{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:XU3IVWEPHV6G3ROLHLTSKESGDF","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":"90d93105389fb51813c672e223cba7c87c64b43f1a047324b1a6d7b4bb06f52d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-17T13:56:28Z","title_canon_sha256":"443ed25746cef57e73e4be17facdc67b6bd7ab13b769cec62b6018eb1004a921"},"schema_version":"1.0","source":{"id":"2307.08493","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.08493","created_at":"2026-07-05T06:57:24Z"},{"alias_kind":"arxiv_version","alias_value":"2307.08493v2","created_at":"2026-07-05T06:57:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.08493","created_at":"2026-07-05T06:57:24Z"},{"alias_kind":"pith_short_12","alias_value":"XU3IVWEPHV6G","created_at":"2026-07-05T06:57:24Z"},{"alias_kind":"pith_short_16","alias_value":"XU3IVWEPHV6G3ROL","created_at":"2026-07-05T06:57:24Z"},{"alias_kind":"pith_short_8","alias_value":"XU3IVWEP","created_at":"2026-07-05T06:57:24Z"}],"graph_snapshots":[{"event_id":"sha256:425a05109db32b9d4c7b2dbc888a7761d20524c32a93bad177492bbb7e191358","target":"graph","created_at":"2026-07-05T06:57:24Z","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/2307.08493/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution LiDAR sensors, termed D-Map. The framework introduces three main novelties to address the computational efficiency challenges of occupancy mapping. Firstly, we use a depth image to determine the occupancy state of regions instead of the traditional ray-casting method. Secondly, we introduce an efficient on-tree update strategy on a tree-based map structure. These two techniques avoid ","authors_text":"Fangcheng Zhu, Fanze Kong, Fu Zhang, Jiarong Lin, Yixi Cai, Yunfan Ren","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-17T13:56:28Z","title":"Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.08493","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":"sha256:389aca11449b4e5adb6f0a9b3d12d3f8debc6fd0cb68e88ac70ff1876fa08d84","target":"record","created_at":"2026-07-05T06:57:24Z","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":"90d93105389fb51813c672e223cba7c87c64b43f1a047324b1a6d7b4bb06f52d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-17T13:56:28Z","title_canon_sha256":"443ed25746cef57e73e4be17facdc67b6bd7ab13b769cec62b6018eb1004a921"},"schema_version":"1.0","source":{"id":"2307.08493","kind":"arxiv","version":2}},"canonical_sha256":"bd368ad88f3d7c6dc5cb3ae725124619741245ba6afa3d461726e10a500a0206","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bd368ad88f3d7c6dc5cb3ae725124619741245ba6afa3d461726e10a500a0206","first_computed_at":"2026-07-05T06:57:24.419036Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:57:24.419036Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uQ5wpZQQUTgLJ8v7fEIOX6Fo9E86MvKdU9k2+7WHxu3lgx9rWyDbZ1+16QUbE09gBcBjoN+ySiBHmYOpGnaoDA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:57:24.419452Z","signed_message":"canonical_sha256_bytes"},"source_id":"2307.08493","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:389aca11449b4e5adb6f0a9b3d12d3f8debc6fd0cb68e88ac70ff1876fa08d84","sha256:425a05109db32b9d4c7b2dbc888a7761d20524c32a93bad177492bbb7e191358"],"state_sha256":"e1ab4f6c9a048d258736042e8621c81e8dd3243aa138ac85ea2b6a0e033f2124"}