{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:XTY4ONE4UPH2YS47H26G6BNAAQ","short_pith_number":"pith:XTY4ONE4","canonical_record":{"source":{"id":"2302.14819","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T18:17:14Z","cross_cats_sorted":[],"title_canon_sha256":"22e21001d2fad9856bfe692eca8bb858355457e9ea2a8d8d10883c573eaa525f","abstract_canon_sha256":"2ef946e557c5f5156e8830b02d7af71f8984a82355874a5eca4491b365a4d0e1"},"schema_version":"1.0"},"canonical_sha256":"bcf1c7349ca3cfac4b9f3ebc6f05a00406975c1031929f0a8781cf04b64de8ef","source":{"kind":"arxiv","id":"2302.14819","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.14819","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"arxiv_version","alias_value":"2302.14819v1","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.14819","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"pith_short_12","alias_value":"XTY4ONE4UPH2","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"pith_short_16","alias_value":"XTY4ONE4UPH2YS47","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"pith_short_8","alias_value":"XTY4ONE4","created_at":"2026-07-05T05:46:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:XTY4ONE4UPH2YS47H26G6BNAAQ","target":"record","payload":{"canonical_record":{"source":{"id":"2302.14819","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T18:17:14Z","cross_cats_sorted":[],"title_canon_sha256":"22e21001d2fad9856bfe692eca8bb858355457e9ea2a8d8d10883c573eaa525f","abstract_canon_sha256":"2ef946e557c5f5156e8830b02d7af71f8984a82355874a5eca4491b365a4d0e1"},"schema_version":"1.0"},"canonical_sha256":"bcf1c7349ca3cfac4b9f3ebc6f05a00406975c1031929f0a8781cf04b64de8ef","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:46:50.256198Z","signature_b64":"/pUpTskBClcmva7bote+hmCX2mloKMRG2UNzdiAppiGikVfuAKqSeuN99Dv6Cin8HnQqQ0KcjvtjIMXDJcu/Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bcf1c7349ca3cfac4b9f3ebc6f05a00406975c1031929f0a8781cf04b64de8ef","last_reissued_at":"2026-07-05T05:46:50.255759Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:46:50.255759Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.14819","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":"2026-07-05T05:46:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qmEyXmkncdY8f3sf/+hBUN2/BzoQOTpnwtbr4B9nFguXOt7Rh/GVQ3irqAuVp4o54rrdYrZq4JlNWAkMrshhBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:08:31.600121Z"},"content_sha256":"23fc79197db646216696ace1a8f4ef6f69ec8099766b4c9a442f3dd6fc6de98a","schema_version":"1.0","event_id":"sha256:23fc79197db646216696ace1a8f4ef6f69ec8099766b4c9a442f3dd6fc6de98a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:XTY4ONE4UPH2YS47H26G6BNAAQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fangcheng Zhu, Fu Zhang, Siqi Liang, Yixi Cai, Yunfan Ren","submitted_at":"2023-02-28T18:17:14Z","abstract_excerpt":"Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR with OGMs. To this end, we propose ROG-Map, a uniform grid-based OGM that maintains a local map moving along with the robot to enable efficient map operation and reduce memory costs for large-scene autonomous flight. Moreover, we present a novel incremental obstacle inflation method that significantly reduces the computational cost of inflation. The proposed "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.14819","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/2302.14819/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":"2026-07-05T05:46:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q57Qt2TQdDYFy28Ct4Nz1JWZZeMvi1O1+6AiptRULu6ZztVkaYOTkS4hqosaoZch1iAoItlHjIop6wJWM6WPDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:08:31.600502Z"},"content_sha256":"e80a634d73cf7ee97af6b3591b82899cc507a494352a5885a7ba95ef2add7010","schema_version":"1.0","event_id":"sha256:e80a634d73cf7ee97af6b3591b82899cc507a494352a5885a7ba95ef2add7010"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XTY4ONE4UPH2YS47H26G6BNAAQ/bundle.json","state_url":"https://pith.science/pith/XTY4ONE4UPH2YS47H26G6BNAAQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XTY4ONE4UPH2YS47H26G6BNAAQ/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":"2026-07-06T18:08:31Z","links":{"resolver":"https://pith.science/pith/XTY4ONE4UPH2YS47H26G6BNAAQ","bundle":"https://pith.science/pith/XTY4ONE4UPH2YS47H26G6BNAAQ/bundle.json","state":"https://pith.science/pith/XTY4ONE4UPH2YS47H26G6BNAAQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XTY4ONE4UPH2YS47H26G6BNAAQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:XTY4ONE4UPH2YS47H26G6BNAAQ","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":"2ef946e557c5f5156e8830b02d7af71f8984a82355874a5eca4491b365a4d0e1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T18:17:14Z","title_canon_sha256":"22e21001d2fad9856bfe692eca8bb858355457e9ea2a8d8d10883c573eaa525f"},"schema_version":"1.0","source":{"id":"2302.14819","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.14819","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"arxiv_version","alias_value":"2302.14819v1","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.14819","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"pith_short_12","alias_value":"XTY4ONE4UPH2","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"pith_short_16","alias_value":"XTY4ONE4UPH2YS47","created_at":"2026-07-05T05:46:50Z"},{"alias_kind":"pith_short_8","alias_value":"XTY4ONE4","created_at":"2026-07-05T05:46:50Z"}],"graph_snapshots":[{"event_id":"sha256:e80a634d73cf7ee97af6b3591b82899cc507a494352a5885a7ba95ef2add7010","target":"graph","created_at":"2026-07-05T05:46:50Z","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/2302.14819/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR with OGMs. To this end, we propose ROG-Map, a uniform grid-based OGM that maintains a local map moving along with the robot to enable efficient map operation and reduce memory costs for large-scene autonomous flight. Moreover, we present a novel incremental obstacle inflation method that significantly reduces the computational cost of inflation. The proposed ","authors_text":"Fangcheng Zhu, Fu Zhang, Siqi Liang, Yixi Cai, Yunfan Ren","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T18:17:14Z","title":"ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.14819","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":"sha256:23fc79197db646216696ace1a8f4ef6f69ec8099766b4c9a442f3dd6fc6de98a","target":"record","created_at":"2026-07-05T05:46:50Z","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":"2ef946e557c5f5156e8830b02d7af71f8984a82355874a5eca4491b365a4d0e1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-28T18:17:14Z","title_canon_sha256":"22e21001d2fad9856bfe692eca8bb858355457e9ea2a8d8d10883c573eaa525f"},"schema_version":"1.0","source":{"id":"2302.14819","kind":"arxiv","version":1}},"canonical_sha256":"bcf1c7349ca3cfac4b9f3ebc6f05a00406975c1031929f0a8781cf04b64de8ef","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bcf1c7349ca3cfac4b9f3ebc6f05a00406975c1031929f0a8781cf04b64de8ef","first_computed_at":"2026-07-05T05:46:50.255759Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:46:50.255759Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/pUpTskBClcmva7bote+hmCX2mloKMRG2UNzdiAppiGikVfuAKqSeuN99Dv6Cin8HnQqQ0KcjvtjIMXDJcu/Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:46:50.256198Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.14819","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:23fc79197db646216696ace1a8f4ef6f69ec8099766b4c9a442f3dd6fc6de98a","sha256:e80a634d73cf7ee97af6b3591b82899cc507a494352a5885a7ba95ef2add7010"],"state_sha256":"f49127d28ea8010e048c1f5835719d56438c630c122f9d08df3984793dafea1b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R8ULK0qCjmEzrpWnSQj/eulEqKeMRT6ATrdBLJloVkEIxprt2Q5aZ4C9bG7O2yNkvF/x7R4qxs/xi9oV2xp7Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T18:08:31.602389Z","bundle_sha256":"186649199c4a17d88efd701432dd7519af2067955f4e42bd6cb4725fe184c6a9"}}