{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:OO3AJZC5ICVRAZADTN5JE7QLHS","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":"0b262805d836168c2f37a645012b5baf2bb465fe5a4cd30738d3bff2d313545c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T04:16:21Z","title_canon_sha256":"17659faadd4b44dc179d026a7b6295316fee2167b1cc422769097410daac1be1"},"schema_version":"1.0","source":{"id":"2302.14298","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.14298","created_at":"2026-07-05T07:28:08Z"},{"alias_kind":"arxiv_version","alias_value":"2302.14298v2","created_at":"2026-07-05T07:28:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.14298","created_at":"2026-07-05T07:28:08Z"},{"alias_kind":"pith_short_12","alias_value":"OO3AJZC5ICVR","created_at":"2026-07-05T07:28:08Z"},{"alias_kind":"pith_short_16","alias_value":"OO3AJZC5ICVRAZAD","created_at":"2026-07-05T07:28:08Z"},{"alias_kind":"pith_short_8","alias_value":"OO3AJZC5","created_at":"2026-07-05T07:28:08Z"}],"graph_snapshots":[{"event_id":"sha256:40c818e5f6b69bbaecc1ea2e605a4fa370ee10dd280f97daed019ce393f2f737","target":"graph","created_at":"2026-07-05T07:28:08Z","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/2302.14298/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"LiDAR-inertial odometry (LIO), which fuses complementary information of a LiDAR and an Inertial Measurement Unit (IMU), is an attractive solution for state estimation. In LIO, both pose and velocity are regarded as state variables that need to be solved. However, the widely-used Iterative Closest Point (ICP) algorithm can only provide constraint for pose, while the velocity can only be constrained by IMU pre-integration. As a result, the velocity estimates inclined to be updated accordingly with the pose results. In this paper, we propose LIWO, an accurate and robust LiDAR-inertialwheel (LIW) ","authors_text":"Fengtian Lang, Tianle Xu, Xin Yang, Zikang Yuan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T04:16:21Z","title":"LIWO: Lidar-Inertial-Wheel Odometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.14298","kind":"arxiv","version":2},"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:eaccbac1f99e8ed7a860deb4ce903095f10f5ce12a120c95275e514bebd6e1c8","target":"record","created_at":"2026-07-05T07:28:08Z","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":"0b262805d836168c2f37a645012b5baf2bb465fe5a4cd30738d3bff2d313545c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T04:16:21Z","title_canon_sha256":"17659faadd4b44dc179d026a7b6295316fee2167b1cc422769097410daac1be1"},"schema_version":"1.0","source":{"id":"2302.14298","kind":"arxiv","version":2}},"canonical_sha256":"73b604e45d40ab1064039b7a927e0b3c888f4956e2ba6e835e00fbe4aaed9ab5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"73b604e45d40ab1064039b7a927e0b3c888f4956e2ba6e835e00fbe4aaed9ab5","first_computed_at":"2026-07-05T07:28:08.917473Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:28:08.917473Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yH/csAhpnaVY8HOQiP4e304Y3EB5ZxhH6uAQ1RiATH+7IUakcxpX1PMabxdreWvIaFR1TF70KtGuYIjJH4DyBw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:28:08.917929Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.14298","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eaccbac1f99e8ed7a860deb4ce903095f10f5ce12a120c95275e514bebd6e1c8","sha256:40c818e5f6b69bbaecc1ea2e605a4fa370ee10dd280f97daed019ce393f2f737"],"state_sha256":"da60b6aeface96d5e6ebfa9eb5f598a7ad1237dc3d7e514c5045642457c7ae62"}