{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:WGSE4UP2KHGUGDM4FJD364BK6A","short_pith_number":"pith:WGSE4UP2","canonical_record":{"source":{"id":"2105.01457","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-04T12:40:01Z","cross_cats_sorted":[],"title_canon_sha256":"65b7ef6d44d16a5660665a67eb894f476168b9de63cde3f488e76252543ba2ef","abstract_canon_sha256":"57ae693e43be06ff2f102bf04402f3e59ae5f5a726f4be91e12f2ce0abb0e72d"},"schema_version":"1.0"},"canonical_sha256":"b1a44e51fa51cd430d9c2a47bf702af02a0a3c341a0ffd52589bfaaf335e8dca","source":{"kind":"arxiv","id":"2105.01457","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.01457","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"arxiv_version","alias_value":"2105.01457v3","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.01457","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"pith_short_12","alias_value":"WGSE4UP2KHGU","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"pith_short_16","alias_value":"WGSE4UP2KHGUGDM4","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"pith_short_8","alias_value":"WGSE4UP2","created_at":"2026-07-05T03:14:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:WGSE4UP2KHGUGDM4FJD364BK6A","target":"record","payload":{"canonical_record":{"source":{"id":"2105.01457","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-04T12:40:01Z","cross_cats_sorted":[],"title_canon_sha256":"65b7ef6d44d16a5660665a67eb894f476168b9de63cde3f488e76252543ba2ef","abstract_canon_sha256":"57ae693e43be06ff2f102bf04402f3e59ae5f5a726f4be91e12f2ce0abb0e72d"},"schema_version":"1.0"},"canonical_sha256":"b1a44e51fa51cd430d9c2a47bf702af02a0a3c341a0ffd52589bfaaf335e8dca","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:14:55.149973Z","signature_b64":"pI7owHn1qDIDBG+V4uFc7iM3WRyrwFH0sexug2G/jt2nWTWEPg0bjJH4mhcgwFFaqxC57ihB30FMp5JmtR8JDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b1a44e51fa51cd430d9c2a47bf702af02a0a3c341a0ffd52589bfaaf335e8dca","last_reissued_at":"2026-07-05T03:14:55.149567Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:14:55.149567Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.01457","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:14:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dtqhue3AAsdgzOSXvwFS3YxywV8s1ifxLYGv9RqgEQY7SS6pVVYoQoCOx5xt4FgGE4jw+h8J59bUtdaEdc8EAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:59:46.033599Z"},"content_sha256":"31db744b81b0eab88f68bf1c046fa04deec6668e6d253085e29defc4f01a1ece","schema_version":"1.0","event_id":"sha256:31db744b81b0eab88f68bf1c046fa04deec6668e6d253085e29defc4f01a1ece"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:WGSE4UP2KHGUGDM4FJD364BK6A","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CFEAR Radarodometry -- Conservative Filtering for Efficient and Accurate Radar Odometry","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Achim J. Lilienthal, Anas Alhashimi, Daniel Adolfsson, Henrik Andreasson, Martin Magnusson","submitted_at":"2021-05-04T12:40:01Z","abstract_excerpt":"This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally filtering the radar data in Cartesian space, we are able to compute a sparse set of oriented surface points for efficient and accurate scan matching. Registration is carried out by minimizing a point-to-line metric and robustness to outliers is achieved using a Huber loss. We were able to additionally reduce drift by jointly registering the latest scan to a hi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.01457","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/2105.01457/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":"2026-07-05T03:14:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LH6PaQcQUgPDN59HKidlhgrC+62NSm9LluWGmCOeVKz3iVGxhASathOugTkd7qli/c9xT8XotpzhIoU6vj+NAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:59:46.034260Z"},"content_sha256":"5a018ba9d42d1cf6b5dd68c8e591010ba0b0530a114342ad0711894885b96c75","schema_version":"1.0","event_id":"sha256:5a018ba9d42d1cf6b5dd68c8e591010ba0b0530a114342ad0711894885b96c75"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WGSE4UP2KHGUGDM4FJD364BK6A/bundle.json","state_url":"https://pith.science/pith/WGSE4UP2KHGUGDM4FJD364BK6A/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WGSE4UP2KHGUGDM4FJD364BK6A/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":"2026-07-09T05:59:46Z","links":{"resolver":"https://pith.science/pith/WGSE4UP2KHGUGDM4FJD364BK6A","bundle":"https://pith.science/pith/WGSE4UP2KHGUGDM4FJD364BK6A/bundle.json","state":"https://pith.science/pith/WGSE4UP2KHGUGDM4FJD364BK6A/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WGSE4UP2KHGUGDM4FJD364BK6A/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:WGSE4UP2KHGUGDM4FJD364BK6A","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":"57ae693e43be06ff2f102bf04402f3e59ae5f5a726f4be91e12f2ce0abb0e72d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-04T12:40:01Z","title_canon_sha256":"65b7ef6d44d16a5660665a67eb894f476168b9de63cde3f488e76252543ba2ef"},"schema_version":"1.0","source":{"id":"2105.01457","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.01457","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"arxiv_version","alias_value":"2105.01457v3","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.01457","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"pith_short_12","alias_value":"WGSE4UP2KHGU","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"pith_short_16","alias_value":"WGSE4UP2KHGUGDM4","created_at":"2026-07-05T03:14:55Z"},{"alias_kind":"pith_short_8","alias_value":"WGSE4UP2","created_at":"2026-07-05T03:14:55Z"}],"graph_snapshots":[{"event_id":"sha256:5a018ba9d42d1cf6b5dd68c8e591010ba0b0530a114342ad0711894885b96c75","target":"graph","created_at":"2026-07-05T03:14:55Z","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/2105.01457/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally filtering the radar data in Cartesian space, we are able to compute a sparse set of oriented surface points for efficient and accurate scan matching. Registration is carried out by minimizing a point-to-line metric and robustness to outliers is achieved using a Huber loss. We were able to additionally reduce drift by jointly registering the latest scan to a hi","authors_text":"Achim J. Lilienthal, Anas Alhashimi, Daniel Adolfsson, Henrik Andreasson, Martin Magnusson","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-04T12:40:01Z","title":"CFEAR Radarodometry -- Conservative Filtering for Efficient and Accurate Radar Odometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.01457","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":"sha256:31db744b81b0eab88f68bf1c046fa04deec6668e6d253085e29defc4f01a1ece","target":"record","created_at":"2026-07-05T03:14:55Z","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":"57ae693e43be06ff2f102bf04402f3e59ae5f5a726f4be91e12f2ce0abb0e72d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-04T12:40:01Z","title_canon_sha256":"65b7ef6d44d16a5660665a67eb894f476168b9de63cde3f488e76252543ba2ef"},"schema_version":"1.0","source":{"id":"2105.01457","kind":"arxiv","version":3}},"canonical_sha256":"b1a44e51fa51cd430d9c2a47bf702af02a0a3c341a0ffd52589bfaaf335e8dca","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b1a44e51fa51cd430d9c2a47bf702af02a0a3c341a0ffd52589bfaaf335e8dca","first_computed_at":"2026-07-05T03:14:55.149567Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:14:55.149567Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pI7owHn1qDIDBG+V4uFc7iM3WRyrwFH0sexug2G/jt2nWTWEPg0bjJH4mhcgwFFaqxC57ihB30FMp5JmtR8JDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:14:55.149973Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.01457","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:31db744b81b0eab88f68bf1c046fa04deec6668e6d253085e29defc4f01a1ece","sha256:5a018ba9d42d1cf6b5dd68c8e591010ba0b0530a114342ad0711894885b96c75"],"state_sha256":"747c8644662de93b750e4f574d207c29b30f2345628da17a9ddbfea5f5710b84"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HYp05XEeydys8//AmCIofksSrhSNXHK4YAud4G/q9Ts+nrROGEYyvJdZaK8VG+b9uO2bKmkcF20rcZi2jTbfBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T05:59:46.037591Z","bundle_sha256":"a8f012ea0ef65a4f965f2a7cebcddd49e0b1f396b71965e7a1284512ea69230a"}}