{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:TOTSJUL4ZUR7WS5DNSCNCLPGIQ","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":"60667e4e020a7214b4dfc18e8ef5139590c475ff8bb6855837d1006f401140e0","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-11-06T02:30:30Z","title_canon_sha256":"6950a45fffcb799de10cb1997762751a0a7ab0de98ae3221eb0f7ac259a75d25"},"schema_version":"1.0","source":{"id":"2311.02831","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.02831","created_at":"2026-07-05T07:10:51Z"},{"alias_kind":"arxiv_version","alias_value":"2311.02831v3","created_at":"2026-07-05T07:10:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.02831","created_at":"2026-07-05T07:10:51Z"},{"alias_kind":"pith_short_12","alias_value":"TOTSJUL4ZUR7","created_at":"2026-07-05T07:10:51Z"},{"alias_kind":"pith_short_16","alias_value":"TOTSJUL4ZUR7WS5D","created_at":"2026-07-05T07:10:51Z"},{"alias_kind":"pith_short_8","alias_value":"TOTSJUL4","created_at":"2026-07-05T07:10:51Z"}],"graph_snapshots":[{"event_id":"sha256:a0fcfbd6bebe2b785f5b012b5970f227fab564e54dbd3a25e7d07841ed0a0492","target":"graph","created_at":"2026-07-05T07:10:51Z","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/2311.02831/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Loop closure, as one of the crucial components in SLAM, plays an essential role in correcting the accumulated errors. Traditional appearance-based methods, such as bag-of-words models, are often limited by local 2D features and the volume of training data, making them less versatile and robust in real-world scenarios, leading to missed detections or false positives detections in loop closure. To address these issues, we first propose a object-level data association method based on multi-level verification, which can associate 2D semantic features of current frame with 3D objects landmarks of m","authors_text":"Zhenzhong Cao","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-11-06T02:30:30Z","title":"SemanticTopoLoop: Semantic Loop Closure With 3D Topological Graph Based on Quadric-Level Object Map"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.02831","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:f7d6d26be524b0a271af7bc72367c953f3764c01e4a31e4cbc33d160dc435efd","target":"record","created_at":"2026-07-05T07:10:51Z","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":"60667e4e020a7214b4dfc18e8ef5139590c475ff8bb6855837d1006f401140e0","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-11-06T02:30:30Z","title_canon_sha256":"6950a45fffcb799de10cb1997762751a0a7ab0de98ae3221eb0f7ac259a75d25"},"schema_version":"1.0","source":{"id":"2311.02831","kind":"arxiv","version":3}},"canonical_sha256":"9ba724d17ccd23fb4ba36c84d12de64413d4a1bfecc619d5ff67fdb21af06f06","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9ba724d17ccd23fb4ba36c84d12de64413d4a1bfecc619d5ff67fdb21af06f06","first_computed_at":"2026-07-05T07:10:51.026815Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:10:51.026815Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OwJVnrSBfYUECA7/klLzZA32GuMKNKPmKrT6pQUJQ3XnCveVc0eHTeYNbLlFCUXl3jPxgoNstFc4lSPAIAjoCg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:10:51.027280Z","signed_message":"canonical_sha256_bytes"},"source_id":"2311.02831","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f7d6d26be524b0a271af7bc72367c953f3764c01e4a31e4cbc33d160dc435efd","sha256:a0fcfbd6bebe2b785f5b012b5970f227fab564e54dbd3a25e7d07841ed0a0492"],"state_sha256":"040f7012970f68f8c40d9ee4437107924982bcf7497885ebbac69920b63e056a"}