{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:REDSO5GFELLGPBKNKHVH2JOBSF","short_pith_number":"pith:REDSO5GF","schema_version":"1.0","canonical_sha256":"89072774c522d667854d51ea7d25c19144979f556c661615ddd8cfeb8d273e87","source":{"kind":"arxiv","id":"2409.14020","version":2},"attestation_state":"computed","paper":{"title":"Point Cloud Structural Similarity-based Underwater Sonar Loop Detection","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andres Pulido, Donghwi Jung, Jane Shin, Seong-Woo Kim","submitted_at":"2024-09-21T05:15:21Z","abstract_excerpt":"In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection and keypoint extraction, which can lead to data loss and poor performance in feature-scarce environments. Additionally, methods based on neural networks or Bag-of-Words require extensive preprocessing, such as model training or vocabulary creation, reducing adaptability to new environments. To address these challenges, our method directly utilizes 3D sonar p"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2409.14020","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T05:15:21Z","cross_cats_sorted":[],"title_canon_sha256":"ab259ea4128b1c8c0d79844b678512f556b44fde97e3238efc17e2a1682a2266","abstract_canon_sha256":"368af83231814742899b56e3afb74620362fa5c0a28163c3dcea86efd5d87a7d"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:33:05.513983Z","signature_b64":"jER/QaZP2VOWzl9rlUaytj3JwgGnJhJZXqxLtBozg1PKx+75UvXzwA5lZlcw29VUDHHbkhS8PXYiACCRvAUXAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"89072774c522d667854d51ea7d25c19144979f556c661615ddd8cfeb8d273e87","last_reissued_at":"2026-07-05T10:33:05.513375Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:33:05.513375Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Point Cloud Structural Similarity-based Underwater Sonar Loop Detection","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andres Pulido, Donghwi Jung, Jane Shin, Seong-Woo Kim","submitted_at":"2024-09-21T05:15:21Z","abstract_excerpt":"In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection and keypoint extraction, which can lead to data loss and poor performance in feature-scarce environments. Additionally, methods based on neural networks or Bag-of-Words require extensive preprocessing, such as model training or vocabulary creation, reducing adaptability to new environments. To address these challenges, our method directly utilizes 3D sonar p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.14020","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/2409.14020/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2409.14020","created_at":"2026-07-05T10:33:05.513442+00:00"},{"alias_kind":"arxiv_version","alias_value":"2409.14020v2","created_at":"2026-07-05T10:33:05.513442+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.14020","created_at":"2026-07-05T10:33:05.513442+00:00"},{"alias_kind":"pith_short_12","alias_value":"REDSO5GFELLG","created_at":"2026-07-05T10:33:05.513442+00:00"},{"alias_kind":"pith_short_16","alias_value":"REDSO5GFELLGPBKN","created_at":"2026-07-05T10:33:05.513442+00:00"},{"alias_kind":"pith_short_8","alias_value":"REDSO5GF","created_at":"2026-07-05T10:33:05.513442+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF","json":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF.json","graph_json":"https://pith.science/api/pith-number/REDSO5GFELLGPBKNKHVH2JOBSF/graph.json","events_json":"https://pith.science/api/pith-number/REDSO5GFELLGPBKNKHVH2JOBSF/events.json","paper":"https://pith.science/paper/REDSO5GF"},"agent_actions":{"view_html":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF","download_json":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF.json","view_paper":"https://pith.science/paper/REDSO5GF","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2409.14020&json=true","fetch_graph":"https://pith.science/api/pith-number/REDSO5GFELLGPBKNKHVH2JOBSF/graph.json","fetch_events":"https://pith.science/api/pith-number/REDSO5GFELLGPBKNKHVH2JOBSF/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/action/timestamp_anchor","attest_storage":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/action/storage_attestation","attest_author":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/action/author_attestation","sign_citation":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/action/citation_signature","submit_replication":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/action/replication_record"}},"created_at":"2026-07-05T10:33:05.513442+00:00","updated_at":"2026-07-05T10:33:05.513442+00:00"}