{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:PSNEYJLFQRZ7ANF5IORTGHU3AX","short_pith_number":"pith:PSNEYJLF","canonical_record":{"source":{"id":"2209.12435","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-26T05:55:54Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"723c26163ac056aaf2ed03551e3c93f83e42b22c000760607a759f763674f1f8","abstract_canon_sha256":"6dd0734ced9456e0b9daee97824e6cab68c2591bfe22ce01b0b99d873589535e"},"schema_version":"1.0"},"canonical_sha256":"7c9a4c25658473f034bd43a3331e9b05f00471a99cc51b35fa94a7929e517d60","source":{"kind":"arxiv","id":"2209.12435","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.12435","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"arxiv_version","alias_value":"2209.12435v2","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.12435","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"pith_short_12","alias_value":"PSNEYJLFQRZ7","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"pith_short_16","alias_value":"PSNEYJLFQRZ7ANF5","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"pith_short_8","alias_value":"PSNEYJLF","created_at":"2026-07-05T05:44:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:PSNEYJLFQRZ7ANF5IORTGHU3AX","target":"record","payload":{"canonical_record":{"source":{"id":"2209.12435","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-26T05:55:54Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"723c26163ac056aaf2ed03551e3c93f83e42b22c000760607a759f763674f1f8","abstract_canon_sha256":"6dd0734ced9456e0b9daee97824e6cab68c2591bfe22ce01b0b99d873589535e"},"schema_version":"1.0"},"canonical_sha256":"7c9a4c25658473f034bd43a3331e9b05f00471a99cc51b35fa94a7929e517d60","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:44:38.573085Z","signature_b64":"sUbhkuXhJm6koEKdoyqiLp/QeIHgsmUrCsaZtFh3NZD3IPPlizUdFtnewK+g08PWQiIZBUwTNPgqCIES2CYCAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7c9a4c25658473f034bd43a3331e9b05f00471a99cc51b35fa94a7929e517d60","last_reissued_at":"2026-07-05T05:44:38.572593Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:44:38.572593Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.12435","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":"2026-07-05T05:44:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MAT7mOp0XeCD/r7QIcpwDUjqKmS5Ul13Sly8/X1t8htgsw7aTzKNwysPXeZFP0kaOyP9+54j1b8zxGWOXNR7AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:47:22.417987Z"},"content_sha256":"2112e2290203d49d2cfe1075b8fc3f0133685400b556cbb42f40d95d0a4c635d","schema_version":"1.0","event_id":"sha256:2112e2290203d49d2cfe1075b8fc3f0133685400b556cbb42f40d95d0a4c635d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:PSNEYJLFQRZ7ANF5IORTGHU3AX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"STD: Stable Triangle Descriptor for 3D place recognition","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Chongjian Yuan, Fu Zhang, Jiarong Lin, Xiaoping Hong, Zuhao Zou","submitted_at":"2022-09-26T05:55:54Z","abstract_excerpt":"In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of triangles is completely invariant to rigid transformations. Based on this property, we first design an algorithm to efficiently extract local key points from the 3D point cloud and encode these key points into triangular descriptors. Then, place recognition is achieved by matching the side lengths (and some other information) of the descriptors between point clo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.12435","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/2209.12435/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":"2026-07-05T05:44:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2XEvtUHgf+U5qM9jj7x4UaNUguZntSslJY1f5/oebbweWd+zvPMieEjfLFQQMdlwcSPaxpvLAnQeO+bJfwUWDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:47:22.418384Z"},"content_sha256":"0aab97d37f78c239230c2838e95448060694514db3792b491b81b9672e01de5c","schema_version":"1.0","event_id":"sha256:0aab97d37f78c239230c2838e95448060694514db3792b491b81b9672e01de5c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PSNEYJLFQRZ7ANF5IORTGHU3AX/bundle.json","state_url":"https://pith.science/pith/PSNEYJLFQRZ7ANF5IORTGHU3AX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PSNEYJLFQRZ7ANF5IORTGHU3AX/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":"2026-07-06T17:47:22Z","links":{"resolver":"https://pith.science/pith/PSNEYJLFQRZ7ANF5IORTGHU3AX","bundle":"https://pith.science/pith/PSNEYJLFQRZ7ANF5IORTGHU3AX/bundle.json","state":"https://pith.science/pith/PSNEYJLFQRZ7ANF5IORTGHU3AX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PSNEYJLFQRZ7ANF5IORTGHU3AX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:PSNEYJLFQRZ7ANF5IORTGHU3AX","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":"6dd0734ced9456e0b9daee97824e6cab68c2591bfe22ce01b0b99d873589535e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-26T05:55:54Z","title_canon_sha256":"723c26163ac056aaf2ed03551e3c93f83e42b22c000760607a759f763674f1f8"},"schema_version":"1.0","source":{"id":"2209.12435","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.12435","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"arxiv_version","alias_value":"2209.12435v2","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.12435","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"pith_short_12","alias_value":"PSNEYJLFQRZ7","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"pith_short_16","alias_value":"PSNEYJLFQRZ7ANF5","created_at":"2026-07-05T05:44:38Z"},{"alias_kind":"pith_short_8","alias_value":"PSNEYJLF","created_at":"2026-07-05T05:44:38Z"}],"graph_snapshots":[{"event_id":"sha256:0aab97d37f78c239230c2838e95448060694514db3792b491b81b9672e01de5c","target":"graph","created_at":"2026-07-05T05:44:38Z","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/2209.12435/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of triangles is completely invariant to rigid transformations. Based on this property, we first design an algorithm to efficiently extract local key points from the 3D point cloud and encode these key points into triangular descriptors. Then, place recognition is achieved by matching the side lengths (and some other information) of the descriptors between point clo","authors_text":"Chongjian Yuan, Fu Zhang, Jiarong Lin, Xiaoping Hong, Zuhao Zou","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-26T05:55:54Z","title":"STD: Stable Triangle Descriptor for 3D place recognition"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.12435","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":"sha256:2112e2290203d49d2cfe1075b8fc3f0133685400b556cbb42f40d95d0a4c635d","target":"record","created_at":"2026-07-05T05:44:38Z","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":"6dd0734ced9456e0b9daee97824e6cab68c2591bfe22ce01b0b99d873589535e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-26T05:55:54Z","title_canon_sha256":"723c26163ac056aaf2ed03551e3c93f83e42b22c000760607a759f763674f1f8"},"schema_version":"1.0","source":{"id":"2209.12435","kind":"arxiv","version":2}},"canonical_sha256":"7c9a4c25658473f034bd43a3331e9b05f00471a99cc51b35fa94a7929e517d60","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7c9a4c25658473f034bd43a3331e9b05f00471a99cc51b35fa94a7929e517d60","first_computed_at":"2026-07-05T05:44:38.572593Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:44:38.572593Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sUbhkuXhJm6koEKdoyqiLp/QeIHgsmUrCsaZtFh3NZD3IPPlizUdFtnewK+g08PWQiIZBUwTNPgqCIES2CYCAg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:44:38.573085Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.12435","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2112e2290203d49d2cfe1075b8fc3f0133685400b556cbb42f40d95d0a4c635d","sha256:0aab97d37f78c239230c2838e95448060694514db3792b491b81b9672e01de5c"],"state_sha256":"e786429c9f65b3d4cffe2d89eb0aff8bfd49801603b90319acdc0263791f746f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rg/hvMrIZrG1fBwaBqCcvER0VexhUvM9871+m2SKfWNZK3rRp1XWH9uUswUr7HwgesC0qOXNZYk9c4/S2nPIAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T17:47:22.420422Z","bundle_sha256":"c45e6ef4b78300cb431922816ef93f448f4db00cac45c8e60e3fd77d25e95069"}}