{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:ONPOENLCM4MVJVNNHRIWRWRFG2","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":"c4d7db6f1f36e98b67ff2e3c0701973a7c0cb1ef99d452bc5d820ef56dda77de","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-16T06:59:28Z","title_canon_sha256":"a8b38ea1b56cb131ade8e0ff4ee5e12a4f202ab0db9aa52e35ec20bd78467db1"},"schema_version":"1.0","source":{"id":"2010.08196","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.08196","created_at":"2026-07-05T02:32:01Z"},{"alias_kind":"arxiv_version","alias_value":"2010.08196v3","created_at":"2026-07-05T02:32:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.08196","created_at":"2026-07-05T02:32:01Z"},{"alias_kind":"pith_short_12","alias_value":"ONPOENLCM4MV","created_at":"2026-07-05T02:32:01Z"},{"alias_kind":"pith_short_16","alias_value":"ONPOENLCM4MVJVNN","created_at":"2026-07-05T02:32:01Z"},{"alias_kind":"pith_short_8","alias_value":"ONPOENLC","created_at":"2026-07-05T02:32:01Z"}],"graph_snapshots":[{"event_id":"sha256:2ee4ec5d1de6d8e06d367ee9a4b70e2c6bfcdd54238bbfce67f334ed81aa3d70","target":"graph","created_at":"2026-07-05T02:32:01Z","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/2010.08196/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. To lower the computation load in the presence of large number of measurements, we present a new formula to compute the Kalman gain. The new formula has computation load depending on the state dimension instead of the measurement dimension. The proposed method and its implementation are tested in various ","authors_text":"Fu Zhang, Wei Xu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-16T06:59:28Z","title":"FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.08196","kind":"arxiv","version":3},"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:d8a75a1eb27c1717cbe4f944cb653bfb53a9b19b712fde15946d2a39940b396b","target":"record","created_at":"2026-07-05T02:32:01Z","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":"c4d7db6f1f36e98b67ff2e3c0701973a7c0cb1ef99d452bc5d820ef56dda77de","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-16T06:59:28Z","title_canon_sha256":"a8b38ea1b56cb131ade8e0ff4ee5e12a4f202ab0db9aa52e35ec20bd78467db1"},"schema_version":"1.0","source":{"id":"2010.08196","kind":"arxiv","version":3}},"canonical_sha256":"735ee23562671954d5ad3c5168da25368eeb3bbc38a4e5643cc94d53d3adfe60","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"735ee23562671954d5ad3c5168da25368eeb3bbc38a4e5643cc94d53d3adfe60","first_computed_at":"2026-07-05T02:32:01.229198Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:32:01.229198Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k/uK1+Tpq3jVqwxMcA6Uq8O7xKoqUng3qt3jqvwfrkYRXGpD19vl2a+DrJ49OXBCXxsqeJDTnaUMn1gcGwDXBw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:32:01.229690Z","signed_message":"canonical_sha256_bytes"},"source_id":"2010.08196","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d8a75a1eb27c1717cbe4f944cb653bfb53a9b19b712fde15946d2a39940b396b","sha256:2ee4ec5d1de6d8e06d367ee9a4b70e2c6bfcdd54238bbfce67f334ed81aa3d70"],"state_sha256":"75d174737d98d66c597d9610cb4fef2985feb38fb373be1bcef6952a7b67883e"}