{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:W42CMCWG56ZY2OR4XRZVK2YJ5K","short_pith_number":"pith:W42CMCWG","canonical_record":{"source":{"id":"2209.15397","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-30T11:53:52Z","cross_cats_sorted":[],"title_canon_sha256":"f1c4bb036c30931c783f23eb0bb1bb50527db975f03aa014e1720ebbf0da6a75","abstract_canon_sha256":"1ae1e4b1adcc9f9615130a81d63176a682183fccc761e0d818fa03fe2cb5eef7"},"schema_version":"1.0"},"canonical_sha256":"b734260ac6efb38d3a3cbc73556b09eaa514952bb05af2c2ed7093cbf7502544","source":{"kind":"arxiv","id":"2209.15397","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.15397","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"arxiv_version","alias_value":"2209.15397v2","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.15397","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"pith_short_12","alias_value":"W42CMCWG56ZY","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"pith_short_16","alias_value":"W42CMCWG56ZY2OR4","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"pith_short_8","alias_value":"W42CMCWG","created_at":"2026-07-05T06:28:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:W42CMCWG56ZY2OR4XRZVK2YJ5K","target":"record","payload":{"canonical_record":{"source":{"id":"2209.15397","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-30T11:53:52Z","cross_cats_sorted":[],"title_canon_sha256":"f1c4bb036c30931c783f23eb0bb1bb50527db975f03aa014e1720ebbf0da6a75","abstract_canon_sha256":"1ae1e4b1adcc9f9615130a81d63176a682183fccc761e0d818fa03fe2cb5eef7"},"schema_version":"1.0"},"canonical_sha256":"b734260ac6efb38d3a3cbc73556b09eaa514952bb05af2c2ed7093cbf7502544","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:28:32.293097Z","signature_b64":"vAsSd+ECFg9W0YYC8ZfmymLMFdsQmNqEbuMfdkdrb5u5DuXQPISCy71KLHuDyUb1HH23548fBujjSPtLL52oBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b734260ac6efb38d3a3cbc73556b09eaa514952bb05af2c2ed7093cbf7502544","last_reissued_at":"2026-07-05T06:28:32.292692Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:28:32.292692Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.15397","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:28:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4SUwI1Gzf8Ltc5Ikt4NDJcN4sRg4M6QtWLjuMbMr4qkZiIKtbUUuBoPv+wsjR7RC0wUBvs971VuCw9CHwBeMDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T12:12:01.148396Z"},"content_sha256":"33bbb671c3a9eb1db791321375eca06a7451c16bb1ab07d73c996785c36f9ba1","schema_version":"1.0","event_id":"sha256:33bbb671c3a9eb1db791321375eca06a7451c16bb1ab07d73c996785c36f9ba1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:W42CMCWG56ZY2OR4XRZVK2YJ5K","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Benedikt Mersch, Cyrill Stachniss, Ignacio Vizzo, Jens Behley, Louis Wiesmann, Tiziano Guadagnino","submitted_at":"2022-09-30T11:53:52Z","abstract_excerpt":"Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion estimation process, we move in the opposite direction. By removing a majority of parts and focusing on the core elements, we obtain a surprisingly effective system that is simple to realize and can operate under various environmental conditions using different LiDAR sensors. Our odometry estimation approach relies on point-to-point ICP combined with adaptive thr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.15397","kind":"arxiv","version":2},"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/2209.15397/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":"2026-07-05T06:28:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lXUYIwgcWOLo8yhZVthBGsd8yfTaGcMDuwxx5OwEGPlCS/5LDrZSaJd+pv2fAkntEcG5yun3GN6teBjnnb6yAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T12:12:01.148816Z"},"content_sha256":"5faa6107ceeea707f223f437af8ad368dc04ac29eea497aa621dc1d4a05f7560","schema_version":"1.0","event_id":"sha256:5faa6107ceeea707f223f437af8ad368dc04ac29eea497aa621dc1d4a05f7560"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/W42CMCWG56ZY2OR4XRZVK2YJ5K/bundle.json","state_url":"https://pith.science/pith/W42CMCWG56ZY2OR4XRZVK2YJ5K/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/W42CMCWG56ZY2OR4XRZVK2YJ5K/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":"2026-08-06T12:12:01Z","links":{"resolver":"https://pith.science/pith/W42CMCWG56ZY2OR4XRZVK2YJ5K","bundle":"https://pith.science/pith/W42CMCWG56ZY2OR4XRZVK2YJ5K/bundle.json","state":"https://pith.science/pith/W42CMCWG56ZY2OR4XRZVK2YJ5K/state.json","well_known_bundle":"https://pith.science/.well-known/pith/W42CMCWG56ZY2OR4XRZVK2YJ5K/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:W42CMCWG56ZY2OR4XRZVK2YJ5K","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":"1ae1e4b1adcc9f9615130a81d63176a682183fccc761e0d818fa03fe2cb5eef7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-30T11:53:52Z","title_canon_sha256":"f1c4bb036c30931c783f23eb0bb1bb50527db975f03aa014e1720ebbf0da6a75"},"schema_version":"1.0","source":{"id":"2209.15397","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.15397","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"arxiv_version","alias_value":"2209.15397v2","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.15397","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"pith_short_12","alias_value":"W42CMCWG56ZY","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"pith_short_16","alias_value":"W42CMCWG56ZY2OR4","created_at":"2026-07-05T06:28:32Z"},{"alias_kind":"pith_short_8","alias_value":"W42CMCWG","created_at":"2026-07-05T06:28:32Z"}],"graph_snapshots":[{"event_id":"sha256:5faa6107ceeea707f223f437af8ad368dc04ac29eea497aa621dc1d4a05f7560","target":"graph","created_at":"2026-07-05T06:28:32Z","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/2209.15397/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion estimation process, we move in the opposite direction. By removing a majority of parts and focusing on the core elements, we obtain a surprisingly effective system that is simple to realize and can operate under various environmental conditions using different LiDAR sensors. Our odometry estimation approach relies on point-to-point ICP combined with adaptive thr","authors_text":"Benedikt Mersch, Cyrill Stachniss, Ignacio Vizzo, Jens Behley, Louis Wiesmann, Tiziano Guadagnino","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-30T11:53:52Z","title":"KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.15397","kind":"arxiv","version":2},"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":"sha256:33bbb671c3a9eb1db791321375eca06a7451c16bb1ab07d73c996785c36f9ba1","target":"record","created_at":"2026-07-05T06:28:32Z","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":"1ae1e4b1adcc9f9615130a81d63176a682183fccc761e0d818fa03fe2cb5eef7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-30T11:53:52Z","title_canon_sha256":"f1c4bb036c30931c783f23eb0bb1bb50527db975f03aa014e1720ebbf0da6a75"},"schema_version":"1.0","source":{"id":"2209.15397","kind":"arxiv","version":2}},"canonical_sha256":"b734260ac6efb38d3a3cbc73556b09eaa514952bb05af2c2ed7093cbf7502544","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b734260ac6efb38d3a3cbc73556b09eaa514952bb05af2c2ed7093cbf7502544","first_computed_at":"2026-07-05T06:28:32.292692Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:28:32.292692Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vAsSd+ECFg9W0YYC8ZfmymLMFdsQmNqEbuMfdkdrb5u5DuXQPISCy71KLHuDyUb1HH23548fBujjSPtLL52oBg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:28:32.293097Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.15397","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:33bbb671c3a9eb1db791321375eca06a7451c16bb1ab07d73c996785c36f9ba1","sha256:5faa6107ceeea707f223f437af8ad368dc04ac29eea497aa621dc1d4a05f7560"],"state_sha256":"649348aa7878dfa521f3ab4a4ab2e4289a0bc244114370812442a54f560dd294"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9QkgTo6qSe1bwyrkPiELdn5tQgZPRoSwFfFE+YNwKh0JvH+A2Nt6JeRILGJsQHxhYsIK5cqtP56UalpajLzIBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T12:12:01.153209Z","bundle_sha256":"a50d73e7a47d3e767928da90e8072512f62e01bc54986837362193b8a3516952"}}