{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:TBSSTYK3TOCXMVAULVXXVLTYJH","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":"950849fe88700ea75f3558b91090f1f4bb2c7222ea5643a648761d699ac7879e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T10:17:39Z","title_canon_sha256":"9161293a2ac116a7e526d298382d9b8e7c97ef385bfe683435df7ee5914f4e52"},"schema_version":"1.0","source":{"id":"2005.05662","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.05662","created_at":"2026-07-05T01:09:58Z"},{"alias_kind":"arxiv_version","alias_value":"2005.05662v1","created_at":"2026-07-05T01:09:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.05662","created_at":"2026-07-05T01:09:58Z"},{"alias_kind":"pith_short_12","alias_value":"TBSSTYK3TOCX","created_at":"2026-07-05T01:09:58Z"},{"alias_kind":"pith_short_16","alias_value":"TBSSTYK3TOCXMVAU","created_at":"2026-07-05T01:09:58Z"},{"alias_kind":"pith_short_8","alias_value":"TBSSTYK3","created_at":"2026-07-05T01:09:58Z"}],"graph_snapshots":[{"event_id":"sha256:85c2a7d8def6f9386d361d42ea8f4938c46f57850aca5dcf83bf6e52e6dce4b6","target":"graph","created_at":"2026-07-05T01:09:58Z","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/2005.05662/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult to find a group of significant landmarks for current fast feature-based place recognition algorithms. This paper proposes a novel approach where local observations are matched to a general tree map using the Delaunay triangularization as the representation format. Instead of point cloud based matching methods, we utilize a topology-based method. First, tree","authors_text":"Jorge Pe\\~na Queralta, Jukka Heikkonen, Paavo Nevalainen, Qingqing Li, Tomi Westerlund","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T10:17:39Z","title":"Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.05662","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":"sha256:2974d59aebdbd31934b2d28eaed002256791bc17d6c70bceecd085d2a9b3ef44","target":"record","created_at":"2026-07-05T01:09:58Z","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":"950849fe88700ea75f3558b91090f1f4bb2c7222ea5643a648761d699ac7879e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T10:17:39Z","title_canon_sha256":"9161293a2ac116a7e526d298382d9b8e7c97ef385bfe683435df7ee5914f4e52"},"schema_version":"1.0","source":{"id":"2005.05662","kind":"arxiv","version":1}},"canonical_sha256":"986529e15b9b857654145d6f7aae7849c78e2b167ae3bfce174adc5ded49ae86","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"986529e15b9b857654145d6f7aae7849c78e2b167ae3bfce174adc5ded49ae86","first_computed_at":"2026-07-05T01:09:58.918338Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:09:58.918338Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wiOs6ThEh4mv3OWtlqjRVyxep3jUe0AFKOpTBNyXDT+bI8ydY4fcAwAudpOb6O5AlygZwRGGfsrGkf7HP/tDAg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:09:58.918717Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.05662","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2974d59aebdbd31934b2d28eaed002256791bc17d6c70bceecd085d2a9b3ef44","sha256:85c2a7d8def6f9386d361d42ea8f4938c46f57850aca5dcf83bf6e52e6dce4b6"],"state_sha256":"d4fd5a8c0d161fa230ad43e2dd9d33f43230000b73a7f205f3038a2479769e3e"}