{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ZINVL472TBKRW3YNK3YFHNECJ5","short_pith_number":"pith:ZINVL472","canonical_record":{"source":{"id":"2410.14565","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-18T16:10:50Z","cross_cats_sorted":[],"title_canon_sha256":"5c28b0c17811dfdae51a003ff646ee88cc8907642f85495afd45d6d39c9be06b","abstract_canon_sha256":"608b0a25e6e1aae0d0302fb03435779b1339263b886d7d9a23aad60cd5401583"},"schema_version":"1.0"},"canonical_sha256":"ca1b55f3fa98551b6f0d56f053b4824f78b90585a1f1cbcb9b8857c0d72f847e","source":{"kind":"arxiv","id":"2410.14565","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.14565","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"arxiv_version","alias_value":"2410.14565v2","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.14565","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"pith_short_12","alias_value":"ZINVL472TBKR","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"pith_short_16","alias_value":"ZINVL472TBKRW3YN","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"pith_short_8","alias_value":"ZINVL472","created_at":"2026-07-05T10:04:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ZINVL472TBKRW3YNK3YFHNECJ5","target":"record","payload":{"canonical_record":{"source":{"id":"2410.14565","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-18T16:10:50Z","cross_cats_sorted":[],"title_canon_sha256":"5c28b0c17811dfdae51a003ff646ee88cc8907642f85495afd45d6d39c9be06b","abstract_canon_sha256":"608b0a25e6e1aae0d0302fb03435779b1339263b886d7d9a23aad60cd5401583"},"schema_version":"1.0"},"canonical_sha256":"ca1b55f3fa98551b6f0d56f053b4824f78b90585a1f1cbcb9b8857c0d72f847e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:04:18.753151Z","signature_b64":"FiA/IWlBWRIO7pld54tV/+J7OnlUcG/ISChmGrZ3LX1lmRw1BlW1oNgAzb+119aQ61ksS2OE6gUbgR0Vh9roBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ca1b55f3fa98551b6f0d56f053b4824f78b90585a1f1cbcb9b8857c0d72f847e","last_reissued_at":"2026-07-05T10:04:18.752700Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:04:18.752700Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.14565","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":"2026-07-05T10:04:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zjkSbhUH7dlFlkPIPJ2wzoxgJZfclquC44qgQEd8UfszHbyG6WFgUDJVhddSRgL9ZEgXIpidhI/Io4LfKYXkCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T07:54:34.151485Z"},"content_sha256":"c1b76a0a9ac6f6b8434e7f4238167f918dddbc4b78f4d3bc9ec3a4705a926bdd","schema_version":"1.0","event_id":"sha256:c1b76a0a9ac6f6b8434e7f4238167f918dddbc4b78f4d3bc9ec3a4705a926bdd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ZINVL472TBKRW3YNK3YFHNECJ5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jianping Li, Lihua Xie, Muqing Cao, Shenghai Yuan, Thien-Minh Nguyen, Tzu-Yi Hung","submitted_at":"2024-10-18T16:10:50Z","abstract_excerpt":"Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and robotics. Unlike pose-graph-based methods that rely solely on pairwise relationships between LiDAR frames, LBA leverages raw LiDAR correspondences to achieve more precise results, especially when initial pose estimates are unreliable for low-cost sensors. However, existing LBA methods face challenges such as simplistic planar correspondences, extensive observations, and dense normal matrices in the least-squares proble"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.14565","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/2410.14565/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":"2026-07-05T10:04:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DOerpuOqsDaO2Qi4cMDYqWIN3RU6kAbR3AmrH/yqb/ZRDHZkvGKcD8x3jXJQvAvtclftpEYquTsX0/BjOPP6Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T07:54:34.151994Z"},"content_sha256":"ef43fcb5e94046e3b8ed0b02552625542cdf22019f50907b37d40cd08430e316","schema_version":"1.0","event_id":"sha256:ef43fcb5e94046e3b8ed0b02552625542cdf22019f50907b37d40cd08430e316"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZINVL472TBKRW3YNK3YFHNECJ5/bundle.json","state_url":"https://pith.science/pith/ZINVL472TBKRW3YNK3YFHNECJ5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZINVL472TBKRW3YNK3YFHNECJ5/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":"2026-08-18T07:54:34Z","links":{"resolver":"https://pith.science/pith/ZINVL472TBKRW3YNK3YFHNECJ5","bundle":"https://pith.science/pith/ZINVL472TBKRW3YNK3YFHNECJ5/bundle.json","state":"https://pith.science/pith/ZINVL472TBKRW3YNK3YFHNECJ5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZINVL472TBKRW3YNK3YFHNECJ5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZINVL472TBKRW3YNK3YFHNECJ5","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":"608b0a25e6e1aae0d0302fb03435779b1339263b886d7d9a23aad60cd5401583","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-18T16:10:50Z","title_canon_sha256":"5c28b0c17811dfdae51a003ff646ee88cc8907642f85495afd45d6d39c9be06b"},"schema_version":"1.0","source":{"id":"2410.14565","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.14565","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"arxiv_version","alias_value":"2410.14565v2","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.14565","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"pith_short_12","alias_value":"ZINVL472TBKR","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"pith_short_16","alias_value":"ZINVL472TBKRW3YN","created_at":"2026-07-05T10:04:18Z"},{"alias_kind":"pith_short_8","alias_value":"ZINVL472","created_at":"2026-07-05T10:04:18Z"}],"graph_snapshots":[{"event_id":"sha256:ef43fcb5e94046e3b8ed0b02552625542cdf22019f50907b37d40cd08430e316","target":"graph","created_at":"2026-07-05T10:04:18Z","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/2410.14565/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and robotics. Unlike pose-graph-based methods that rely solely on pairwise relationships between LiDAR frames, LBA leverages raw LiDAR correspondences to achieve more precise results, especially when initial pose estimates are unreliable for low-cost sensors. However, existing LBA methods face challenges such as simplistic planar correspondences, extensive observations, and dense normal matrices in the least-squares proble","authors_text":"Jianping Li, Lihua Xie, Muqing Cao, Shenghai Yuan, Thien-Minh Nguyen, Tzu-Yi Hung","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-18T16:10:50Z","title":"Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.14565","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:c1b76a0a9ac6f6b8434e7f4238167f918dddbc4b78f4d3bc9ec3a4705a926bdd","target":"record","created_at":"2026-07-05T10:04:18Z","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":"608b0a25e6e1aae0d0302fb03435779b1339263b886d7d9a23aad60cd5401583","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-18T16:10:50Z","title_canon_sha256":"5c28b0c17811dfdae51a003ff646ee88cc8907642f85495afd45d6d39c9be06b"},"schema_version":"1.0","source":{"id":"2410.14565","kind":"arxiv","version":2}},"canonical_sha256":"ca1b55f3fa98551b6f0d56f053b4824f78b90585a1f1cbcb9b8857c0d72f847e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ca1b55f3fa98551b6f0d56f053b4824f78b90585a1f1cbcb9b8857c0d72f847e","first_computed_at":"2026-07-05T10:04:18.752700Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:04:18.752700Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FiA/IWlBWRIO7pld54tV/+J7OnlUcG/ISChmGrZ3LX1lmRw1BlW1oNgAzb+119aQ61ksS2OE6gUbgR0Vh9roBg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:04:18.753151Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.14565","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c1b76a0a9ac6f6b8434e7f4238167f918dddbc4b78f4d3bc9ec3a4705a926bdd","sha256:ef43fcb5e94046e3b8ed0b02552625542cdf22019f50907b37d40cd08430e316"],"state_sha256":"5447fa6bb56029b739c87752c68a783deedeec8bfa0189dcd68d80afbce99749"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F0l9l/0wgZTjA3IikOuK7xZkWnO0Wh5rV6D7XBBqbdkDLueWyGJ9ZKvG7c4P/OXG5cCJ0B0WZ6At4/YD0RbnBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T07:54:34.157184Z","bundle_sha256":"58cd16054999ca5d6cc7e0aa4bbef89c5ddab51463f3ef38f1e71c76a31dfeae"}}