{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:VIF27ZST2RZHBWSXUQIO6QUR5A","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":"cc43448910e96477c7a5abee6192299d179eebbe818b5455642d10234ec1e6a1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:33:32Z","title_canon_sha256":"4650d6979dd7740d1df6686ca0bdbe9309e5d95dbd0dc09acb3573c28c1468ea"},"schema_version":"1.0","source":{"id":"2103.14303","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.14303","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"arxiv_version","alias_value":"2103.14303v1","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14303","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_12","alias_value":"VIF27ZST2RZH","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_16","alias_value":"VIF27ZST2RZHBWSX","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_8","alias_value":"VIF27ZST","created_at":"2026-07-05T02:26:32Z"}],"graph_snapshots":[{"event_id":"sha256:4cb336ab488f19658e2277f79edf86530833591ba0d4bf5b4d4b50b1170eef68","target":"graph","created_at":"2026-07-05T02:26:32Z","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/2103.14303/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Simultaneous localization and mapping (SLAM) is a crucial functionality for exploration robots and virtual/augmented reality (VR/AR) devices. However, some of such devices with limited resources cannot afford the computational or memory cost to run full SLAM algorithms. We propose a general client-server SLAM optimization framework that achieves accurate real-time state estimation on the device with low requirements of on-board resources. The resource-limited device (the client) only works on a small part of the map, and the rest of the map is processed by the server. By sending the summarized","authors_text":"Jakob J. Enge, Jing Dong, Ming Hsiao, Yetong Zhang, Yipu Zhao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:33:32Z","title":"Distributed Client-Server Optimization for SLAM with Limited On-Device Resources"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14303","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":"sha256:68d0f1c8696bd5f3c287e8041f84cf4b0e311fd65872bfc0014d8f54a55c0822","target":"record","created_at":"2026-07-05T02:26:32Z","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":"cc43448910e96477c7a5abee6192299d179eebbe818b5455642d10234ec1e6a1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:33:32Z","title_canon_sha256":"4650d6979dd7740d1df6686ca0bdbe9309e5d95dbd0dc09acb3573c28c1468ea"},"schema_version":"1.0","source":{"id":"2103.14303","kind":"arxiv","version":1}},"canonical_sha256":"aa0bafe653d47270da57a410ef4291e83b2a417c10c63de333366b3ceb2a5a83","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aa0bafe653d47270da57a410ef4291e83b2a417c10c63de333366b3ceb2a5a83","first_computed_at":"2026-07-05T02:26:32.704631Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:26:32.704631Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5osxamn0dVcsqwonK5Y1faPLqcuZyRCntnpdnr953hEsf90GvT0p3EbNw79Z9oiyK0uD7CtziHkyD9XMIxFrCg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:26:32.705074Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.14303","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:68d0f1c8696bd5f3c287e8041f84cf4b0e311fd65872bfc0014d8f54a55c0822","sha256:4cb336ab488f19658e2277f79edf86530833591ba0d4bf5b4d4b50b1170eef68"],"state_sha256":"02a421a1306d42e5d3de4166250d24aa5ee33ddd4dd45db577cfed39bccbe481"}