{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:WHVBZDNIDYM6ATZ7UPSQXFGUIQ","short_pith_number":"pith:WHVBZDNI","canonical_record":{"source":{"id":"2308.02674","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-04T19:15:27Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"25fed7628caf57efc7fb45b80958400223182adcee8ac496c7bd842b4c1fdb96","abstract_canon_sha256":"a9c3c1e937befcb09f9c700d88ba09f4cb267d9d597552e81dac1ab3309da556"},"schema_version":"1.0"},"canonical_sha256":"b1ea1c8da81e19e04f3fa3e50b94d444240479fc5b77d9a30478e12c5420461d","source":{"kind":"arxiv","id":"2308.02674","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.02674","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"arxiv_version","alias_value":"2308.02674v1","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.02674","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"pith_short_12","alias_value":"WHVBZDNIDYM6","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"pith_short_16","alias_value":"WHVBZDNIDYM6ATZ7","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"pith_short_8","alias_value":"WHVBZDNI","created_at":"2026-07-05T06:38:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:WHVBZDNIDYM6ATZ7UPSQXFGUIQ","target":"record","payload":{"canonical_record":{"source":{"id":"2308.02674","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-04T19:15:27Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"25fed7628caf57efc7fb45b80958400223182adcee8ac496c7bd842b4c1fdb96","abstract_canon_sha256":"a9c3c1e937befcb09f9c700d88ba09f4cb267d9d597552e81dac1ab3309da556"},"schema_version":"1.0"},"canonical_sha256":"b1ea1c8da81e19e04f3fa3e50b94d444240479fc5b77d9a30478e12c5420461d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:38:05.919445Z","signature_b64":"I9w88MCWGzSiKlUpMIynkECkCDydZhhTmMduSM9GaP0+J8Ue6eZ6DdeHjJ6xHb/wKDs3hfzBplZ8kCHE7drJCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b1ea1c8da81e19e04f3fa3e50b94d444240479fc5b77d9a30478e12c5420461d","last_reissued_at":"2026-07-05T06:38:05.918964Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:38:05.918964Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.02674","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":"2026-07-05T06:38:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YH2r9wCt6pPHzZKW+tF2qNnQUzBE3iyVb70Ne8awJ0DX5vjU2ELjOoqF4QsA3mER6AWdVg54Qn4RNkZTgzsQAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:33:47.648998Z"},"content_sha256":"f287621ea4152d20a84af5c198cb843a4fa6352b00e5f66c88af2d8b9a310644","schema_version":"1.0","event_id":"sha256:f287621ea4152d20a84af5c198cb843a4fa6352b00e5f66c88af2d8b9a310644"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:WHVBZDNIDYM6ATZ7UPSQXFGUIQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Group-$k$ consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Brendon Forsgren, Joshua G. Mangelson, Michael Kaess, Ram Vasudevan, Timothy W. McLain","submitted_at":"2023-08-04T19:15:27Z","abstract_excerpt":"This paper unifies the theory of consistent-set maximization for robust outlier detection in a simultaneous localization and mapping framework. We first describe the notion of pairwise consistency before discussing how a consistency graph can be formed by evaluating pairs of measurements for consistency. Finding the largest set of consistent measurements is transformed into an instance of the maximum clique problem and can be solved relatively quickly using existing maximum-clique solvers. We then generalize our algorithm to check consistency on a group-$k$ basis by using a generalized notion "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.02674","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/2308.02674/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":"2026-07-05T06:38:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R4gWVHhryyxzIuukXowYiE1clrsn2np97vN8jyusfwRNb9gXwq3hRFQt2vR8tsMxXpsog/V9lf5O2bHjND8JAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:33:47.650199Z"},"content_sha256":"911314d141bdd6981298ce0ae25b0d754621f56b7dccce85f90caf68a8e2a620","schema_version":"1.0","event_id":"sha256:911314d141bdd6981298ce0ae25b0d754621f56b7dccce85f90caf68a8e2a620"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WHVBZDNIDYM6ATZ7UPSQXFGUIQ/bundle.json","state_url":"https://pith.science/pith/WHVBZDNIDYM6ATZ7UPSQXFGUIQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WHVBZDNIDYM6ATZ7UPSQXFGUIQ/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":"2026-08-03T16:33:47Z","links":{"resolver":"https://pith.science/pith/WHVBZDNIDYM6ATZ7UPSQXFGUIQ","bundle":"https://pith.science/pith/WHVBZDNIDYM6ATZ7UPSQXFGUIQ/bundle.json","state":"https://pith.science/pith/WHVBZDNIDYM6ATZ7UPSQXFGUIQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WHVBZDNIDYM6ATZ7UPSQXFGUIQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:WHVBZDNIDYM6ATZ7UPSQXFGUIQ","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":"a9c3c1e937befcb09f9c700d88ba09f4cb267d9d597552e81dac1ab3309da556","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-04T19:15:27Z","title_canon_sha256":"25fed7628caf57efc7fb45b80958400223182adcee8ac496c7bd842b4c1fdb96"},"schema_version":"1.0","source":{"id":"2308.02674","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.02674","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"arxiv_version","alias_value":"2308.02674v1","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.02674","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"pith_short_12","alias_value":"WHVBZDNIDYM6","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"pith_short_16","alias_value":"WHVBZDNIDYM6ATZ7","created_at":"2026-07-05T06:38:05Z"},{"alias_kind":"pith_short_8","alias_value":"WHVBZDNI","created_at":"2026-07-05T06:38:05Z"}],"graph_snapshots":[{"event_id":"sha256:911314d141bdd6981298ce0ae25b0d754621f56b7dccce85f90caf68a8e2a620","target":"graph","created_at":"2026-07-05T06:38:05Z","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/2308.02674/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper unifies the theory of consistent-set maximization for robust outlier detection in a simultaneous localization and mapping framework. We first describe the notion of pairwise consistency before discussing how a consistency graph can be formed by evaluating pairs of measurements for consistency. Finding the largest set of consistent measurements is transformed into an instance of the maximum clique problem and can be solved relatively quickly using existing maximum-clique solvers. We then generalize our algorithm to check consistency on a group-$k$ basis by using a generalized notion ","authors_text":"Brendon Forsgren, Joshua G. Mangelson, Michael Kaess, Ram Vasudevan, Timothy W. McLain","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-04T19:15:27Z","title":"Group-$k$ consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.02674","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:f287621ea4152d20a84af5c198cb843a4fa6352b00e5f66c88af2d8b9a310644","target":"record","created_at":"2026-07-05T06:38:05Z","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":"a9c3c1e937befcb09f9c700d88ba09f4cb267d9d597552e81dac1ab3309da556","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-04T19:15:27Z","title_canon_sha256":"25fed7628caf57efc7fb45b80958400223182adcee8ac496c7bd842b4c1fdb96"},"schema_version":"1.0","source":{"id":"2308.02674","kind":"arxiv","version":1}},"canonical_sha256":"b1ea1c8da81e19e04f3fa3e50b94d444240479fc5b77d9a30478e12c5420461d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b1ea1c8da81e19e04f3fa3e50b94d444240479fc5b77d9a30478e12c5420461d","first_computed_at":"2026-07-05T06:38:05.918964Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:38:05.918964Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"I9w88MCWGzSiKlUpMIynkECkCDydZhhTmMduSM9GaP0+J8Ue6eZ6DdeHjJ6xHb/wKDs3hfzBplZ8kCHE7drJCA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:38:05.919445Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.02674","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f287621ea4152d20a84af5c198cb843a4fa6352b00e5f66c88af2d8b9a310644","sha256:911314d141bdd6981298ce0ae25b0d754621f56b7dccce85f90caf68a8e2a620"],"state_sha256":"d0eacee1eb09f04473c6d6c45b41424d5ca78d4a21dd8d1d37ec31a39a6fc3e0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+A/UtiDLZBLkW7cypu2ohlXWY5lw7dwRf67BKjuUoZWJDY/2G7pKg7W1cPhcoSx4Cxgv1POGLQJrox0xhdZoAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T16:33:47.658708Z","bundle_sha256":"d8e4f479d3be55893147b3d4860c87928525bbf1df6433b42d95d8bfe4c2ac45"}}