{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:LPFHYU26O27PTX45P7AWVLP52L","short_pith_number":"pith:LPFHYU26","canonical_record":{"source":{"id":"2110.05650","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-11T23:45:53Z","cross_cats_sorted":[],"title_canon_sha256":"f1a000e1a56817357a38cc42787ab126f680ee3f57a342093e7b13a345024e81","abstract_canon_sha256":"7a3c1b75f897c32e10c2cf19ab1b500b9714543ff1e7845a8ab03c05c993dae9"},"schema_version":"1.0"},"canonical_sha256":"5bca7c535e76bef9df9d7fc16aadfdd2f97ef61b417e3cf597feff700e43deaa","source":{"kind":"arxiv","id":"2110.05650","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.05650","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"arxiv_version","alias_value":"2110.05650v1","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.05650","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"pith_short_12","alias_value":"LPFHYU26O27P","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"pith_short_16","alias_value":"LPFHYU26O27PTX45","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"pith_short_8","alias_value":"LPFHYU26","created_at":"2026-07-05T03:48:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:LPFHYU26O27PTX45P7AWVLP52L","target":"record","payload":{"canonical_record":{"source":{"id":"2110.05650","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-11T23:45:53Z","cross_cats_sorted":[],"title_canon_sha256":"f1a000e1a56817357a38cc42787ab126f680ee3f57a342093e7b13a345024e81","abstract_canon_sha256":"7a3c1b75f897c32e10c2cf19ab1b500b9714543ff1e7845a8ab03c05c993dae9"},"schema_version":"1.0"},"canonical_sha256":"5bca7c535e76bef9df9d7fc16aadfdd2f97ef61b417e3cf597feff700e43deaa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:48:08.541878Z","signature_b64":"EiSBBctuGuvbqdds3LYpsYfHns5otYGgh8Plz32QBMaIeBevFaXPZaiI3XrFLTEk6bNOQwjOpKreNuqSKIDuDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5bca7c535e76bef9df9d7fc16aadfdd2f97ef61b417e3cf597feff700e43deaa","last_reissued_at":"2026-07-05T03:48:08.541411Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:48:08.541411Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.05650","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":"2026-07-05T03:48:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SGcQ+3EnXpnzbV5U/Ql25DdLtc99z7BLiDPhK3rBC5vdm6LrgVTZlyuvKeV1TtCAEwf0HgjbumUaaYZ4/aNeAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T16:27:02.045769Z"},"content_sha256":"6879406d7f4b8f226e02b18aed1022502f3d0af80d6d2d538b17d4d4d3c31947","schema_version":"1.0","event_id":"sha256:6879406d7f4b8f226e02b18aed1022502f3d0af80d6d2d538b17d4d4d3c31947"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:LPFHYU26O27PTX45P7AWVLP52L","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GM-Livox: An Integrated Framework for Large-Scale Map Construction with Multiple Non-repetitive Scanning LiDARs","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Huan Yu, Weiwei Song, Yidong Lou, Yusheng Wang, Zhiyong Tu","submitted_at":"2021-10-11T23:45:53Z","abstract_excerpt":"With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware failure and performance degradation intermittently, we present a multi-LiDAR integration scheme in this article. Our framework tightly couples multiple non-repetitive scanning LiDARs with inertial, encoder, and global navigation satellite system (GNSS) into pose estimation and simultaneous global map generation. Primarily, we formulate a precise synchronizatio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.05650","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/2110.05650/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":"2026-07-05T03:48:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bNMG9MsyEmhqftffVx8nHcyABiJppYxzjGG/h/b9I0kENUgXHSG9d+lr9cWyIwjIWab0R3PChOMomtxhncZBDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T16:27:02.046258Z"},"content_sha256":"a2c2ebd2498fd92dd7c8917e5b75a1fd13558d3ff7279e1ffef938cb0b3acdba","schema_version":"1.0","event_id":"sha256:a2c2ebd2498fd92dd7c8917e5b75a1fd13558d3ff7279e1ffef938cb0b3acdba"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LPFHYU26O27PTX45P7AWVLP52L/bundle.json","state_url":"https://pith.science/pith/LPFHYU26O27PTX45P7AWVLP52L/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LPFHYU26O27PTX45P7AWVLP52L/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":"2026-07-08T16:27:02Z","links":{"resolver":"https://pith.science/pith/LPFHYU26O27PTX45P7AWVLP52L","bundle":"https://pith.science/pith/LPFHYU26O27PTX45P7AWVLP52L/bundle.json","state":"https://pith.science/pith/LPFHYU26O27PTX45P7AWVLP52L/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LPFHYU26O27PTX45P7AWVLP52L/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:LPFHYU26O27PTX45P7AWVLP52L","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":"7a3c1b75f897c32e10c2cf19ab1b500b9714543ff1e7845a8ab03c05c993dae9","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-11T23:45:53Z","title_canon_sha256":"f1a000e1a56817357a38cc42787ab126f680ee3f57a342093e7b13a345024e81"},"schema_version":"1.0","source":{"id":"2110.05650","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.05650","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"arxiv_version","alias_value":"2110.05650v1","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.05650","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"pith_short_12","alias_value":"LPFHYU26O27P","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"pith_short_16","alias_value":"LPFHYU26O27PTX45","created_at":"2026-07-05T03:48:08Z"},{"alias_kind":"pith_short_8","alias_value":"LPFHYU26","created_at":"2026-07-05T03:48:08Z"}],"graph_snapshots":[{"event_id":"sha256:a2c2ebd2498fd92dd7c8917e5b75a1fd13558d3ff7279e1ffef938cb0b3acdba","target":"graph","created_at":"2026-07-05T03:48:08Z","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/2110.05650/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware failure and performance degradation intermittently, we present a multi-LiDAR integration scheme in this article. Our framework tightly couples multiple non-repetitive scanning LiDARs with inertial, encoder, and global navigation satellite system (GNSS) into pose estimation and simultaneous global map generation. Primarily, we formulate a precise synchronizatio","authors_text":"Huan Yu, Weiwei Song, Yidong Lou, Yusheng Wang, Zhiyong Tu","cross_cats":[],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-11T23:45:53Z","title":"GM-Livox: An Integrated Framework for Large-Scale Map Construction with Multiple Non-repetitive Scanning LiDARs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.05650","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":"sha256:6879406d7f4b8f226e02b18aed1022502f3d0af80d6d2d538b17d4d4d3c31947","target":"record","created_at":"2026-07-05T03:48:08Z","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":"7a3c1b75f897c32e10c2cf19ab1b500b9714543ff1e7845a8ab03c05c993dae9","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-11T23:45:53Z","title_canon_sha256":"f1a000e1a56817357a38cc42787ab126f680ee3f57a342093e7b13a345024e81"},"schema_version":"1.0","source":{"id":"2110.05650","kind":"arxiv","version":1}},"canonical_sha256":"5bca7c535e76bef9df9d7fc16aadfdd2f97ef61b417e3cf597feff700e43deaa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5bca7c535e76bef9df9d7fc16aadfdd2f97ef61b417e3cf597feff700e43deaa","first_computed_at":"2026-07-05T03:48:08.541411Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:48:08.541411Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EiSBBctuGuvbqdds3LYpsYfHns5otYGgh8Plz32QBMaIeBevFaXPZaiI3XrFLTEk6bNOQwjOpKreNuqSKIDuDA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:48:08.541878Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.05650","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6879406d7f4b8f226e02b18aed1022502f3d0af80d6d2d538b17d4d4d3c31947","sha256:a2c2ebd2498fd92dd7c8917e5b75a1fd13558d3ff7279e1ffef938cb0b3acdba"],"state_sha256":"787a63356429574ca923631c6ff4d5e3ea9757ed6295900099b8b0bbba87cd16"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yxDhESlMiqSqrji7HI+pM7bwTj15NBfebrMZf1brmmAW+jXjPtbiqzsDy8gTeX/ihUvZ9+9fVj/v2OAHfMprDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T16:27:02.048409Z","bundle_sha256":"04910312d0b6046be0c8f5b88cdc5254e5628fbea7717cc316d914ae2b4460d6"}}