{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:NHQG4AD2SBTUIJCCQDLAYVB35N","short_pith_number":"pith:NHQG4AD2","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"},"canonical_sha256":"69e06e007a906744244280d60c543beb511393e559957ace3ff310c2b33917e8","source":{"kind":"arxiv","id":"1808.02658","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.02658","created_at":"2026-05-18T00:08:34Z"},{"alias_kind":"arxiv_version","alias_value":"1808.02658v1","created_at":"2026-05-18T00:08:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.02658","created_at":"2026-05-18T00:08:34Z"},{"alias_kind":"pith_short_12","alias_value":"NHQG4AD2SBTU","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_16","alias_value":"NHQG4AD2SBTUIJCC","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_8","alias_value":"NHQG4AD2","created_at":"2026-05-18T12:32:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:NHQG4AD2SBTUIJCCQDLAYVB35N","target":"record","payload":{"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"},"canonical_sha256":"69e06e007a906744244280d60c543beb511393e559957ace3ff310c2b33917e8","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"},"source_kind":"arxiv","source_id":"1808.02658","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":"2026-05-18T00:08:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AcQoTxBbxjgLxGSIrluFaHUNfi4fk/0yZKClTzn4hm684fByvJ/3uUTjDXKbMuSATPAl/0Vq4uaMHH0aDKk1Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T22:53:28.254226Z"},"content_sha256":"d97fe3119076d9ec937f102b3b6eb1eb53acdc193ec984709329244f04f74e08","schema_version":"1.0","event_id":"sha256:d97fe3119076d9ec937f102b3b6eb1eb53acdc193ec984709329244f04f74e08"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:NHQG4AD2SBTUIJCCQDLAYVB35N","target":"graph","payload":{"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:08:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gnzbiD/XYRgIrhwza5parhEC5ZuYKNRJgl1RfwF8pi4CNLLKLHLRLYVhE+AQ1a/HUHleQLZbWGWO+fXhUu55AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T22:53:28.254840Z"},"content_sha256":"76e67ecc17fa35df24dd00dd32e4790cada4f1b1050c4265bb817e0ba8b1fdb5","schema_version":"1.0","event_id":"sha256:76e67ecc17fa35df24dd00dd32e4790cada4f1b1050c4265bb817e0ba8b1fdb5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/bundle.json","state_url":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/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":"2026-06-04T22:53:28Z","links":{"resolver":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N","bundle":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/bundle.json","state":"https://pith.science/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NHQG4AD2SBTUIJCCQDLAYVB35N/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:NHQG4AD2SBTUIJCCQDLAYVB35N","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":"4de0e510f95f93189b0574d803f9f8d0283a22ec1e3da135afc175958ce7e1e2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T08:20:11Z","title_canon_sha256":"ef06480d451077984f15e3663121cbad0e5c7cd79d30b2ae149bf1df95b1b8fc"},"schema_version":"1.0","source":{"id":"1808.02658","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.02658","created_at":"2026-05-18T00:08:34Z"},{"alias_kind":"arxiv_version","alias_value":"1808.02658v1","created_at":"2026-05-18T00:08:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.02658","created_at":"2026-05-18T00:08:34Z"},{"alias_kind":"pith_short_12","alias_value":"NHQG4AD2SBTU","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_16","alias_value":"NHQG4AD2SBTUIJCC","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_8","alias_value":"NHQG4AD2","created_at":"2026-05-18T12:32:40Z"}],"graph_snapshots":[{"event_id":"sha256:76e67ecc17fa35df24dd00dd32e4790cada4f1b1050c4265bb817e0ba8b1fdb5","target":"graph","created_at":"2026-05-18T00:08:34Z","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":"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","authors_text":"Cesar Cadena, Igor Gilitschenski, Juan Nieto, Marcin Dymczyk, Mathias B\\\"urki, Roland Siegwart","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T08:20:11Z","title":"Map Management for Efficient Long-Term Visual Localization in Outdoor Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.02658","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:d97fe3119076d9ec937f102b3b6eb1eb53acdc193ec984709329244f04f74e08","target":"record","created_at":"2026-05-18T00:08:34Z","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":"4de0e510f95f93189b0574d803f9f8d0283a22ec1e3da135afc175958ce7e1e2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T08:20:11Z","title_canon_sha256":"ef06480d451077984f15e3663121cbad0e5c7cd79d30b2ae149bf1df95b1b8fc"},"schema_version":"1.0","source":{"id":"1808.02658","kind":"arxiv","version":1}},"canonical_sha256":"69e06e007a906744244280d60c543beb511393e559957ace3ff310c2b33917e8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"69e06e007a906744244280d60c543beb511393e559957ace3ff310c2b33917e8","first_computed_at":"2026-05-18T00:08:34.725425Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:08:34.725425Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4F9euDQaJV1fXNLYJ4rmtC4xO/fOqhvkUY9VUe1Gbaidfi3hQcZO5IFTOr5paZluPa+gO+u0+Hcby4Kdx9YRAw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:08:34.726038Z","signed_message":"canonical_sha256_bytes"},"source_id":"1808.02658","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d97fe3119076d9ec937f102b3b6eb1eb53acdc193ec984709329244f04f74e08","sha256:76e67ecc17fa35df24dd00dd32e4790cada4f1b1050c4265bb817e0ba8b1fdb5"],"state_sha256":"1e53cee94d9404c57a8cbeba28d64338390c8ba2ed57fd0277995d23ca9f196c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dZ+VSgP/kLt8HsQdQrqDYir/vVZz+7/oc/j4HrzdhmlBjcU5o135ftbELuYuJtapf/Xf8zoqa2mgPAeK3ODMCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-04T22:53:28.258247Z","bundle_sha256":"4286271cde99da4c132fccf116ad33f5c2f475caaf59a8e17526d57c68a3868f"}}