{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:UZQL34HD6QJSH2IGBJTTWUJII2","short_pith_number":"pith:UZQL34HD","schema_version":"1.0","canonical_sha256":"a660bdf0e3f41323e9060a673b5128468b3757e404e5c197ba13c0a00d83f2a8","source":{"kind":"arxiv","id":"1904.05519","version":3},"attestation_state":"computed","paper":{"title":"Efficient and Robust Registration on the 3D Special Euclidean Group","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Uttaran Bhattacharya, Venu Madhav Govindu","submitted_at":"2019-04-11T03:52:42Z","abstract_excerpt":"We present an accurate, robust and fast method for registration of 3D scans. Our motion estimation optimizes a robust cost function on the intrinsic representation of rigid motions, i.e., the Special Euclidean group $\\mathbb{SE}(3)$. We exploit the geometric properties of Lie groups as well as the robustness afforded by an iteratively reweighted least squares optimization. We also generalize our approach to a joint multiview method that simultaneously solves for the registration of a set of scans. We demonstrate the efficacy of our approach by thorough experimental validation. Our approach sig"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1904.05519","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2019-04-11T03:52:42Z","cross_cats_sorted":[],"title_canon_sha256":"62cd654cc7a40d8fa9abc413fcf403a59ecb8f087a2e2272e7eedcf8c6bd6118","abstract_canon_sha256":"2c2492289cf048d089840dc9652982139f57c924dbf6a6c65c87ac2210ae143b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:39:16.880529Z","signature_b64":"EAh9Vmc8urM9E2yTe2UD83zhs0Joe4v49qyOSFBVT0+ElvgYLhZ84fuoMJTfdrA3EXZcZ+Tn0GTQx0vEHuKSBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a660bdf0e3f41323e9060a673b5128468b3757e404e5c197ba13c0a00d83f2a8","last_reissued_at":"2026-07-05T09:39:16.880063Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:39:16.880063Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Efficient and Robust Registration on the 3D Special Euclidean Group","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Uttaran Bhattacharya, Venu Madhav Govindu","submitted_at":"2019-04-11T03:52:42Z","abstract_excerpt":"We present an accurate, robust and fast method for registration of 3D scans. Our motion estimation optimizes a robust cost function on the intrinsic representation of rigid motions, i.e., the Special Euclidean group $\\mathbb{SE}(3)$. We exploit the geometric properties of Lie groups as well as the robustness afforded by an iteratively reweighted least squares optimization. We also generalize our approach to a joint multiview method that simultaneously solves for the registration of a set of scans. We demonstrate the efficacy of our approach by thorough experimental validation. Our approach sig"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.05519","kind":"arxiv","version":3},"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/1904.05519/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1904.05519","created_at":"2026-07-05T09:39:16.880122+00:00"},{"alias_kind":"arxiv_version","alias_value":"1904.05519v3","created_at":"2026-07-05T09:39:16.880122+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.05519","created_at":"2026-07-05T09:39:16.880122+00:00"},{"alias_kind":"pith_short_12","alias_value":"UZQL34HD6QJS","created_at":"2026-07-05T09:39:16.880122+00:00"},{"alias_kind":"pith_short_16","alias_value":"UZQL34HD6QJSH2IG","created_at":"2026-07-05T09:39:16.880122+00:00"},{"alias_kind":"pith_short_8","alias_value":"UZQL34HD","created_at":"2026-07-05T09:39:16.880122+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2","json":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2.json","graph_json":"https://pith.science/api/pith-number/UZQL34HD6QJSH2IGBJTTWUJII2/graph.json","events_json":"https://pith.science/api/pith-number/UZQL34HD6QJSH2IGBJTTWUJII2/events.json","paper":"https://pith.science/paper/UZQL34HD"},"agent_actions":{"view_html":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2","download_json":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2.json","view_paper":"https://pith.science/paper/UZQL34HD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1904.05519&json=true","fetch_graph":"https://pith.science/api/pith-number/UZQL34HD6QJSH2IGBJTTWUJII2/graph.json","fetch_events":"https://pith.science/api/pith-number/UZQL34HD6QJSH2IGBJTTWUJII2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2/action/storage_attestation","attest_author":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2/action/author_attestation","sign_citation":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2/action/citation_signature","submit_replication":"https://pith.science/pith/UZQL34HD6QJSH2IGBJTTWUJII2/action/replication_record"}},"created_at":"2026-07-05T09:39:16.880122+00:00","updated_at":"2026-07-05T09:39:16.880122+00:00"}