{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:XTJTEW3JOTZYGYABNURWSSUYRZ","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":"f2c4f3339978b181fae2d7b3592014179a88b50a656136b66a595a4a4701327e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-11-13T16:43:16Z","title_canon_sha256":"0eeda36a124cd8ac684692d99a983e3c292e527bade873176363e43492c1137f"},"schema_version":"1.0","source":{"id":"1911.05603","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.05603","created_at":"2026-07-05T00:47:47Z"},{"alias_kind":"arxiv_version","alias_value":"1911.05603v2","created_at":"2026-07-05T00:47:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.05603","created_at":"2026-07-05T00:47:47Z"},{"alias_kind":"pith_short_12","alias_value":"XTJTEW3JOTZY","created_at":"2026-07-05T00:47:47Z"},{"alias_kind":"pith_short_16","alias_value":"XTJTEW3JOTZYGYAB","created_at":"2026-07-05T00:47:47Z"},{"alias_kind":"pith_short_8","alias_value":"XTJTEW3J","created_at":"2026-07-05T00:47:47Z"}],"graph_snapshots":[{"event_id":"sha256:aebe00aef87b3190afd9922fb0e453ee0d21b78bb0d054d7338b61a948bf7900","target":"graph","created_at":"2026-07-05T00:47:47Z","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/1911.05603/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems for robotic autonomy, most existing SLAM works are evaluated with data sequences that are recorded in a short period of time. In real-world deployment, there can be out-of-sight scene changes caused by both natural factors and human activities. For example, in home scenarios, most objects may be movable, replaceable or deformable, and the visual features of the same place may ","authors_text":"Baoxing Qin, Chunhao Zhu, Dongjiang Li, Fangshi Wang, Fei Qiao, Jingwei Song, Le Song, Pengpeng Zhao, Qinbin Tian, Qi She, Qiwei Long, Rosa H. M. Chan, Wei Yang, Xuesong Shi, Yangquan Guo, Yimin Zhang, Yuxin Tian, Zhigang Wang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-11-13T16:43:16Z","title":"Are We Ready for Service Robots? The OpenLORIS-Scene Datasets for Lifelong SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.05603","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:fa292222a6fc074912954f7e38082359283363f193827fbf285aff136ed17ae7","target":"record","created_at":"2026-07-05T00:47:47Z","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":"f2c4f3339978b181fae2d7b3592014179a88b50a656136b66a595a4a4701327e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-11-13T16:43:16Z","title_canon_sha256":"0eeda36a124cd8ac684692d99a983e3c292e527bade873176363e43492c1137f"},"schema_version":"1.0","source":{"id":"1911.05603","kind":"arxiv","version":2}},"canonical_sha256":"bcd3325b6974f38360016d23694a988e62b715d4d2677b2a282a9af1d6c3a7a8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bcd3325b6974f38360016d23694a988e62b715d4d2677b2a282a9af1d6c3a7a8","first_computed_at":"2026-07-05T00:47:47.814100Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:47:47.814100Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9w6bNZT0jT1I1UCHhMNTNh/osTrj3k7UhkkYrjYzOB9elKshB6/aMOk1Nuv8c395ODt4GXKwzcY9RB4Qp0WHBA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:47:47.814524Z","signed_message":"canonical_sha256_bytes"},"source_id":"1911.05603","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fa292222a6fc074912954f7e38082359283363f193827fbf285aff136ed17ae7","sha256:aebe00aef87b3190afd9922fb0e453ee0d21b78bb0d054d7338b61a948bf7900"],"state_sha256":"23556687ae7879a28e7bf19ca3fc2707bdfcbff6308bb31e2076da403a7ab7f5"}