{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:TLBDYQT3CO7C3UA7CZVWJKA2JO","short_pith_number":"pith:TLBDYQT3","canonical_record":{"source":{"id":"2301.07425","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-18T10:47:45Z","cross_cats_sorted":[],"title_canon_sha256":"5aa50d18b24e12ba0c1f9445b50eddda6b2fdb741ba05d194d98a8b5ef07cf97","abstract_canon_sha256":"8e9a4176c9d4ba957b2231d824eef46bd4493686ff6a6d64d8d8af60dc86c46e"},"schema_version":"1.0"},"canonical_sha256":"9ac23c427b13be2dd01f166b64a81a4b802d15476b3b158eec92efb8a4a0f8c4","source":{"kind":"arxiv","id":"2301.07425","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.07425","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"arxiv_version","alias_value":"2301.07425v2","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.07425","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"pith_short_12","alias_value":"TLBDYQT3CO7C","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"pith_short_16","alias_value":"TLBDYQT3CO7C3UA7","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"pith_short_8","alias_value":"TLBDYQT3","created_at":"2026-07-05T05:46:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:TLBDYQT3CO7C3UA7CZVWJKA2JO","target":"record","payload":{"canonical_record":{"source":{"id":"2301.07425","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-18T10:47:45Z","cross_cats_sorted":[],"title_canon_sha256":"5aa50d18b24e12ba0c1f9445b50eddda6b2fdb741ba05d194d98a8b5ef07cf97","abstract_canon_sha256":"8e9a4176c9d4ba957b2231d824eef46bd4493686ff6a6d64d8d8af60dc86c46e"},"schema_version":"1.0"},"canonical_sha256":"9ac23c427b13be2dd01f166b64a81a4b802d15476b3b158eec92efb8a4a0f8c4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:46:53.132411Z","signature_b64":"oKpgbme9F+c+Fz5p84fNhp5FtLUTzCqSIgtK76S+bhHVJMC3F2D7kgAFd9ZbflUeV2HT3y60rbN/Ku6qaxifCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9ac23c427b13be2dd01f166b64a81a4b802d15476b3b158eec92efb8a4a0f8c4","last_reissued_at":"2026-07-05T05:46:53.131967Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:46:53.131967Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2301.07425","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":"2026-07-05T05:46:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JQLZe+aR4V7uOqpv+NyDzkhXdUgU3DWSjzQE7o6CpIzpacPcSBg+PhTRS0o0SBhs2oc6Qn2kpXaLdMTg25oJAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T18:13:15.516660Z"},"content_sha256":"057415d52e6b5ae0fed8a1737ed3bed7b3e95ec5fbe03fc5e23ce7a00cb5b6b9","schema_version":"1.0","event_id":"sha256:057415d52e6b5ae0fed8a1737ed3bed7b3e95ec5fbe03fc5e23ce7a00cb5b6b9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:TLBDYQT3CO7C3UA7CZVWJKA2JO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Segregator: Global Point Cloud Registration with Semantic and Geometric Cues","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haozhi Cao, Lihua Xie, Pengyu Yin, Shenghai Yuan, Shuyang Zhang, Xingyu Ji","submitted_at":"2023-01-18T10:47:45Z","abstract_excerpt":"This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current state-of-the-art algorithms rely on point features to set up putative correspondences and refine them by employing pair-wise distance consistency checks. However, such a scheme suffers from degenerate cases, where the descriptive capability of local point features downgrades, and unconstrained cases, where length-preserving (l-TRIMs)-based checks cannot sufficiently c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.07425","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/2301.07425/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":"2026-07-05T05:46:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RvWMTwA2ckkH2dpfaqQMLJAQDUioZE4DS5Wa1Zqcte671qjCv4ZR6qT6sP5JxHlyGLZcQqCGpRQl9Z+4wPlFAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T18:13:15.517060Z"},"content_sha256":"9daf169397398721705ba285d27e34cca79b9b0916b315b46998d2be4baa40ab","schema_version":"1.0","event_id":"sha256:9daf169397398721705ba285d27e34cca79b9b0916b315b46998d2be4baa40ab"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TLBDYQT3CO7C3UA7CZVWJKA2JO/bundle.json","state_url":"https://pith.science/pith/TLBDYQT3CO7C3UA7CZVWJKA2JO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TLBDYQT3CO7C3UA7CZVWJKA2JO/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":"2026-08-11T18:13:15Z","links":{"resolver":"https://pith.science/pith/TLBDYQT3CO7C3UA7CZVWJKA2JO","bundle":"https://pith.science/pith/TLBDYQT3CO7C3UA7CZVWJKA2JO/bundle.json","state":"https://pith.science/pith/TLBDYQT3CO7C3UA7CZVWJKA2JO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TLBDYQT3CO7C3UA7CZVWJKA2JO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:TLBDYQT3CO7C3UA7CZVWJKA2JO","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":"8e9a4176c9d4ba957b2231d824eef46bd4493686ff6a6d64d8d8af60dc86c46e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-18T10:47:45Z","title_canon_sha256":"5aa50d18b24e12ba0c1f9445b50eddda6b2fdb741ba05d194d98a8b5ef07cf97"},"schema_version":"1.0","source":{"id":"2301.07425","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.07425","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"arxiv_version","alias_value":"2301.07425v2","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.07425","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"pith_short_12","alias_value":"TLBDYQT3CO7C","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"pith_short_16","alias_value":"TLBDYQT3CO7C3UA7","created_at":"2026-07-05T05:46:53Z"},{"alias_kind":"pith_short_8","alias_value":"TLBDYQT3","created_at":"2026-07-05T05:46:53Z"}],"graph_snapshots":[{"event_id":"sha256:9daf169397398721705ba285d27e34cca79b9b0916b315b46998d2be4baa40ab","target":"graph","created_at":"2026-07-05T05:46:53Z","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/2301.07425/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current state-of-the-art algorithms rely on point features to set up putative correspondences and refine them by employing pair-wise distance consistency checks. However, such a scheme suffers from degenerate cases, where the descriptive capability of local point features downgrades, and unconstrained cases, where length-preserving (l-TRIMs)-based checks cannot sufficiently c","authors_text":"Haozhi Cao, Lihua Xie, Pengyu Yin, Shenghai Yuan, Shuyang Zhang, Xingyu Ji","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-18T10:47:45Z","title":"Segregator: Global Point Cloud Registration with Semantic and Geometric Cues"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.07425","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":"sha256:057415d52e6b5ae0fed8a1737ed3bed7b3e95ec5fbe03fc5e23ce7a00cb5b6b9","target":"record","created_at":"2026-07-05T05:46:53Z","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":"8e9a4176c9d4ba957b2231d824eef46bd4493686ff6a6d64d8d8af60dc86c46e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-18T10:47:45Z","title_canon_sha256":"5aa50d18b24e12ba0c1f9445b50eddda6b2fdb741ba05d194d98a8b5ef07cf97"},"schema_version":"1.0","source":{"id":"2301.07425","kind":"arxiv","version":2}},"canonical_sha256":"9ac23c427b13be2dd01f166b64a81a4b802d15476b3b158eec92efb8a4a0f8c4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9ac23c427b13be2dd01f166b64a81a4b802d15476b3b158eec92efb8a4a0f8c4","first_computed_at":"2026-07-05T05:46:53.131967Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:46:53.131967Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oKpgbme9F+c+Fz5p84fNhp5FtLUTzCqSIgtK76S+bhHVJMC3F2D7kgAFd9ZbflUeV2HT3y60rbN/Ku6qaxifCw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:46:53.132411Z","signed_message":"canonical_sha256_bytes"},"source_id":"2301.07425","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:057415d52e6b5ae0fed8a1737ed3bed7b3e95ec5fbe03fc5e23ce7a00cb5b6b9","sha256:9daf169397398721705ba285d27e34cca79b9b0916b315b46998d2be4baa40ab"],"state_sha256":"46e9b57d3d991014c515b487956fe134cc633881c705f00d8eb2f0e562517961"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NyZUqGS05GEA1pML6VgMJkYU/555CAib9Bo3sDOIdgE7+8MN1Z+E45DmtoufLJ86CSXqr5oqWBmDyBK/XzpRBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T18:13:15.519828Z","bundle_sha256":"832f425adf7ced26719aea9258473a34f24770857a84b2b3189c3bed224c5ba9"}}