{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2013:Z4OW2WBRN5WHXHD5KE63FLLKDY","short_pith_number":"pith:Z4OW2WBR","schema_version":"1.0","canonical_sha256":"cf1d6d58316f6c7b9c7d513db2ad6a1e0c25fa2fcca2517e2756ac6c003df3df","source":{"kind":"arxiv","id":"1310.2539","version":2},"attestation_state":"computed","paper":{"title":"Intrinsic filtering on Lie groups with applications to attitude estimation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","math.OC"],"primary_cat":"cs.SY","authors_text":"Axel Barrau, Silvere Bonnabel","submitted_at":"2013-10-09T16:32:41Z","abstract_excerpt":"This paper proposes a probabilistic approach to the problem of intrinsic filtering of a system on a matrix Lie group with invariance properties. The problem of an invariant continuous-time model with discrete-time measurements is cast into a rigorous stochastic and geometric framework. Building upon the theory of continuous-time invariant observers, we show that, as in the linear case, the error equation is a Markov chain that does not depend on the state estimate. Thus, when the filter's gains are held fixed, and the filter admits almost-global convergence properties with noise turned off, th"},"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":"1310.2539","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-10-09T16:32:41Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"e79d152b0da1c2d40053691c1cafe68db137f54bcf69dafce0aaaa7aab22a879","abstract_canon_sha256":"64456c0ad3dccf8bb7bf4d3f624b31a10954ddb935b204496b6495855055f355"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:20:21.435804Z","signature_b64":"X4xHX9xVZ4oVImJngHmCBxCSPwjFfe0Zg7pO5r2QNnlzrMSLTE+vlxIY2kv4x7makwV9TyGUSgEN8C6ulsgLCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cf1d6d58316f6c7b9c7d513db2ad6a1e0c25fa2fcca2517e2756ac6c003df3df","last_reissued_at":"2026-05-18T01:20:21.435233Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:20:21.435233Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Intrinsic filtering on Lie groups with applications to attitude estimation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","math.OC"],"primary_cat":"cs.SY","authors_text":"Axel Barrau, Silvere Bonnabel","submitted_at":"2013-10-09T16:32:41Z","abstract_excerpt":"This paper proposes a probabilistic approach to the problem of intrinsic filtering of a system on a matrix Lie group with invariance properties. The problem of an invariant continuous-time model with discrete-time measurements is cast into a rigorous stochastic and geometric framework. Building upon the theory of continuous-time invariant observers, we show that, as in the linear case, the error equation is a Markov chain that does not depend on the state estimate. Thus, when the filter's gains are held fixed, and the filter admits almost-global convergence properties with noise turned off, th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1310.2539","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":""},"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":"1310.2539","created_at":"2026-05-18T01:20:21.435329+00:00"},{"alias_kind":"arxiv_version","alias_value":"1310.2539v2","created_at":"2026-05-18T01:20:21.435329+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1310.2539","created_at":"2026-05-18T01:20:21.435329+00:00"},{"alias_kind":"pith_short_12","alias_value":"Z4OW2WBRN5WH","created_at":"2026-05-18T12:28:09.283467+00:00"},{"alias_kind":"pith_short_16","alias_value":"Z4OW2WBRN5WHXHD5","created_at":"2026-05-18T12:28:09.283467+00:00"},{"alias_kind":"pith_short_8","alias_value":"Z4OW2WBR","created_at":"2026-05-18T12:28:09.283467+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/Z4OW2WBRN5WHXHD5KE63FLLKDY","json":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY.json","graph_json":"https://pith.science/api/pith-number/Z4OW2WBRN5WHXHD5KE63FLLKDY/graph.json","events_json":"https://pith.science/api/pith-number/Z4OW2WBRN5WHXHD5KE63FLLKDY/events.json","paper":"https://pith.science/paper/Z4OW2WBR"},"agent_actions":{"view_html":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY","download_json":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY.json","view_paper":"https://pith.science/paper/Z4OW2WBR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1310.2539&json=true","fetch_graph":"https://pith.science/api/pith-number/Z4OW2WBRN5WHXHD5KE63FLLKDY/graph.json","fetch_events":"https://pith.science/api/pith-number/Z4OW2WBRN5WHXHD5KE63FLLKDY/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY/action/timestamp_anchor","attest_storage":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY/action/storage_attestation","attest_author":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY/action/author_attestation","sign_citation":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY/action/citation_signature","submit_replication":"https://pith.science/pith/Z4OW2WBRN5WHXHD5KE63FLLKDY/action/replication_record"}},"created_at":"2026-05-18T01:20:21.435329+00:00","updated_at":"2026-05-18T01:20:21.435329+00:00"}