{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:P342FFWOXBBTUQTV43MZQ33JMT","short_pith_number":"pith:P342FFWO","canonical_record":{"source":{"id":"2410.12169","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T02:17:07Z","cross_cats_sorted":[],"title_canon_sha256":"59a4677bf354dbb4b0f6b0ab788768b38072b80145d9bb2afa9e36d5214b595c","abstract_canon_sha256":"71fdea67896255384f3d9dd3d25b3ae0e5697b19961eb2904c0769fa53ef92ca"},"schema_version":"1.0"},"canonical_sha256":"7ef9a296ceb8433a4275e6d9986f6964e8184c8626e446c53ef4c7b99fa3e809","source":{"kind":"arxiv","id":"2410.12169","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.12169","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"arxiv_version","alias_value":"2410.12169v2","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.12169","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"pith_short_12","alias_value":"P342FFWOXBBT","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"pith_short_16","alias_value":"P342FFWOXBBTUQTV","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"pith_short_8","alias_value":"P342FFWO","created_at":"2026-07-05T11:35:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:P342FFWOXBBTUQTV43MZQ33JMT","target":"record","payload":{"canonical_record":{"source":{"id":"2410.12169","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T02:17:07Z","cross_cats_sorted":[],"title_canon_sha256":"59a4677bf354dbb4b0f6b0ab788768b38072b80145d9bb2afa9e36d5214b595c","abstract_canon_sha256":"71fdea67896255384f3d9dd3d25b3ae0e5697b19961eb2904c0769fa53ef92ca"},"schema_version":"1.0"},"canonical_sha256":"7ef9a296ceb8433a4275e6d9986f6964e8184c8626e446c53ef4c7b99fa3e809","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:35:30.325360Z","signature_b64":"eoA26V/dwxT6iWPheNEZ7HwqtFoJ0H3UQyE85MuAIyeY3eMgd7g2vnuwNyIGnFHc6zty6G2cl0e2FSJoPDDgAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7ef9a296ceb8433a4275e6d9986f6964e8184c8626e446c53ef4c7b99fa3e809","last_reissued_at":"2026-07-05T11:35:30.324850Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:35:30.324850Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.12169","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:35:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1dS3ZhapeWFhjOHxTqcFtKjYF9neyJ/UkAH+RVlpzk8OGeotwhjCRf7n7HqdjwlwtkeXI36RvKRJp8EwuVqlBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T05:06:35.296538Z"},"content_sha256":"8bb82fca689f0ee33d5d3f47ab5987968e9d0e3e5e7590159caf9432845cfb9c","schema_version":"1.0","event_id":"sha256:8bb82fca689f0ee33d5d3f47ab5987968e9d0e3e5e7590159caf9432845cfb9c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:P342FFWOXBBTUQTV43MZQ33JMT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Autonomous Indoor Parking: A Globally Consistent Semantic SLAM System and A Semantic Localization Subsystem","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hekui Guo, Hesheng Wang, Siting Zhu, Yichen Sha, Zhong Wang","submitted_at":"2024-10-16T02:17:07Z","abstract_excerpt":"We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and surround-view), IMU, and wheel encoder form the input sensor configuration of our system. The first part of our work is GCSLAM. GCSLAM introduces a semantic-constrained factor graph for the optimization of poses and semantic map, which incorporates innovative error terms based on multi-sensor data and BEV (bird's-eye view) semantic information. Additionally, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.12169","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2410.12169/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T11:35:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nPCoY5Zu9BY20gukCDtOWUVzJStpPSfNJp9x2acCBphb/pMJSrU+xLijqxjP7bM5gOIOEQ+LQdpAwtZ4ZdGWDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T05:06:35.297015Z"},"content_sha256":"73b71eba397443a6efcf5b4de4fb4d8bbd81151d009a0e023470af6f1883bbcf","schema_version":"1.0","event_id":"sha256:73b71eba397443a6efcf5b4de4fb4d8bbd81151d009a0e023470af6f1883bbcf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/P342FFWOXBBTUQTV43MZQ33JMT/bundle.json","state_url":"https://pith.science/pith/P342FFWOXBBTUQTV43MZQ33JMT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/P342FFWOXBBTUQTV43MZQ33JMT/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":"2026-08-07T05:06:35Z","links":{"resolver":"https://pith.science/pith/P342FFWOXBBTUQTV43MZQ33JMT","bundle":"https://pith.science/pith/P342FFWOXBBTUQTV43MZQ33JMT/bundle.json","state":"https://pith.science/pith/P342FFWOXBBTUQTV43MZQ33JMT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/P342FFWOXBBTUQTV43MZQ33JMT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:P342FFWOXBBTUQTV43MZQ33JMT","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":"71fdea67896255384f3d9dd3d25b3ae0e5697b19961eb2904c0769fa53ef92ca","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T02:17:07Z","title_canon_sha256":"59a4677bf354dbb4b0f6b0ab788768b38072b80145d9bb2afa9e36d5214b595c"},"schema_version":"1.0","source":{"id":"2410.12169","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.12169","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"arxiv_version","alias_value":"2410.12169v2","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.12169","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"pith_short_12","alias_value":"P342FFWOXBBT","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"pith_short_16","alias_value":"P342FFWOXBBTUQTV","created_at":"2026-07-05T11:35:30Z"},{"alias_kind":"pith_short_8","alias_value":"P342FFWO","created_at":"2026-07-05T11:35:30Z"}],"graph_snapshots":[{"event_id":"sha256:73b71eba397443a6efcf5b4de4fb4d8bbd81151d009a0e023470af6f1883bbcf","target":"graph","created_at":"2026-07-05T11:35:30Z","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/2410.12169/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and surround-view), IMU, and wheel encoder form the input sensor configuration of our system. The first part of our work is GCSLAM. GCSLAM introduces a semantic-constrained factor graph for the optimization of poses and semantic map, which incorporates innovative error terms based on multi-sensor data and BEV (bird's-eye view) semantic information. Additionally, ","authors_text":"Hekui Guo, Hesheng Wang, Siting Zhu, Yichen Sha, Zhong Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T02:17:07Z","title":"Towards Autonomous Indoor Parking: A Globally Consistent Semantic SLAM System and A Semantic Localization Subsystem"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.12169","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":"sha256:8bb82fca689f0ee33d5d3f47ab5987968e9d0e3e5e7590159caf9432845cfb9c","target":"record","created_at":"2026-07-05T11:35:30Z","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":"71fdea67896255384f3d9dd3d25b3ae0e5697b19961eb2904c0769fa53ef92ca","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T02:17:07Z","title_canon_sha256":"59a4677bf354dbb4b0f6b0ab788768b38072b80145d9bb2afa9e36d5214b595c"},"schema_version":"1.0","source":{"id":"2410.12169","kind":"arxiv","version":2}},"canonical_sha256":"7ef9a296ceb8433a4275e6d9986f6964e8184c8626e446c53ef4c7b99fa3e809","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7ef9a296ceb8433a4275e6d9986f6964e8184c8626e446c53ef4c7b99fa3e809","first_computed_at":"2026-07-05T11:35:30.324850Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:35:30.324850Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eoA26V/dwxT6iWPheNEZ7HwqtFoJ0H3UQyE85MuAIyeY3eMgd7g2vnuwNyIGnFHc6zty6G2cl0e2FSJoPDDgAg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:35:30.325360Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.12169","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8bb82fca689f0ee33d5d3f47ab5987968e9d0e3e5e7590159caf9432845cfb9c","sha256:73b71eba397443a6efcf5b4de4fb4d8bbd81151d009a0e023470af6f1883bbcf"],"state_sha256":"c97b4d0b2945f6f90ff15903ec3811d6e283a3f31c93f6ef033b1b4ef783ea1a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"64X6BtmJSphrm/AsiUbhYSY4qnTsjfmBC01tVPqJwu2FByByHWx7X2w6EqDKvMt3aBOLGjA/amRws9/K2JukBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T05:06:35.301021Z","bundle_sha256":"593d4cca9b0b69e519110a7b689964c16053dbc8838893c0eeba15ee9c4e35aa"}}