{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:DUBFNIHKOBKNHN3I3KJHMQBZ4A","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":"2a164040633f5051929669c9046f9fe653703199e6e7be4b99dff022f1cbde62","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-11-03T17:25:36Z","title_canon_sha256":"c0a3a001d3ac358b31243c50865ee3e987da72bd734ec57b30a563509643300d"},"schema_version":"1.0","source":{"id":"1811.01254","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.01254","created_at":"2026-05-17T23:49:33Z"},{"alias_kind":"arxiv_version","alias_value":"1811.01254v3","created_at":"2026-05-17T23:49:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.01254","created_at":"2026-05-17T23:49:33Z"},{"alias_kind":"pith_short_12","alias_value":"DUBFNIHKOBKN","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"DUBFNIHKOBKNHN3I","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"DUBFNIHK","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:8724549bc8ac4e54c80fa9d5181a27e95fc9e19b655e8efdb002ff495b9784b2","target":"graph","created_at":"2026-05-17T23:49:33Z","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":"Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain ground vehicles, these machines need to precisely track the desired base and end-effector trajectories, perform Simultaneous Localization and Mapping (SLAM), and move in challenging environments, all while keeping balance. A crucial aspect for these tasks is that all onboard sensors must be properly calibrated and synchronized to provide consistent signals ","authors_text":"Andrzej Reinke, Claudio Semini, Marco Camurri","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-11-03T17:25:36Z","title":"A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.01254","kind":"arxiv","version":3},"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:b4556a0cfb284b3a97822fc92098b02e08447c06a0f2c1884ccac43e90daeb9a","target":"record","created_at":"2026-05-17T23:49:33Z","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":"2a164040633f5051929669c9046f9fe653703199e6e7be4b99dff022f1cbde62","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-11-03T17:25:36Z","title_canon_sha256":"c0a3a001d3ac358b31243c50865ee3e987da72bd734ec57b30a563509643300d"},"schema_version":"1.0","source":{"id":"1811.01254","kind":"arxiv","version":3}},"canonical_sha256":"1d0256a0ea7054d3b768da92764039e03cd152bc2235389cab90cda9647d170d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1d0256a0ea7054d3b768da92764039e03cd152bc2235389cab90cda9647d170d","first_computed_at":"2026-05-17T23:49:33.261210Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:49:33.261210Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qJ9rixariYS1Tlm+6nzEfMaVa9II3SwNuVQ/lVhcHTcjqVyIpiiMy48uXB/14vEQTw4b7j+LffaHrYVp9E9FBQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:49:33.261878Z","signed_message":"canonical_sha256_bytes"},"source_id":"1811.01254","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b4556a0cfb284b3a97822fc92098b02e08447c06a0f2c1884ccac43e90daeb9a","sha256:8724549bc8ac4e54c80fa9d5181a27e95fc9e19b655e8efdb002ff495b9784b2"],"state_sha256":"4b94bdce3b35324e8aabad630aa40b53cbcd73eb4630171504617885d9208aca"}