{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:ZAWBJTNZZL5L73UIAYGV77KA2M","short_pith_number":"pith:ZAWBJTNZ","canonical_record":{"source":{"id":"1503.01407","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-04T18:25:04Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"d44c7dd5278983d2bae318368442108d2a4c16a86bbdda0386b07fc691415ae3","abstract_canon_sha256":"fd257ef719b4b74db0b05241bd962079a6b49c2495e1919f00a83e97c2c9deca"},"schema_version":"1.0"},"canonical_sha256":"c82c14cdb9cafabfee88060d5ffd40d333cb4de58cbedb6300013013f7d2dff0","source":{"kind":"arxiv","id":"1503.01407","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1503.01407","created_at":"2026-05-18T02:25:34Z"},{"alias_kind":"arxiv_version","alias_value":"1503.01407v1","created_at":"2026-05-18T02:25:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1503.01407","created_at":"2026-05-18T02:25:34Z"},{"alias_kind":"pith_short_12","alias_value":"ZAWBJTNZZL5L","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_16","alias_value":"ZAWBJTNZZL5L73UI","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_8","alias_value":"ZAWBJTNZ","created_at":"2026-05-18T12:29:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:ZAWBJTNZZL5L73UIAYGV77KA2M","target":"record","payload":{"canonical_record":{"source":{"id":"1503.01407","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-04T18:25:04Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"d44c7dd5278983d2bae318368442108d2a4c16a86bbdda0386b07fc691415ae3","abstract_canon_sha256":"fd257ef719b4b74db0b05241bd962079a6b49c2495e1919f00a83e97c2c9deca"},"schema_version":"1.0"},"canonical_sha256":"c82c14cdb9cafabfee88060d5ffd40d333cb4de58cbedb6300013013f7d2dff0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:25:34.610803Z","signature_b64":"SKjc+OKhj8HTLl0pcIb2QQ72DcQBcpX+IMaKm6j0aHvP3Kyv02LUadJWFzFqK3cymHnvrcb7Y23IFP6gbE45Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c82c14cdb9cafabfee88060d5ffd40d333cb4de58cbedb6300013013f7d2dff0","last_reissued_at":"2026-05-18T02:25:34.610371Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:25:34.610371Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1503.01407","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":"2026-05-18T02:25:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A/rgtH/JY+flRyDvDehzqtgzNQnY9HHGmvPn7bUIJNo1W49pq4eaIPza08XWWjflnSyGtJvrp2snV0SjnO+PBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T12:15:48.390639Z"},"content_sha256":"2d1e3fb6d7ff7498579fd0d7edb27fe3e3f9e366330dcab18be3763a2fb4ad90","schema_version":"1.0","event_id":"sha256:2d1e3fb6d7ff7498579fd0d7edb27fe3e3f9e366330dcab18be3763a2fb4ad90"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:ZAWBJTNZZL5L73UIAYGV77KA2M","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Invariant EKF Design for Scan Matching-aided Localization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Fran\\c{c}ois Goulette, Jean-Emmanuel Deschaud, Martin Barczyk, Silv\\`ere Bonnabel","submitted_at":"2015-03-04T18:25:04Z","abstract_excerpt":"Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost Kinect depth camera. We develop both an Invariant Extended Kalman Filter (IEKF)-based and a Multiplicative Extended Kalman Filter (MEKF)-based solution to this problem. The two designs are successfully validated in experiments and demonstrate the advantage of the IEKF design."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1503.01407","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":""},"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":"2026-05-18T02:25:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"y4/5oKQDiyrZ0BvVYcVwoV7s8G0RXN6a0tFtiZDVElvxl3HKGBwLD+DvpSeNbAR4wfwTKopU7Rg83d02FhW6Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T12:15:48.391169Z"},"content_sha256":"5353cdb41e2d51d6832390f98e961d3d9644fc9cf030af66d9bf8b5d30a131b7","schema_version":"1.0","event_id":"sha256:5353cdb41e2d51d6832390f98e961d3d9644fc9cf030af66d9bf8b5d30a131b7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZAWBJTNZZL5L73UIAYGV77KA2M/bundle.json","state_url":"https://pith.science/pith/ZAWBJTNZZL5L73UIAYGV77KA2M/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZAWBJTNZZL5L73UIAYGV77KA2M/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":"2026-08-08T12:15:48Z","links":{"resolver":"https://pith.science/pith/ZAWBJTNZZL5L73UIAYGV77KA2M","bundle":"https://pith.science/pith/ZAWBJTNZZL5L73UIAYGV77KA2M/bundle.json","state":"https://pith.science/pith/ZAWBJTNZZL5L73UIAYGV77KA2M/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZAWBJTNZZL5L73UIAYGV77KA2M/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:ZAWBJTNZZL5L73UIAYGV77KA2M","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":"fd257ef719b4b74db0b05241bd962079a6b49c2495e1919f00a83e97c2c9deca","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-04T18:25:04Z","title_canon_sha256":"d44c7dd5278983d2bae318368442108d2a4c16a86bbdda0386b07fc691415ae3"},"schema_version":"1.0","source":{"id":"1503.01407","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1503.01407","created_at":"2026-05-18T02:25:34Z"},{"alias_kind":"arxiv_version","alias_value":"1503.01407v1","created_at":"2026-05-18T02:25:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1503.01407","created_at":"2026-05-18T02:25:34Z"},{"alias_kind":"pith_short_12","alias_value":"ZAWBJTNZZL5L","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_16","alias_value":"ZAWBJTNZZL5L73UI","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_8","alias_value":"ZAWBJTNZ","created_at":"2026-05-18T12:29:52Z"}],"graph_snapshots":[{"event_id":"sha256:5353cdb41e2d51d6832390f98e961d3d9644fc9cf030af66d9bf8b5d30a131b7","target":"graph","created_at":"2026-05-18T02:25:34Z","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"},"paper":{"abstract_excerpt":"Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost Kinect depth camera. We develop both an Invariant Extended Kalman Filter (IEKF)-based and a Multiplicative Extended Kalman Filter (MEKF)-based solution to this problem. The two designs are successfully validated in experiments and demonstrate the advantage of the IEKF design.","authors_text":"Fran\\c{c}ois Goulette, Jean-Emmanuel Deschaud, Martin Barczyk, Silv\\`ere Bonnabel","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-04T18:25:04Z","title":"Invariant EKF Design for Scan Matching-aided Localization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1503.01407","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":"sha256:2d1e3fb6d7ff7498579fd0d7edb27fe3e3f9e366330dcab18be3763a2fb4ad90","target":"record","created_at":"2026-05-18T02:25:34Z","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":"fd257ef719b4b74db0b05241bd962079a6b49c2495e1919f00a83e97c2c9deca","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-04T18:25:04Z","title_canon_sha256":"d44c7dd5278983d2bae318368442108d2a4c16a86bbdda0386b07fc691415ae3"},"schema_version":"1.0","source":{"id":"1503.01407","kind":"arxiv","version":1}},"canonical_sha256":"c82c14cdb9cafabfee88060d5ffd40d333cb4de58cbedb6300013013f7d2dff0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c82c14cdb9cafabfee88060d5ffd40d333cb4de58cbedb6300013013f7d2dff0","first_computed_at":"2026-05-18T02:25:34.610371Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:25:34.610371Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SKjc+OKhj8HTLl0pcIb2QQ72DcQBcpX+IMaKm6j0aHvP3Kyv02LUadJWFzFqK3cymHnvrcb7Y23IFP6gbE45Dg==","signature_status":"signed_v1","signed_at":"2026-05-18T02:25:34.610803Z","signed_message":"canonical_sha256_bytes"},"source_id":"1503.01407","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2d1e3fb6d7ff7498579fd0d7edb27fe3e3f9e366330dcab18be3763a2fb4ad90","sha256:5353cdb41e2d51d6832390f98e961d3d9644fc9cf030af66d9bf8b5d30a131b7"],"state_sha256":"549f8d5ea29c9cb092070dc86704a2a2eafbba01f62f666b957a1bf7bd18d08e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nljvw5wX709geFpIgp0V5snuO66fxP1nOLQT5feD6BlT5NyZw01k3MX/EaROrTKwGhW/F9tCZe3M31cytxsCCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T12:15:48.394632Z","bundle_sha256":"d9eb3bab345bdd61d1815c919eb78cac3c78cf3242b3e414f7200389fdfdd4d6"}}