{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:TMSOEKRSXZUQTKIUANKORHNVI4","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":"e8cd4eda358b6859e78af9943195e9bd38de71657d14b226e6548d5039a806c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-29T09:10:56Z","title_canon_sha256":"c1b8f1808741809d42e01b154b71063c9e2a3fb6c158dd2e0c4a6839233abbb0"},"schema_version":"1.0","source":{"id":"2108.12790","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.12790","created_at":"2026-07-05T04:51:53Z"},{"alias_kind":"arxiv_version","alias_value":"2108.12790v3","created_at":"2026-07-05T04:51:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.12790","created_at":"2026-07-05T04:51:53Z"},{"alias_kind":"pith_short_12","alias_value":"TMSOEKRSXZUQ","created_at":"2026-07-05T04:51:53Z"},{"alias_kind":"pith_short_16","alias_value":"TMSOEKRSXZUQTKIU","created_at":"2026-07-05T04:51:53Z"},{"alias_kind":"pith_short_8","alias_value":"TMSOEKRS","created_at":"2026-07-05T04:51:53Z"}],"graph_snapshots":[{"event_id":"sha256:901f5f188b7c1bbb5e737dbdd6fa02498b404ee1685595818a360df082118302","target":"graph","created_at":"2026-07-05T04:51:53Z","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/2108.12790/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made delightful achievements. However, how to deal with catastrophic collapse caused by rotation problems is still under-explored. In this paper, to tackle the issue, we propose a novel Point Cloud-based Rotation-aware Large Scale Place Recognition Network (RPR-Net). In particular, to solve the problem, we propose to learn rotation-invariant features in three ste","authors_text":"Hongyan Liu, Jun He, Wenping Zhang, Xiaoyong Du, Zhaoxin Fan, Zhenbo Song","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-29T09:10:56Z","title":"RPR-Net: A Point Cloud-based Rotation-aware Large Scale Place Recognition Network"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.12790","kind":"arxiv","version":3},"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":"sha256:0bcebc6e838679f5512ee288a12ae2509a4cc51d270e9e8d29de71d6a5674e7b","target":"record","created_at":"2026-07-05T04:51:53Z","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":"e8cd4eda358b6859e78af9943195e9bd38de71657d14b226e6548d5039a806c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-29T09:10:56Z","title_canon_sha256":"c1b8f1808741809d42e01b154b71063c9e2a3fb6c158dd2e0c4a6839233abbb0"},"schema_version":"1.0","source":{"id":"2108.12790","kind":"arxiv","version":3}},"canonical_sha256":"9b24e22a32be6909a9140354e89db5473f5aa83b9c50bfd50d26ea0d3df6c19b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9b24e22a32be6909a9140354e89db5473f5aa83b9c50bfd50d26ea0d3df6c19b","first_computed_at":"2026-07-05T04:51:53.032236Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:51:53.032236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E7B95XpeoSl0muOEskO0AnWVmzntOVgGxBLyIvKR/pvxx+FHEr+kzAncJcVDgVmvHAKLehIv0nDD30t1sQTkDw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:51:53.032691Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.12790","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0bcebc6e838679f5512ee288a12ae2509a4cc51d270e9e8d29de71d6a5674e7b","sha256:901f5f188b7c1bbb5e737dbdd6fa02498b404ee1685595818a360df082118302"],"state_sha256":"4c5cb4261c2a921498e1d227e003650be58108241a9485e72b727345ac1ecef1"}