{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:X5QUFF5KU3WIOUGH3HLPEBT2TO","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":"24566f785c4dd78c13213f768f2e7d77284cce54fb267746a0c46451177f7057","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-03-07T17:36:34Z","title_canon_sha256":"5ce713af95153eb48e6504723a7d1cfe1846992bd2eff92d3e3a59d9414513f2"},"schema_version":"1.0","source":{"id":"1803.02784","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.02784","created_at":"2026-05-18T00:21:49Z"},{"alias_kind":"arxiv_version","alias_value":"1803.02784v1","created_at":"2026-05-18T00:21:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.02784","created_at":"2026-05-18T00:21:49Z"},{"alias_kind":"pith_short_12","alias_value":"X5QUFF5KU3WI","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"X5QUFF5KU3WIOUGH","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"X5QUFF5K","created_at":"2026-05-18T12:33:01Z"}],"graph_snapshots":[{"event_id":"sha256:ac90a7bb77b141cb4e112275f54a118b7952377f447c92a5c9370fbea27e7783","target":"graph","created_at":"2026-05-18T00:21:49Z","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"},"paper":{"abstract_excerpt":"We propose an efficient and scalable method for incrementally building a dense, semantically annotated 3D map in real-time. The proposed method assigns class probabilities to each region, not each element (e.g., surfel and voxel), of the 3D map which is built up through a robust SLAM framework and incrementally segmented with a geometric-based segmentation method. Differently from all other approaches, our method has a capability of running at over 30Hz while performing all processing components, including SLAM, segmentation, 2D recognition, and updating class probabilities of each segmentatio","authors_text":"Federico Tombari, Hideo Saito, Keisuke Tateno, Yoshikatsu Nakajima","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-03-07T17:36:34Z","title":"Fast and Accurate Semantic Mapping through Geometric-based Incremental Segmentation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.02784","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":"sha256:6cde5727b70206ab7944fb3ced9b553a3c5e58c1e6202d097db26329d2fbe7dc","target":"record","created_at":"2026-05-18T00:21:49Z","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":"24566f785c4dd78c13213f768f2e7d77284cce54fb267746a0c46451177f7057","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-03-07T17:36:34Z","title_canon_sha256":"5ce713af95153eb48e6504723a7d1cfe1846992bd2eff92d3e3a59d9414513f2"},"schema_version":"1.0","source":{"id":"1803.02784","kind":"arxiv","version":1}},"canonical_sha256":"bf614297aaa6ec8750c7d9d6f2067a9bb8c501be2618d76270e65491fd094fe4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bf614297aaa6ec8750c7d9d6f2067a9bb8c501be2618d76270e65491fd094fe4","first_computed_at":"2026-05-18T00:21:49.261879Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:21:49.261879Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"a5bGh5sEWwjV3h566yOB9Ye65b0Zva1CNaIje0hkXCzWer9MxMYmIw03cE7jXnk0vgTc73p9/N4LEHOZ/28lBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:21:49.262440Z","signed_message":"canonical_sha256_bytes"},"source_id":"1803.02784","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6cde5727b70206ab7944fb3ced9b553a3c5e58c1e6202d097db26329d2fbe7dc","sha256:ac90a7bb77b141cb4e112275f54a118b7952377f447c92a5c9370fbea27e7783"],"state_sha256":"c31783d50b3a34752b06613ef2f7a8ac6f7e0c6ba55de9730428bde19c8211f8"}