{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:L3UT3WNF4ZX2WIBUUVAC6LNDGM","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":"dbc36a07acae3b309901ffd94edb800181608a42deae4e1dac371ecd64dc3db6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-16T20:18:13Z","title_canon_sha256":"98be974b1c933d842a5d3586b39e05a8af18020ebfe72843b2f84a1ef0c9a258"},"schema_version":"1.0","source":{"id":"2203.08925","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.08925","created_at":"2026-07-05T04:06:04Z"},{"alias_kind":"arxiv_version","alias_value":"2203.08925v1","created_at":"2026-07-05T04:06:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.08925","created_at":"2026-07-05T04:06:04Z"},{"alias_kind":"pith_short_12","alias_value":"L3UT3WNF4ZX2","created_at":"2026-07-05T04:06:04Z"},{"alias_kind":"pith_short_16","alias_value":"L3UT3WNF4ZX2WIBU","created_at":"2026-07-05T04:06:04Z"},{"alias_kind":"pith_short_8","alias_value":"L3UT3WNF","created_at":"2026-07-05T04:06:04Z"}],"graph_snapshots":[{"event_id":"sha256:b5a59acbc642252881a557c167214adae339afe298e6495a82893ceac77bdc75","target":"graph","created_at":"2026-07-05T04:06:04Z","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/2203.08925/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation but provide no means of registering the local map to a global one, which can be important for inter-robot collaboration or human interaction. In this work, we present a real-time method for utilizing semantics to globally localize a robot using only egocentric 3D semantically labelled LiDAR and IMU as well as top-down RGB images obtained from satellites or aerial robots. Additionally, as it runs, our method builds a","authors_text":"Anthony Cowley, Camillo Jose Taylor, Ian D. Miller, Ravi Konkimalla, Shreyas S. Shivakumar, Trey Smith, Ty Nguyen, Vijay Kumar","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-16T20:18:13Z","title":"Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.08925","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":"sha256:0157757f038d15122d38397ad0d1ac579c522c99574c2fb7a8123c57ec39a568","target":"record","created_at":"2026-07-05T04:06:04Z","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":"dbc36a07acae3b309901ffd94edb800181608a42deae4e1dac371ecd64dc3db6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-16T20:18:13Z","title_canon_sha256":"98be974b1c933d842a5d3586b39e05a8af18020ebfe72843b2f84a1ef0c9a258"},"schema_version":"1.0","source":{"id":"2203.08925","kind":"arxiv","version":1}},"canonical_sha256":"5ee93dd9a5e66fab2034a5402f2da33331885b04a0c9d79a177f2cdca07ea201","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5ee93dd9a5e66fab2034a5402f2da33331885b04a0c9d79a177f2cdca07ea201","first_computed_at":"2026-07-05T04:06:04.773689Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:06:04.773689Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nugZ8yC69vYDI5iVlHZLPZONiVQvCyqVTGSroH43dLTFi29MCsB54TYh7VgqvM9aBgYATveMeOKn1iy9jOKgAw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:06:04.774166Z","signed_message":"canonical_sha256_bytes"},"source_id":"2203.08925","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0157757f038d15122d38397ad0d1ac579c522c99574c2fb7a8123c57ec39a568","sha256:b5a59acbc642252881a557c167214adae339afe298e6495a82893ceac77bdc75"],"state_sha256":"0b4569635980313dbb4544239443ea9b8e169a7fca23097d620f0b06b76406d5"}