{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:REDSO5GFELLGPBKNKHVH2JOBSF","short_pith_number":"pith:REDSO5GF","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"},"canonical_sha256":"89072774c522d667854d51ea7d25c19144979f556c661615ddd8cfeb8d273e87","source":{"kind":"arxiv","id":"2409.14020","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.14020","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"arxiv_version","alias_value":"2409.14020v2","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.14020","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"pith_short_12","alias_value":"REDSO5GFELLG","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"pith_short_16","alias_value":"REDSO5GFELLGPBKN","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"pith_short_8","alias_value":"REDSO5GF","created_at":"2026-07-05T10:33:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:REDSO5GFELLGPBKNKHVH2JOBSF","target":"record","payload":{"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"},"canonical_sha256":"89072774c522d667854d51ea7d25c19144979f556c661615ddd8cfeb8d273e87","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"},"source_kind":"arxiv","source_id":"2409.14020","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":"2026-07-05T10:33:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GHo1+XVaycHp2qNXiEEFDnfivKfpVEjEgHqRizWmrzYy/aMcn7EVHtLjV1UkkcU7+7CZWwlteTLSYH758yViAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T16:57:48.012218Z"},"content_sha256":"dbe48ca120aa8232cdf6ad8e7865fb59218f68d6bd9d1c974e78ca10521dcc92","schema_version":"1.0","event_id":"sha256:dbe48ca120aa8232cdf6ad8e7865fb59218f68d6bd9d1c974e78ca10521dcc92"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:REDSO5GFELLGPBKNKHVH2JOBSF","target":"graph","payload":{"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:33:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C4iqCYIdFKYWDHFL5pDd3IGEsrAoHXT1rO4HgNcv+7A2Uj1/LsKLx1h6oPe5v9YLc5xY/ADkQcQNLcZAfp2IDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T16:57:48.012746Z"},"content_sha256":"de3a55355d6efc91ca535edd3601d8cb3e6c7dc1bd0c750b46a46a6475fbb374","schema_version":"1.0","event_id":"sha256:de3a55355d6efc91ca535edd3601d8cb3e6c7dc1bd0c750b46a46a6475fbb374"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/bundle.json","state_url":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/REDSO5GFELLGPBKNKHVH2JOBSF/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":"2026-08-21T16:57:48Z","links":{"resolver":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF","bundle":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/bundle.json","state":"https://pith.science/pith/REDSO5GFELLGPBKNKHVH2JOBSF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/REDSO5GFELLGPBKNKHVH2JOBSF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:REDSO5GFELLGPBKNKHVH2JOBSF","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":"368af83231814742899b56e3afb74620362fa5c0a28163c3dcea86efd5d87a7d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T05:15:21Z","title_canon_sha256":"ab259ea4128b1c8c0d79844b678512f556b44fde97e3238efc17e2a1682a2266"},"schema_version":"1.0","source":{"id":"2409.14020","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.14020","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"arxiv_version","alias_value":"2409.14020v2","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.14020","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"pith_short_12","alias_value":"REDSO5GFELLG","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"pith_short_16","alias_value":"REDSO5GFELLGPBKN","created_at":"2026-07-05T10:33:05Z"},{"alias_kind":"pith_short_8","alias_value":"REDSO5GF","created_at":"2026-07-05T10:33:05Z"}],"graph_snapshots":[{"event_id":"sha256:de3a55355d6efc91ca535edd3601d8cb3e6c7dc1bd0c750b46a46a6475fbb374","target":"graph","created_at":"2026-07-05T10:33:05Z","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/2409.14020/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Andres Pulido, Donghwi Jung, Jane Shin, Seong-Woo Kim","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T05:15:21Z","title":"Point Cloud Structural Similarity-based Underwater Sonar Loop Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.14020","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:dbe48ca120aa8232cdf6ad8e7865fb59218f68d6bd9d1c974e78ca10521dcc92","target":"record","created_at":"2026-07-05T10:33:05Z","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":"368af83231814742899b56e3afb74620362fa5c0a28163c3dcea86efd5d87a7d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-21T05:15:21Z","title_canon_sha256":"ab259ea4128b1c8c0d79844b678512f556b44fde97e3238efc17e2a1682a2266"},"schema_version":"1.0","source":{"id":"2409.14020","kind":"arxiv","version":2}},"canonical_sha256":"89072774c522d667854d51ea7d25c19144979f556c661615ddd8cfeb8d273e87","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"89072774c522d667854d51ea7d25c19144979f556c661615ddd8cfeb8d273e87","first_computed_at":"2026-07-05T10:33:05.513375Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:33:05.513375Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jER/QaZP2VOWzl9rlUaytj3JwgGnJhJZXqxLtBozg1PKx+75UvXzwA5lZlcw29VUDHHbkhS8PXYiACCRvAUXAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:33:05.513983Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.14020","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dbe48ca120aa8232cdf6ad8e7865fb59218f68d6bd9d1c974e78ca10521dcc92","sha256:de3a55355d6efc91ca535edd3601d8cb3e6c7dc1bd0c750b46a46a6475fbb374"],"state_sha256":"d739447bc4736341a9a0d99b26c573042e0baa17f7371ada9b85faf9670c5f64"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9dcz/iK1JwgtKkH/pPmRyzk4brXoLD6Wf+0hWAz2Wdxqggz6T22K9s5fCqAoLBF7UUVT8Dnr4MX5QWeRCrW0Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T16:57:48.017750Z","bundle_sha256":"eabbd545878698d22d4451078b3bfee91ca3157cce2711699b1f8e6fcadfa65f"}}