{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:NHQG4AD2SBTUIJCCQDLAYVB35N","short_pith_number":"pith:NHQG4AD2","schema_version":"1.0","canonical_sha256":"69e06e007a906744244280d60c543beb511393e559957ace3ff310c2b33917e8","source":{"kind":"arxiv","id":"1808.02658","version":1},"attestation_state":"computed","paper":{"title":"Map Management for Efficient Long-Term Visual Localization in Outdoor Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cesar Cadena, Igor Gilitschenski, Juan Nieto, Marcin Dymczyk, Mathias B\\\"urki, Roland Siegwart","submitted_at":"2018-08-08T08:20:11Z","abstract_excerpt":"We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that need to be incorporated into a lifelong visual map in order to allow localization at all times and under all appearance conditions. Processing these large quantities of data is non- trivial, as it is subject to limited computational and storage capabilities both on the vehicle and on the mapping backend. We address this problem with a two-fold map update parad"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1808.02658","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T08:20:11Z","cross_cats_sorted":[],"title_canon_sha256":"ef06480d451077984f15e3663121cbad0e5c7cd79d30b2ae149bf1df95b1b8fc","abstract_canon_sha256":"4de0e510f95f93189b0574d803f9f8d0283a22ec1e3da135afc175958ce7e1e2"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:08:34.726038Z","signature_b64":"4F9euDQaJV1fXNLYJ4rmtC4xO/fOqhvkUY9VUe1Gbaidfi3hQcZO5IFTOr5paZluPa+gO+u0+Hcby4Kdx9YRAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"69e06e007a906744244280d60c543beb511393e559957ace3ff310c2b33917e8","last_reissued_at":"2026-05-18T00:08:34.725425Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:08:34.725425Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Map Management for Efficient Long-Term Visual Localization in Outdoor Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cesar Cadena, Igor Gilitschenski, Juan Nieto, Marcin Dymczyk, Mathias B\\\"urki, Roland Siegwart","submitted_at":"2018-08-08T08:20:11Z","abstract_excerpt":"We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that need to be incorporated into a lifelong visual map in order to allow localization at all times and under all appearance conditions. Processing these large quantities of data is non- trivial, as it is subject to limited computational and storage capabilities both on the vehicle and on the mapping backend. We address this problem with a two-fold map update parad"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.02658","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1808.02658","created_at":"2026-05-18T00:08:34.725499+00:00"},{"alias_kind":"arxiv_version","alias_value":"1808.02658v1","created_at":"2026-05-18T00:08:34.725499+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.02658","created_at":"2026-05-18T00:08:34.725499+00:00"},{"alias_kind":"pith_short_12","alias_value":"NHQG4AD2SBTU","created_at":"2026-05-18T12:32:40.477152+00:00"},{"alias_kind":"pith_short_16","alias_value":"NHQG4AD2SBTUIJCC","created_at":"2026-05-18T12:32:40.477152+00:00"},{"alias_kind":"pith_short_8","alias_value":"NHQG4AD2","created_at":"2026-05-18T12:32:40.477152+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N","json":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N.json","graph_json":"https://pith.science/api/pith-number/NHQG4AD2SBTUIJCCQDLAYVB35N/graph.json","events_json":"https://pith.science/api/pith-number/NHQG4AD2SBTUIJCCQDLAYVB35N/events.json","paper":"https://pith.science/paper/NHQG4AD2"},"agent_actions":{"view_html":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N","download_json":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N.json","view_paper":"https://pith.science/paper/NHQG4AD2","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1808.02658&json=true","fetch_graph":"https://pith.science/api/pith-number/NHQG4AD2SBTUIJCCQDLAYVB35N/graph.json","fetch_events":"https://pith.science/api/pith-number/NHQG4AD2SBTUIJCCQDLAYVB35N/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/action/storage_attestation","attest_author":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/action/author_attestation","sign_citation":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/action/citation_signature","submit_replication":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/action/replication_record"}},"created_at":"2026-05-18T00:08:34.725499+00:00","updated_at":"2026-05-18T00:08:34.725499+00:00"}