{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:MQU6AFHMOWDRXA7N5QLDMV45UP","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":"d482cd8a1c4d93a6eb1cbb886bd55847bd8d2e6b575edf50debd675822b50067","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2016-06-15T16:15:00Z","title_canon_sha256":"7f98aaa2f5adc37e3c747addc0c7b188099c193d1d9498876768eaaecfa62a42"},"schema_version":"1.0","source":{"id":"1606.04836","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1606.04836","created_at":"2026-05-18T01:12:23Z"},{"alias_kind":"arxiv_version","alias_value":"1606.04836v1","created_at":"2026-05-18T01:12:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1606.04836","created_at":"2026-05-18T01:12:23Z"},{"alias_kind":"pith_short_12","alias_value":"MQU6AFHMOWDR","created_at":"2026-05-18T12:30:32Z"},{"alias_kind":"pith_short_16","alias_value":"MQU6AFHMOWDRXA7N","created_at":"2026-05-18T12:30:32Z"},{"alias_kind":"pith_short_8","alias_value":"MQU6AFHM","created_at":"2026-05-18T12:30:32Z"}],"graph_snapshots":[{"event_id":"sha256:735b741ca6a204e810111ab274db153d7ea82628dffd4369a37ee30e00c8cbfb","target":"graph","created_at":"2026-05-18T01:12:23Z","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":"Maps --- specifically floor plans --- are useful for a variety of tasks from arranging furniture to designating conceptual or functional spaces (e.g., kitchen, walkway). We present a simple algorithm for quickly laying a floor plan (or other conceptual map) onto a SLAM map, creating a one-to-one mapping between them. Our goal was to enable using a floor plan (or other hand-drawn or annotated map) in robotic applications instead of the typical SLAM map created by the robot. We look at two use cases, specifying \"no-go\" regions within a room and locating objects within a scanned room. Although a ","authors_text":"Alex Hubers, Cindy Grimm, Leo Bowen-Biggs, Matthew Rueben, Ross Sowell, Suzanne Dazo, William D. Smart, Yili Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2016-06-15T16:15:00Z","title":"Sketched Floor plans versus SLAM maps: A Comparison"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1606.04836","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":"sha256:5fdccb178ad4502aa2d9f3f0f9b840438166f83a20f64beb374688f7518249fb","target":"record","created_at":"2026-05-18T01:12:23Z","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":"d482cd8a1c4d93a6eb1cbb886bd55847bd8d2e6b575edf50debd675822b50067","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2016-06-15T16:15:00Z","title_canon_sha256":"7f98aaa2f5adc37e3c747addc0c7b188099c193d1d9498876768eaaecfa62a42"},"schema_version":"1.0","source":{"id":"1606.04836","kind":"arxiv","version":1}},"canonical_sha256":"6429e014ec75871b83edec1636579da3fd2da59a0af4ac01f0e0429a9f198bfc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6429e014ec75871b83edec1636579da3fd2da59a0af4ac01f0e0429a9f198bfc","first_computed_at":"2026-05-18T01:12:23.280305Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:12:23.280305Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZuDDMzmbrjecVuy9CggU1SB21byGGP6T50UIqrK81G9BV0LdLG/DwRoJQXt9R9kl14troFMJy5El7yOgCrWKCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:12:23.280653Z","signed_message":"canonical_sha256_bytes"},"source_id":"1606.04836","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5fdccb178ad4502aa2d9f3f0f9b840438166f83a20f64beb374688f7518249fb","sha256:735b741ca6a204e810111ab274db153d7ea82628dffd4369a37ee30e00c8cbfb"],"state_sha256":"562b47650a927037f6210fa02f6e019fd289c05ff0ce7403f8bc8898bf6ae45f"}