{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:KONHQDELPRPCZFHO4ORHYZTFXE","short_pith_number":"pith:KONHQDEL","canonical_record":{"source":{"id":"2209.08810","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-19T07:48:28Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"9bc8d050739494cc556aa6b4ab0249d5b5b9df0f1652da08c1ceb4458a26e451","abstract_canon_sha256":"2e77a0677f7b5a11a35888b18218f9902983417f3a13892d4cd0fb051d5982c7"},"schema_version":"1.0"},"canonical_sha256":"539a780c8b7c5e2c94eee3a27c6665b91d540f9a77d4d49c06985f43d5e156e3","source":{"kind":"arxiv","id":"2209.08810","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.08810","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"arxiv_version","alias_value":"2209.08810v1","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.08810","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"pith_short_12","alias_value":"KONHQDELPRPC","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"pith_short_16","alias_value":"KONHQDELPRPCZFHO","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"pith_short_8","alias_value":"KONHQDEL","created_at":"2026-07-05T04:58:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:KONHQDELPRPCZFHO4ORHYZTFXE","target":"record","payload":{"canonical_record":{"source":{"id":"2209.08810","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-19T07:48:28Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"9bc8d050739494cc556aa6b4ab0249d5b5b9df0f1652da08c1ceb4458a26e451","abstract_canon_sha256":"2e77a0677f7b5a11a35888b18218f9902983417f3a13892d4cd0fb051d5982c7"},"schema_version":"1.0"},"canonical_sha256":"539a780c8b7c5e2c94eee3a27c6665b91d540f9a77d4d49c06985f43d5e156e3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:58:46.392190Z","signature_b64":"FvaRzf3IcqpPsQWXqz0nLvI5DD+p/64k8OVSMBqxwZo5ClCyGS10oZVPE0OoqtshHOqfcleE0QlRNybaw/O3Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"539a780c8b7c5e2c94eee3a27c6665b91d540f9a77d4d49c06985f43d5e156e3","last_reissued_at":"2026-07-05T04:58:46.391767Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:58:46.391767Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.08810","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":"2026-07-05T04:58:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0kJpcXiLyiw9sjhNywP/yahWOvfegVrNT5+2BJTaedGRNti4L+b/tE5EJnrSJtDagfRk4DhOVZ2ehXb5ceJIDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T01:22:50.042010Z"},"content_sha256":"e553c6bbfe09433441e86143d9e683ddc444a9d71530d9562e7e3766afbf4297","schema_version":"1.0","event_id":"sha256:e553c6bbfe09433441e86143d9e683ddc444a9d71530d9562e7e3766afbf4297"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:KONHQDELPRPCZFHO4ORHYZTFXE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LMBAO: A Landmark Map for Bundle Adjustment Odometry in LiDAR SLAM","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Jinping Wang, Letian Zhang, Lu Jie, Nanjie Chen, Xiaojun Tan, Zhifei Duan","submitted_at":"2022-09-19T07:48:28Z","abstract_excerpt":"LiDAR odometry is one of the essential parts of LiDAR simultaneous localization and mapping (SLAM). However, existing LiDAR odometry tends to match a new scan simply iteratively with previous fixed-pose scans, gradually accumulating errors. Furthermore, as an effective joint optimization mechanism, bundle adjustment (BA) cannot be directly introduced into real-time odometry due to the intensive computation of large-scale global landmarks. Therefore, this letter designs a new strategy named a landmark map for bundle adjustment odometry (LMBAO) in LiDAR SLAM to solve these problems. First, BA-ba"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.08810","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2209.08810/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T04:58:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vkZd47y59haoF6hRZbIYAyXPnpt2owY1MbiAu69wNZFK1BRbUiJDkgTDdhcnUuceVi42tNVzpJosYwfIBOFQBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T01:22:50.042419Z"},"content_sha256":"0c96b95c5cab1fd7b83518af76f09bd63e551e363b2c587d2b2da1c176179d50","schema_version":"1.0","event_id":"sha256:0c96b95c5cab1fd7b83518af76f09bd63e551e363b2c587d2b2da1c176179d50"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KONHQDELPRPCZFHO4ORHYZTFXE/bundle.json","state_url":"https://pith.science/pith/KONHQDELPRPCZFHO4ORHYZTFXE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KONHQDELPRPCZFHO4ORHYZTFXE/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":"2026-07-09T01:22:50Z","links":{"resolver":"https://pith.science/pith/KONHQDELPRPCZFHO4ORHYZTFXE","bundle":"https://pith.science/pith/KONHQDELPRPCZFHO4ORHYZTFXE/bundle.json","state":"https://pith.science/pith/KONHQDELPRPCZFHO4ORHYZTFXE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KONHQDELPRPCZFHO4ORHYZTFXE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:KONHQDELPRPCZFHO4ORHYZTFXE","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":"2e77a0677f7b5a11a35888b18218f9902983417f3a13892d4cd0fb051d5982c7","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-19T07:48:28Z","title_canon_sha256":"9bc8d050739494cc556aa6b4ab0249d5b5b9df0f1652da08c1ceb4458a26e451"},"schema_version":"1.0","source":{"id":"2209.08810","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.08810","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"arxiv_version","alias_value":"2209.08810v1","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.08810","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"pith_short_12","alias_value":"KONHQDELPRPC","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"pith_short_16","alias_value":"KONHQDELPRPCZFHO","created_at":"2026-07-05T04:58:46Z"},{"alias_kind":"pith_short_8","alias_value":"KONHQDEL","created_at":"2026-07-05T04:58:46Z"}],"graph_snapshots":[{"event_id":"sha256:0c96b95c5cab1fd7b83518af76f09bd63e551e363b2c587d2b2da1c176179d50","target":"graph","created_at":"2026-07-05T04:58:46Z","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/2209.08810/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"LiDAR odometry is one of the essential parts of LiDAR simultaneous localization and mapping (SLAM). However, existing LiDAR odometry tends to match a new scan simply iteratively with previous fixed-pose scans, gradually accumulating errors. Furthermore, as an effective joint optimization mechanism, bundle adjustment (BA) cannot be directly introduced into real-time odometry due to the intensive computation of large-scale global landmarks. Therefore, this letter designs a new strategy named a landmark map for bundle adjustment odometry (LMBAO) in LiDAR SLAM to solve these problems. First, BA-ba","authors_text":"Jinping Wang, Letian Zhang, Lu Jie, Nanjie Chen, Xiaojun Tan, Zhifei Duan","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-19T07:48:28Z","title":"LMBAO: A Landmark Map for Bundle Adjustment Odometry in LiDAR SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.08810","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:e553c6bbfe09433441e86143d9e683ddc444a9d71530d9562e7e3766afbf4297","target":"record","created_at":"2026-07-05T04:58:46Z","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":"2e77a0677f7b5a11a35888b18218f9902983417f3a13892d4cd0fb051d5982c7","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-09-19T07:48:28Z","title_canon_sha256":"9bc8d050739494cc556aa6b4ab0249d5b5b9df0f1652da08c1ceb4458a26e451"},"schema_version":"1.0","source":{"id":"2209.08810","kind":"arxiv","version":1}},"canonical_sha256":"539a780c8b7c5e2c94eee3a27c6665b91d540f9a77d4d49c06985f43d5e156e3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"539a780c8b7c5e2c94eee3a27c6665b91d540f9a77d4d49c06985f43d5e156e3","first_computed_at":"2026-07-05T04:58:46.391767Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:58:46.391767Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FvaRzf3IcqpPsQWXqz0nLvI5DD+p/64k8OVSMBqxwZo5ClCyGS10oZVPE0OoqtshHOqfcleE0QlRNybaw/O3Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:58:46.392190Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.08810","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e553c6bbfe09433441e86143d9e683ddc444a9d71530d9562e7e3766afbf4297","sha256:0c96b95c5cab1fd7b83518af76f09bd63e551e363b2c587d2b2da1c176179d50"],"state_sha256":"cdea8d7e2bf9e6134f1b10b8d1bd3992383ad0950449abfd6b897e61ab58e75d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F+exNl0awlY6NIZkKGyFFxAZ1TSZfSSefpjaJTSj3z4KfJIfLE827aWhFf7eoVpXI0jznqb5yZIcd/K9bp/5Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T01:22:50.044831Z","bundle_sha256":"c2c38eb30efaf4d079df853f459b6d2df45e46fcaa2902812f4ff0e2f0b3c7f4"}}