{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:XW44Z2PINRC6JNFUWRS5HM7IKR","short_pith_number":"pith:XW44Z2PI","canonical_record":{"source":{"id":"2209.06428","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-14T05:45:26Z","cross_cats_sorted":[],"title_canon_sha256":"4f7cd792ea3c4702bae8e5fd5d8e6c5bcd275d038050666ef299c8af7baa4cd9","abstract_canon_sha256":"829d5139d89809786c92b436b083987522a46a0bdba5e4af6b681946acac0d32"},"schema_version":"1.0"},"canonical_sha256":"bdb9cce9e86c45e4b4b4b465d3b3e85447dd1e1718254a9b540ef0e809ea0fc7","source":{"kind":"arxiv","id":"2209.06428","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.06428","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"arxiv_version","alias_value":"2209.06428v2","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.06428","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"pith_short_12","alias_value":"XW44Z2PINRC6","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"XW44Z2PINRC6JNFU","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"XW44Z2PI","created_at":"2026-07-05T10:33:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:XW44Z2PINRC6JNFUWRS5HM7IKR","target":"record","payload":{"canonical_record":{"source":{"id":"2209.06428","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-14T05:45:26Z","cross_cats_sorted":[],"title_canon_sha256":"4f7cd792ea3c4702bae8e5fd5d8e6c5bcd275d038050666ef299c8af7baa4cd9","abstract_canon_sha256":"829d5139d89809786c92b436b083987522a46a0bdba5e4af6b681946acac0d32"},"schema_version":"1.0"},"canonical_sha256":"bdb9cce9e86c45e4b4b4b465d3b3e85447dd1e1718254a9b540ef0e809ea0fc7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:33:01.364809Z","signature_b64":"QYa9VqOFr3qqB8Mb2aEMMkFQVDcaQnY5JlTtzoEUoOwKpx6FNAS8mOrqinGbbv+DMbVTGBUYzAZpug0qIL1FBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bdb9cce9e86c45e4b4b4b465d3b3e85447dd1e1718254a9b540ef0e809ea0fc7","last_reissued_at":"2026-07-05T10:33:01.363952Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:33:01.363952Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.06428","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:33:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"e5I3xU/ps/wAbNahg4r+L6+vb9kCmWBI1eG14crd8eiTSY+gUNhS7hCjk53lIVzU3B+pS+UZluw4bWe6BAZCBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:29:33.274081Z"},"content_sha256":"59d4b8f17e8708164262613344f59d909c41fbc43cb06d7b5f4094c8e295c8a2","schema_version":"1.0","event_id":"sha256:59d4b8f17e8708164262613344f59d909c41fbc43cb06d7b5f4094c8e295c8a2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:XW44Z2PINRC6JNFUWRS5HM7IKR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Semantic Visual Simultaneous Localization and Mapping: A Survey","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Arash Ajoudani, Heng Zhang, Jialing Liu, Jianhua Zhang, Junhao Xiao, Kaiqi Chen, Qiyi Tong, Ruyu Liu, Shengyong Chen","submitted_at":"2022-09-14T05:45:26Z","abstract_excerpt":"Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM cannot achieve good localization in dynamic and complex environments. Numerous publications have reported that, by combining with the semantic information with vSLAM, the semantic vSLAM systems have the capability of solving the above problems in recent years. Nevertheless, there is no comprehensive survey about semantic vSLAM. To fill the gap, this paper firs"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.06428","kind":"arxiv","version":2},"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/2209.06428/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":"2026-07-05T10:33:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F+m5wc3+sRgppyQUBiI/aIXWbC2PMvlE7cNQIcGdWHaVnMla085yM1qkKyJ1QOU7P2ylwR92c9T0JXh6wDrMDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:29:33.274817Z"},"content_sha256":"87c5da663446a73ac58d9d6c47b5525f8259dec26d155eb3f21a536b5774f1b9","schema_version":"1.0","event_id":"sha256:87c5da663446a73ac58d9d6c47b5525f8259dec26d155eb3f21a536b5774f1b9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XW44Z2PINRC6JNFUWRS5HM7IKR/bundle.json","state_url":"https://pith.science/pith/XW44Z2PINRC6JNFUWRS5HM7IKR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XW44Z2PINRC6JNFUWRS5HM7IKR/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":"2026-07-07T05:29:33Z","links":{"resolver":"https://pith.science/pith/XW44Z2PINRC6JNFUWRS5HM7IKR","bundle":"https://pith.science/pith/XW44Z2PINRC6JNFUWRS5HM7IKR/bundle.json","state":"https://pith.science/pith/XW44Z2PINRC6JNFUWRS5HM7IKR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XW44Z2PINRC6JNFUWRS5HM7IKR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:XW44Z2PINRC6JNFUWRS5HM7IKR","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":"829d5139d89809786c92b436b083987522a46a0bdba5e4af6b681946acac0d32","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-14T05:45:26Z","title_canon_sha256":"4f7cd792ea3c4702bae8e5fd5d8e6c5bcd275d038050666ef299c8af7baa4cd9"},"schema_version":"1.0","source":{"id":"2209.06428","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.06428","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"arxiv_version","alias_value":"2209.06428v2","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.06428","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"pith_short_12","alias_value":"XW44Z2PINRC6","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"XW44Z2PINRC6JNFU","created_at":"2026-07-05T10:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"XW44Z2PI","created_at":"2026-07-05T10:33:01Z"}],"graph_snapshots":[{"event_id":"sha256:87c5da663446a73ac58d9d6c47b5525f8259dec26d155eb3f21a536b5774f1b9","target":"graph","created_at":"2026-07-05T10:33:01Z","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/2209.06428/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM cannot achieve good localization in dynamic and complex environments. Numerous publications have reported that, by combining with the semantic information with vSLAM, the semantic vSLAM systems have the capability of solving the above problems in recent years. Nevertheless, there is no comprehensive survey about semantic vSLAM. To fill the gap, this paper firs","authors_text":"Arash Ajoudani, Heng Zhang, Jialing Liu, Jianhua Zhang, Junhao Xiao, Kaiqi Chen, Qiyi Tong, Ruyu Liu, Shengyong Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-14T05:45:26Z","title":"Semantic Visual Simultaneous Localization and Mapping: A Survey"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.06428","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":"sha256:59d4b8f17e8708164262613344f59d909c41fbc43cb06d7b5f4094c8e295c8a2","target":"record","created_at":"2026-07-05T10:33:01Z","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":"829d5139d89809786c92b436b083987522a46a0bdba5e4af6b681946acac0d32","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-09-14T05:45:26Z","title_canon_sha256":"4f7cd792ea3c4702bae8e5fd5d8e6c5bcd275d038050666ef299c8af7baa4cd9"},"schema_version":"1.0","source":{"id":"2209.06428","kind":"arxiv","version":2}},"canonical_sha256":"bdb9cce9e86c45e4b4b4b465d3b3e85447dd1e1718254a9b540ef0e809ea0fc7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bdb9cce9e86c45e4b4b4b465d3b3e85447dd1e1718254a9b540ef0e809ea0fc7","first_computed_at":"2026-07-05T10:33:01.363952Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:33:01.363952Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QYa9VqOFr3qqB8Mb2aEMMkFQVDcaQnY5JlTtzoEUoOwKpx6FNAS8mOrqinGbbv+DMbVTGBUYzAZpug0qIL1FBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:33:01.364809Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.06428","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:59d4b8f17e8708164262613344f59d909c41fbc43cb06d7b5f4094c8e295c8a2","sha256:87c5da663446a73ac58d9d6c47b5525f8259dec26d155eb3f21a536b5774f1b9"],"state_sha256":"d29ad350414666d7b09373d6599f39b6303276f358240955347218e0c674b0c4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"20G5n7RlRkprNsH8HlvYKicLU6qu63MuPf1vlj00M6i3FU/71Bl47hsjcmc1h+umVepdz23x/6eLsiuaUk42CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T05:29:33.278327Z","bundle_sha256":"51442c61f3c8967218768072bd353c19508bea4284ef43bff10fd131f598b50d"}}