{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:V6VL6WEWH2BL6NH52D5PBU5C6J","short_pith_number":"pith:V6VL6WEW","canonical_record":{"source":{"id":"2308.05443","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T08:59:47Z","cross_cats_sorted":[],"title_canon_sha256":"21a1a99329d1f2f525a9542a466bfd2f1e4a28d1fe0f248ec0e5df36a0cc263b","abstract_canon_sha256":"3a8e8b0b069e89952bf2cf35e8c666f609eb656a26aa50592806833d8084fbf8"},"schema_version":"1.0"},"canonical_sha256":"afaabf58963e82bf34fdd0faf0d3a2f26a95bf687bbc4af11a4e434556a7b29b","source":{"kind":"arxiv","id":"2308.05443","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.05443","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"arxiv_version","alias_value":"2308.05443v1","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.05443","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"pith_short_12","alias_value":"V6VL6WEWH2BL","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"pith_short_16","alias_value":"V6VL6WEWH2BL6NH5","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"pith_short_8","alias_value":"V6VL6WEW","created_at":"2026-07-05T06:40:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:V6VL6WEWH2BL6NH52D5PBU5C6J","target":"record","payload":{"canonical_record":{"source":{"id":"2308.05443","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T08:59:47Z","cross_cats_sorted":[],"title_canon_sha256":"21a1a99329d1f2f525a9542a466bfd2f1e4a28d1fe0f248ec0e5df36a0cc263b","abstract_canon_sha256":"3a8e8b0b069e89952bf2cf35e8c666f609eb656a26aa50592806833d8084fbf8"},"schema_version":"1.0"},"canonical_sha256":"afaabf58963e82bf34fdd0faf0d3a2f26a95bf687bbc4af11a4e434556a7b29b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:40:00.807262Z","signature_b64":"p1hY+UpzHWjhIHkySnq6tNmNg+0/ZwifCtUmdHN0MWl1gs3EisF6zsAiPTWh3E1nl3v95biaeS+6rmYlurZzAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"afaabf58963e82bf34fdd0faf0d3a2f26a95bf687bbc4af11a4e434556a7b29b","last_reissued_at":"2026-07-05T06:40:00.806827Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:40:00.806827Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.05443","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:40:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bzpdrVT2oB1iLK1OsSrgga5sgCl4BNggSOMYNe3ofDk0ZWGs9sDd+UeemlbQ3LlTX1M11ZSZn9Vmk+V1e8chBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T18:12:07.851682Z"},"content_sha256":"b9983ae4dd4303d508df7cf1af1d4ff728ddd0cd7c7157a7415e135fb3d72532","schema_version":"1.0","event_id":"sha256:b9983ae4dd4303d508df7cf1af1d4ff728ddd0cd7c7157a7415e135fb3d72532"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:V6VL6WEWH2BL6NH52D5PBU5C6J","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Occupancy Grid Map to Pose Graph-based Map: Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexander Braun, Andr\\'e Borrmann, Miguel Arturo Vega Torres","submitted_at":"2023-08-10T08:59:47Z","abstract_excerpt":"Several studies rely on the de facto standard Adaptive Monte Carlo Localization (AMCL) method to localize a robot in an Occupancy Grid Map (OGM) extracted from a building information model (BIM model). However, most of these studies assume that the BIM model precisely represents the real world, which is rarely true. Discrepancies between the reference BIM model and the real world (Scan-BIM deviations) are not only due to furniture or clutter but also the usual as-planned and as-built deviations that exist with any model created in the design phase. These deviations affect the accuracy of AMCL "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.05443","kind":"arxiv","version":1},"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/2308.05443/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":"2026-07-05T06:40:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Vx6vghQc7vDtGis+kmET+5PZNNZZRQTVevapQLNKTynOS3dbzs//XpsJaiS2DrCEZziEozVPd4NPwuHLKGTtAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T18:12:07.852057Z"},"content_sha256":"9ebffcd83a6e872d159067701af28280d049c156132434ea85cfdffbbea14e07","schema_version":"1.0","event_id":"sha256:9ebffcd83a6e872d159067701af28280d049c156132434ea85cfdffbbea14e07"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/V6VL6WEWH2BL6NH52D5PBU5C6J/bundle.json","state_url":"https://pith.science/pith/V6VL6WEWH2BL6NH52D5PBU5C6J/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/V6VL6WEWH2BL6NH52D5PBU5C6J/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":"2026-07-24T18:12:07Z","links":{"resolver":"https://pith.science/pith/V6VL6WEWH2BL6NH52D5PBU5C6J","bundle":"https://pith.science/pith/V6VL6WEWH2BL6NH52D5PBU5C6J/bundle.json","state":"https://pith.science/pith/V6VL6WEWH2BL6NH52D5PBU5C6J/state.json","well_known_bundle":"https://pith.science/.well-known/pith/V6VL6WEWH2BL6NH52D5PBU5C6J/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:V6VL6WEWH2BL6NH52D5PBU5C6J","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":"3a8e8b0b069e89952bf2cf35e8c666f609eb656a26aa50592806833d8084fbf8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T08:59:47Z","title_canon_sha256":"21a1a99329d1f2f525a9542a466bfd2f1e4a28d1fe0f248ec0e5df36a0cc263b"},"schema_version":"1.0","source":{"id":"2308.05443","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.05443","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"arxiv_version","alias_value":"2308.05443v1","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.05443","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"pith_short_12","alias_value":"V6VL6WEWH2BL","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"pith_short_16","alias_value":"V6VL6WEWH2BL6NH5","created_at":"2026-07-05T06:40:00Z"},{"alias_kind":"pith_short_8","alias_value":"V6VL6WEW","created_at":"2026-07-05T06:40:00Z"}],"graph_snapshots":[{"event_id":"sha256:9ebffcd83a6e872d159067701af28280d049c156132434ea85cfdffbbea14e07","target":"graph","created_at":"2026-07-05T06:40:00Z","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/2308.05443/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Several studies rely on the de facto standard Adaptive Monte Carlo Localization (AMCL) method to localize a robot in an Occupancy Grid Map (OGM) extracted from a building information model (BIM model). However, most of these studies assume that the BIM model precisely represents the real world, which is rarely true. Discrepancies between the reference BIM model and the real world (Scan-BIM deviations) are not only due to furniture or clutter but also the usual as-planned and as-built deviations that exist with any model created in the design phase. These deviations affect the accuracy of AMCL ","authors_text":"Alexander Braun, Andr\\'e Borrmann, Miguel Arturo Vega Torres","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T08:59:47Z","title":"Occupancy Grid Map to Pose Graph-based Map: Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.05443","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:b9983ae4dd4303d508df7cf1af1d4ff728ddd0cd7c7157a7415e135fb3d72532","target":"record","created_at":"2026-07-05T06:40:00Z","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":"3a8e8b0b069e89952bf2cf35e8c666f609eb656a26aa50592806833d8084fbf8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T08:59:47Z","title_canon_sha256":"21a1a99329d1f2f525a9542a466bfd2f1e4a28d1fe0f248ec0e5df36a0cc263b"},"schema_version":"1.0","source":{"id":"2308.05443","kind":"arxiv","version":1}},"canonical_sha256":"afaabf58963e82bf34fdd0faf0d3a2f26a95bf687bbc4af11a4e434556a7b29b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"afaabf58963e82bf34fdd0faf0d3a2f26a95bf687bbc4af11a4e434556a7b29b","first_computed_at":"2026-07-05T06:40:00.806827Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:40:00.806827Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"p1hY+UpzHWjhIHkySnq6tNmNg+0/ZwifCtUmdHN0MWl1gs3EisF6zsAiPTWh3E1nl3v95biaeS+6rmYlurZzAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:40:00.807262Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.05443","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b9983ae4dd4303d508df7cf1af1d4ff728ddd0cd7c7157a7415e135fb3d72532","sha256:9ebffcd83a6e872d159067701af28280d049c156132434ea85cfdffbbea14e07"],"state_sha256":"49effd2c04a083f30762b645b1be25d9645e38ba1299a9f78ebe3bfce6214f79"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sc9rPWtrNhg/c53IXBXq5ZVbPpzw2zhNuIrfCA2qu0XI017ic/kUUq1BgYKm9COc8ufUNoBEPN2BitQMtz+WDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-24T18:12:07.854559Z","bundle_sha256":"68c5bdf4355800216361ec4037550c2e7563885ef81decbfb9a431cca9c907e3"}}