{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:QWKK5Y4KAFPCM3JAQE3KHHJWPS","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":"b990a3488bcf123b9f6d083ce22386f7b002ed9ebd4183a4b598a0203d465c17","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-11T02:40:33Z","title_canon_sha256":"bd29de69b80ddc6077cbc6522689caad6a25692f661c9ad93cb1a38e5d99ccd2"},"schema_version":"1.0","source":{"id":"2209.05956","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.05956","created_at":"2026-07-05T04:56:51Z"},{"alias_kind":"arxiv_version","alias_value":"2209.05956v1","created_at":"2026-07-05T04:56:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.05956","created_at":"2026-07-05T04:56:51Z"},{"alias_kind":"pith_short_12","alias_value":"QWKK5Y4KAFPC","created_at":"2026-07-05T04:56:51Z"},{"alias_kind":"pith_short_16","alias_value":"QWKK5Y4KAFPCM3JA","created_at":"2026-07-05T04:56:51Z"},{"alias_kind":"pith_short_8","alias_value":"QWKK5Y4K","created_at":"2026-07-05T04:56:51Z"}],"graph_snapshots":[{"event_id":"sha256:b44b501f92e8aa79c572f3ce0c5ba81667ef1132e5e901a9c13af5b37ff0da47","target":"graph","created_at":"2026-07-05T04:56:51Z","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/2209.05956/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents an approach to radar odometry on $SE(3)$ which utilizes a constant acceleration motion prior. The motion prior is integrated into a sliding window optimization scheme. We use the Magnus expansion to accurately integrate the motion prior while maintaining real-time performance. In addition, we adopt a polar measurement model to better represent radar detection uncertainties. Our estimator is evaluated using a large real-world dataset from a prototype high-resolution radar sensor. The new motion prior and measurement model signifcantly improve odometry performance relative to","authors_text":"Frasher Loshaj, Kyle Retan, Michael Heizmann","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-11T02:40:33Z","title":"Radar Odometry on SE(3) with Constant Acceleration Motion Prior and Polar Measurement Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.05956","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":"sha256:23cb4cd17ee8d5469f7e44396e353a8c3732d2ca0c1755e789be3ab4e6e06d48","target":"record","created_at":"2026-07-05T04:56:51Z","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":"b990a3488bcf123b9f6d083ce22386f7b002ed9ebd4183a4b598a0203d465c17","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-11T02:40:33Z","title_canon_sha256":"bd29de69b80ddc6077cbc6522689caad6a25692f661c9ad93cb1a38e5d99ccd2"},"schema_version":"1.0","source":{"id":"2209.05956","kind":"arxiv","version":1}},"canonical_sha256":"8594aee38a015e266d208136a39d367c9ade5e2da683cf61bb6bb9887fe05ef8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8594aee38a015e266d208136a39d367c9ade5e2da683cf61bb6bb9887fe05ef8","first_computed_at":"2026-07-05T04:56:51.869094Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:56:51.869094Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KJOomIvewJlD0AOm3c3MDH+28r514Zn3Tvpe1v0oHuufrfu7u2IhhTUmOtxEsvgA/muNVYODMrIt/THVC1iKBg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:56:51.869486Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.05956","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:23cb4cd17ee8d5469f7e44396e353a8c3732d2ca0c1755e789be3ab4e6e06d48","sha256:b44b501f92e8aa79c572f3ce0c5ba81667ef1132e5e901a9c13af5b37ff0da47"],"state_sha256":"063b245bc4598199f11c646216c79aaa67ec4bbca7f1a27504ee77e857b5ff16"}