{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:XP6454B2GPISK3EKUVNMSWPOPZ","short_pith_number":"pith:XP6454B2","schema_version":"1.0","canonical_sha256":"bbfdcef03a33d1256c8aa55ac959ee7e6734ff1ecba2be2b4e39c26974a4baed","source":{"kind":"arxiv","id":"2103.14826","version":1},"attestation_state":"computed","paper":{"title":"Compact 3D Map-Based Monocular Localization Using Semantic Edge Alignment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiahui Zhang, Kejie Qiu, Le Cui, Ping Tan, Rui Huang, Shenzhou Chen, Siyu Zhu","submitted_at":"2021-03-27T07:14:29Z","abstract_excerpt":"Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error accumulation, which is desired in many application scenarios. In addition to GPS used in the open air, 3D maps are also widely used as alternative global localization references. In this paper, we propose a compact 3D map-based global localization system using a low-cost monocular camera and an IMU (Inertial Measurement Unit). The proposed compact map consists of"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2103.14826","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-27T07:14:29Z","cross_cats_sorted":[],"title_canon_sha256":"6a925cecfcfaddb2995fa529aa3a290a713eab81cd9319dbd4f4207959aff7cd","abstract_canon_sha256":"62d25f7544ef779a5d3570c9595558880e4f472385367f10173f90c1920f353c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:26:59.803798Z","signature_b64":"3IS28gD0AyrghQiedogOIfSoAP/vOZLbKZsqSJ2IDnhDq6lsrPsx/SaakXCfRr/Z6lh62GS07LS/TSIL1KEoDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bbfdcef03a33d1256c8aa55ac959ee7e6734ff1ecba2be2b4e39c26974a4baed","last_reissued_at":"2026-07-05T02:26:59.803373Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:26:59.803373Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Compact 3D Map-Based Monocular Localization Using Semantic Edge Alignment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiahui Zhang, Kejie Qiu, Le Cui, Ping Tan, Rui Huang, Shenzhou Chen, Siyu Zhu","submitted_at":"2021-03-27T07:14:29Z","abstract_excerpt":"Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error accumulation, which is desired in many application scenarios. In addition to GPS used in the open air, 3D maps are also widely used as alternative global localization references. In this paper, we propose a compact 3D map-based global localization system using a low-cost monocular camera and an IMU (Inertial Measurement Unit). The proposed compact map consists of"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14826","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/2103.14826/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2103.14826","created_at":"2026-07-05T02:26:59.803442+00:00"},{"alias_kind":"arxiv_version","alias_value":"2103.14826v1","created_at":"2026-07-05T02:26:59.803442+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14826","created_at":"2026-07-05T02:26:59.803442+00:00"},{"alias_kind":"pith_short_12","alias_value":"XP6454B2GPIS","created_at":"2026-07-05T02:26:59.803442+00:00"},{"alias_kind":"pith_short_16","alias_value":"XP6454B2GPISK3EK","created_at":"2026-07-05T02:26:59.803442+00:00"},{"alias_kind":"pith_short_8","alias_value":"XP6454B2","created_at":"2026-07-05T02:26:59.803442+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ","json":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ.json","graph_json":"https://pith.science/api/pith-number/XP6454B2GPISK3EKUVNMSWPOPZ/graph.json","events_json":"https://pith.science/api/pith-number/XP6454B2GPISK3EKUVNMSWPOPZ/events.json","paper":"https://pith.science/paper/XP6454B2"},"agent_actions":{"view_html":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ","download_json":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ.json","view_paper":"https://pith.science/paper/XP6454B2","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2103.14826&json=true","fetch_graph":"https://pith.science/api/pith-number/XP6454B2GPISK3EKUVNMSWPOPZ/graph.json","fetch_events":"https://pith.science/api/pith-number/XP6454B2GPISK3EKUVNMSWPOPZ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ/action/storage_attestation","attest_author":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ/action/author_attestation","sign_citation":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ/action/citation_signature","submit_replication":"https://pith.science/pith/XP6454B2GPISK3EKUVNMSWPOPZ/action/replication_record"}},"created_at":"2026-07-05T02:26:59.803442+00:00","updated_at":"2026-07-05T02:26:59.803442+00:00"}