDYE3FBDQJ36SEUECS","bundle":"https://pith.science/pith/KH7Y2QV2QDYE3FBDQJ36SEUECS/bundle.json","state":"https://pith.science/pith/KH7Y2QV2QDYE3FBDQJ36SEUECS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KH7Y2QV2QDYE3FBDQJ36SEUECS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:KH7Y2QV2QDYE3FBDQJ36SEUECS","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":"cdbaec2630fa3a4f4bcc01b042269b15e53930f488f4fcd9b2766a85f1c9a6a4","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-18T13:19:33Z","title_canon_sha256":"feb846095948cb93f2ec20ca8dba16d36574cb962beaaf3ff6bac30ad38c97e4"},"schema_version":"1.0","source":{"id":"1809.06690","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.06690","created_at":"2026-05-18T00:05:24Z"},{"alias_kind":"arxiv_version","alias_value":"1809.06690v1","created_at":"2026-05-18T00:05:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.06690","created_at":"2026-05-18T00:05:24Z"},{"alias_kind":"pith_short_12","alias_value":"KH7Y2QV2QDYE","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_16","alias_value":"KH7Y2QV2QDYE3FBD","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_8","alias_value":"KH7Y2QV2","created_at":"2026-05-18T12:32:33Z"}],"graph_snapshots":[{"event_id":"sha256:ae7f38e1444e6f1366c30ad5dc506fa9377d74ec829f261c1bb8f790c8fffc9f","target":"graph","created_at":"2026-05-18T00:05:24Z","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":"In this paper we propose an approach to embed continuous and selector cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending each feature descriptor with a binary string that encodes a cue and supports the Hamming distance metric. Augmenting the descriptors in such a way has the advantage of being transparent to the procedure used to compare them. We present two concrete applications of our methodology, demonstrating the two considered types of cues. In addition to that, we conducted on these applications a broad quantitative and comparativ","authors_text":"Dominik Schlegel, Giorgio Grisetti","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-18T13:19:33Z","title":"Adding Cues to Binary Feature Descriptors for Visual Place Recognition"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.06690","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":"sha256:5148cf07074325d6ea7e6ce6cfe6a18de91a18f22c7e91fe0127373aee1049ad","target":"record","created_at":"2026-05-18T00:05:24Z","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":"cdbaec2630fa3a4f4bcc01b042269b15e53930f488f4fcd9b2766a85f1c9a6a4","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-18T13:19:33Z","title_canon_sha256":"feb846095948cb93f2ec20ca8dba16d36574cb962beaaf3ff6bac30ad38c97e4"},"schema_version":"1.0","source":{"id":"1809.06690","kind":"arxiv","version":1}},"canonical_sha256":"51ff8d42ba80f04d94238277e9128414ba3615afc163729fd6d0e7a7b2803d0e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"51ff8d42ba80f04d94238277e9128414ba3615afc163729fd6d0e7a7b2803d0e","first_computed_at":"2026-05-18T00:05:24.977420Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:24.977420Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DjkzAhkJzA/LqTReCGoxBDvzZ1x1hQpskGYRR7gandnFm2cWQFJFXEiahWHyhFYwwTKeoHPt4CL5KufHoKdWDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:24.978041Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.06690","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5148cf07074325d6ea7e6ce6cfe6a18de91a18f22c7e91fe0127373aee1049ad","sha256:ae7f38e1444e6f1366c30ad5dc506fa9377d74ec829f261c1bb8f790c8fffc9f"],"state_sha256":"52036b6d865bec4f52c9278c8a3ce657ed3e7a8d425e3e177e5b3b2cc291eff2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0173kQT/5SJgMQ9eUcUfTQOFJ1MYbLMEGrkSY4UeTsbxNOxdo5GaQeozGV9wxYW6l80jAEWMbDt3Ue82tOVMDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T19:59:41.420786Z","bundle_sha256":"de171f187d846203abffc43e5f0ef0e97ec5380adda0bf01787cafa9d420d3d2"}}