{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:KIN6QAMAH6KLXFVJPEHSFASTQP","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":"3150487ffbc3f22bd815e2a0778b1227c6bb39b522f128f5847a483f24e3c65c","cross_cats_sorted":["stat.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-03-16T16:03:23Z","title_canon_sha256":"7ac932474cb6d8569d7958a9b2c086f936b3f230d877e076ae432605656b5069"},"schema_version":"1.0","source":{"id":"1503.04701","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1503.04701","created_at":"2026-05-18T01:30:34Z"},{"alias_kind":"arxiv_version","alias_value":"1503.04701v3","created_at":"2026-05-18T01:30:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1503.04701","created_at":"2026-05-18T01:30:34Z"},{"alias_kind":"pith_short_12","alias_value":"KIN6QAMAH6KL","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_16","alias_value":"KIN6QAMAH6KLXFVJ","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_8","alias_value":"KIN6QAMA","created_at":"2026-05-18T12:29:27Z"}],"graph_snapshots":[{"event_id":"sha256:d7d2f2d8ec85694a285c2ea695aaeb777390c8349a3addc152a00a9bc1613e64","target":"graph","created_at":"2026-05-18T01:30:34Z","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 note an intrinsic version of the Cram\\'er-Rao bound on estimation accuracy is established on the Special Orthogonal group $SO(3)$. It is intrinsic in the sense that it does not rely on a specific choice of coordinates on $SO(3)$: the result is derived using rotation matrices, but remains valid when using other parameterizations, such as quaternions. For any estimator $\\hat R$ of $R\\in SO(3)$ we give indeed a lower bound on the quantity $E(\\log(R\\hat R^T))$, that is, the estimation error expressed in terms of group multiplication, whereas the usual estimation error $E(\\hat R-R)$ is mean","authors_text":"Axel Barrau, Silv\\`ere Bonnabel","cross_cats":["stat.AP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-03-16T16:03:23Z","title":"An intrinsic Cram\\'er-Rao bound on SO(3) for (dynamic) attitude filtering"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1503.04701","kind":"arxiv","version":3},"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:a28630ecc06fa0d3239286f2673c6a352b503d0381e61c517b8ca40f868db52d","target":"record","created_at":"2026-05-18T01:30:34Z","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":"3150487ffbc3f22bd815e2a0778b1227c6bb39b522f128f5847a483f24e3c65c","cross_cats_sorted":["stat.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-03-16T16:03:23Z","title_canon_sha256":"7ac932474cb6d8569d7958a9b2c086f936b3f230d877e076ae432605656b5069"},"schema_version":"1.0","source":{"id":"1503.04701","kind":"arxiv","version":3}},"canonical_sha256":"521be801803f94bb96a9790f22825383c1aae803071fbd1807ff22e98574c080","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"521be801803f94bb96a9790f22825383c1aae803071fbd1807ff22e98574c080","first_computed_at":"2026-05-18T01:30:34.756297Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:30:34.756297Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"d3cmWZGY6MtNF7/Redrjs+/gV0iMWsOag8nEjHnkonp1bWvdPY5I06zCKnYbRkb+cNLX06or0Notyl+LqMKbCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:30:34.757030Z","signed_message":"canonical_sha256_bytes"},"source_id":"1503.04701","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a28630ecc06fa0d3239286f2673c6a352b503d0381e61c517b8ca40f868db52d","sha256:d7d2f2d8ec85694a285c2ea695aaeb777390c8349a3addc152a00a9bc1613e64"],"state_sha256":"93a328e86dd0a06ffde5271c48e29f77fb3362a295a12cf0bc1d572e16a6c3f2"}