Pith Number

pith:7DC4JOQO

pith:2026:7DC4JOQOHOJSKSW6SV5U7FRKXU

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PROBE: Probabilistic Occupancy BEV Encoding with Analytical Translation Robustness for 3D Place Recognition

Byoungho Lee, Gichul Yoo, Jinseop Lee

PROBE encodes LiDAR bird's-eye-view grids as Bernoulli occupancy variables and marginalizes continuous translations analytically to achieve translation-robust place recognition without learning.

arxiv:2603.05965 v3 · 2026-03-06 · cs.RO · cs.CV

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\pithnumber{7DC4JOQOHOJSKSW6SV5U7FRKXU}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

PROBE achieves the highest accuracy among handcrafted descriptors in multi-session evaluation and competitive single-session performance relative to both handcrafted and supervised baselines.

C2weakest assumption

That the single parameter sigma_t representing expected translational uncertainty in meters is a sensor-independent physical quantity that enhances cross-sensor generalization while reducing per-dataset tuning.

C3one line summary

PROBE is a learning-free LiDAR place recognition descriptor using probabilistic Bernoulli occupancy in BEV with analytical translation marginalization via polar Jacobian, achieving top handcrafted accuracy on multi-session tasks across four datasets.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-06-12T01:09:24.522482Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f8c5c4ba0e3b93254ade957b4f962abd186e881d8644317a29f3233bb27164d4

Aliases

arxiv: 2603.05965 · arxiv_version: 2603.05965v3 · doi: 10.48550/arxiv.2603.05965 · pith_short_12: 7DC4JOQOHOJS · pith_short_16: 7DC4JOQOHOJSKSW6 · pith_short_8: 7DC4JOQO

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/7DC4JOQOHOJSKSW6SV5U7FRKXU \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: f8c5c4ba0e3b93254ade957b4f962abd186e881d8644317a29f3233bb27164d4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e7e6e45b50879f640894341f8eec81748d8011629a70f322993b8f0ef6dfbd98",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-06T07:00:26Z",
    "title_canon_sha256": "409f65dc7d18ba84f672c9f9b8e5059f2848a3afcf57771c751ba7adddec89e5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.05965",
    "kind": "arxiv",
    "version": 3
  }
}