{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:Q65X5SNIRNZF7VBH2JTNMWO24R","short_pith_number":"pith:Q65X5SNI","canonical_record":{"source":{"id":"2403.05332","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T14:09:32Z","cross_cats_sorted":["eess.SP"],"title_canon_sha256":"ef2d42bea483828f1351287a7263e1dd6e549a219f6c951f15822e2f424f9e63","abstract_canon_sha256":"863273a7d7a801b6b15dd4e6abcaf1cbb14acb67039d87a5232b7e9e916192f7"},"schema_version":"1.0"},"canonical_sha256":"87bb7ec9a88b725fd427d266d659dae45a43db0232007899d577581ca731ed46","source":{"kind":"arxiv","id":"2403.05332","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05332","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05332v1","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05332","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"pith_short_12","alias_value":"Q65X5SNIRNZF","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"pith_short_16","alias_value":"Q65X5SNIRNZF7VBH","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"pith_short_8","alias_value":"Q65X5SNI","created_at":"2026-07-05T07:53:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:Q65X5SNIRNZF7VBH2JTNMWO24R","target":"record","payload":{"canonical_record":{"source":{"id":"2403.05332","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T14:09:32Z","cross_cats_sorted":["eess.SP"],"title_canon_sha256":"ef2d42bea483828f1351287a7263e1dd6e549a219f6c951f15822e2f424f9e63","abstract_canon_sha256":"863273a7d7a801b6b15dd4e6abcaf1cbb14acb67039d87a5232b7e9e916192f7"},"schema_version":"1.0"},"canonical_sha256":"87bb7ec9a88b725fd427d266d659dae45a43db0232007899d577581ca731ed46","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:53:53.910118Z","signature_b64":"cXzjc0ZCGMuJQTutTHnL1AZKAKnEiencyZsw2NrgxnxnJIblor3xtdFbEyxpuQEI9j5GJIICr71VMH3Xu5JhBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"87bb7ec9a88b725fd427d266d659dae45a43db0232007899d577581ca731ed46","last_reissued_at":"2026-07-05T07:53:53.909633Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:53:53.909633Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.05332","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":"2026-07-05T07:53:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qkS36uH4SJ+NWaR9bfTtBcDfNz6rvSykO0TCPhkIt1bOFbNnqldLXg1O0HnZEUdIkztIF276vy7dtrCYclKEBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:17:24.734664Z"},"content_sha256":"3038b0eddbf3e952e3fd28440e53294f87a3a7fc610e694d213ac0fe696d25ee","schema_version":"1.0","event_id":"sha256:3038b0eddbf3e952e3fd28440e53294f87a3a7fc610e694d213ac0fe696d25ee"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:Q65X5SNIRNZF7VBH2JTNMWO24R","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Degradation Resilient LiDAR-Radar-Inertial Odometry","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["eess.SP"],"primary_cat":"cs.RO","authors_text":"Kostas Alexis, Morten Nissov, Nikhil Khedekar","submitted_at":"2024-03-08T14:09:32Z","abstract_excerpt":"Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be difficult, if not impossible, to recover. As such robust odometry solutions are of key importance. In this work a method for tightly-coupled LiDAR-Radar-Inertial fusion for odometry is proposed, enabling the mitigation of the effects of LiDAR degeneracy by leveraging a complementary perception modality while preserving the accuracy of LiDAR in well-condition"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05332","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2403.05332/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":"2026-07-05T07:53:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4xflWmecnqUbrmown6Ed9NzdLksPjhDoZDb8jUzGg9f5L7w6y9sERwubYDum87ayFL2Ws1StcAricYK0IhSjBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:17:24.735555Z"},"content_sha256":"a246378ce9e3bb16bccd686b581e039cc5d643360521197fde6739a21b45f220","schema_version":"1.0","event_id":"sha256:a246378ce9e3bb16bccd686b581e039cc5d643360521197fde6739a21b45f220"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Q65X5SNIRNZF7VBH2JTNMWO24R/bundle.json","state_url":"https://pith.science/pith/Q65X5SNIRNZF7VBH2JTNMWO24R/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Q65X5SNIRNZF7VBH2JTNMWO24R/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":"2026-08-05T02:17:24Z","links":{"resolver":"https://pith.science/pith/Q65X5SNIRNZF7VBH2JTNMWO24R","bundle":"https://pith.science/pith/Q65X5SNIRNZF7VBH2JTNMWO24R/bundle.json","state":"https://pith.science/pith/Q65X5SNIRNZF7VBH2JTNMWO24R/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Q65X5SNIRNZF7VBH2JTNMWO24R/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:Q65X5SNIRNZF7VBH2JTNMWO24R","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":"863273a7d7a801b6b15dd4e6abcaf1cbb14acb67039d87a5232b7e9e916192f7","cross_cats_sorted":["eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T14:09:32Z","title_canon_sha256":"ef2d42bea483828f1351287a7263e1dd6e549a219f6c951f15822e2f424f9e63"},"schema_version":"1.0","source":{"id":"2403.05332","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05332","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05332v1","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05332","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"pith_short_12","alias_value":"Q65X5SNIRNZF","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"pith_short_16","alias_value":"Q65X5SNIRNZF7VBH","created_at":"2026-07-05T07:53:53Z"},{"alias_kind":"pith_short_8","alias_value":"Q65X5SNI","created_at":"2026-07-05T07:53:53Z"}],"graph_snapshots":[{"event_id":"sha256:a246378ce9e3bb16bccd686b581e039cc5d643360521197fde6739a21b45f220","target":"graph","created_at":"2026-07-05T07:53:53Z","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/2403.05332/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be difficult, if not impossible, to recover. As such robust odometry solutions are of key importance. In this work a method for tightly-coupled LiDAR-Radar-Inertial fusion for odometry is proposed, enabling the mitigation of the effects of LiDAR degeneracy by leveraging a complementary perception modality while preserving the accuracy of LiDAR in well-condition","authors_text":"Kostas Alexis, Morten Nissov, Nikhil Khedekar","cross_cats":["eess.SP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T14:09:32Z","title":"Degradation Resilient LiDAR-Radar-Inertial Odometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05332","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":"sha256:3038b0eddbf3e952e3fd28440e53294f87a3a7fc610e694d213ac0fe696d25ee","target":"record","created_at":"2026-07-05T07:53:53Z","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":"863273a7d7a801b6b15dd4e6abcaf1cbb14acb67039d87a5232b7e9e916192f7","cross_cats_sorted":["eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T14:09:32Z","title_canon_sha256":"ef2d42bea483828f1351287a7263e1dd6e549a219f6c951f15822e2f424f9e63"},"schema_version":"1.0","source":{"id":"2403.05332","kind":"arxiv","version":1}},"canonical_sha256":"87bb7ec9a88b725fd427d266d659dae45a43db0232007899d577581ca731ed46","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"87bb7ec9a88b725fd427d266d659dae45a43db0232007899d577581ca731ed46","first_computed_at":"2026-07-05T07:53:53.909633Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:53:53.909633Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cXzjc0ZCGMuJQTutTHnL1AZKAKnEiencyZsw2NrgxnxnJIblor3xtdFbEyxpuQEI9j5GJIICr71VMH3Xu5JhBw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:53:53.910118Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.05332","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3038b0eddbf3e952e3fd28440e53294f87a3a7fc610e694d213ac0fe696d25ee","sha256:a246378ce9e3bb16bccd686b581e039cc5d643360521197fde6739a21b45f220"],"state_sha256":"836ce1a906451451a207125bc1a627ab5387b18bb543c3a0de01695349db7f74"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d9QO4feAHkD03LqirG3zLJpA1ap64HtRO2tf8zPi78+UWpx3tw696nejDkdaehYsUpGvlyZK5rP7CVXw02PDBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T02:17:24.740735Z","bundle_sha256":"b967eefeaf5cd72363d2d4748cbe5dc5fea1cb3057ecf447715ae06428661697"}}