Pith Number

pith:E4PYRHYR

pith:2026:E4PYRHYRG27X7EOG54GIA6V5IJ

not attested not anchored not stored refs pending

Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level

Bo Zhou, Chufan Rui, Jiasheng Luo, Shihua Li, Yan Pan, Yueqi Zhu

LiDAR-inertial odometry supplies deterministic protection levels by turning bounded point-cloud noise into feasible pose sets through an on-manifold filter.

arxiv:2605.09383 v2 · 2026-05-10 · cs.RO

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\usepackage{pith}
\pithnumber{E4PYRHYRG27X7EOG54GIA6V5IJ}

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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

By adopting the unknown but bounded assumption, we derive a neat closed-form relationship between point cloud noise and the uncertainty of the estimation from the iterated closest point algorithm. Using this relationship, we design an on-manifold ellipsoidal set-membership filter and implement it within the LIO system.

C2weakest assumption

The unknown-but-bounded noise model for point clouds holds in real-world environments and the derived closed-form relationship accurately propagates uncertainty through ICP without hidden fitting steps or post-hoc exclusions.

C3one line summary

A LiDAR-inertial odometry pipeline supplies deterministic feasible sets as protection levels by linking ICP point-cloud noise to pose uncertainty via a closed-form relation and propagating it with an on-manifold ellipsoidal set-membership filter.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-06-19T16:12:54.782882Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

271f889f1136bf7f91c6ef0c807abd4274b55b2504081444a3c90fbc894b4945

Aliases

arxiv: 2605.09383 · arxiv_version: 2605.09383v2 · doi: 10.48550/arxiv.2605.09383 · pith_short_12: E4PYRHYRG27X · pith_short_16: E4PYRHYRG27X7EOG · pith_short_8: E4PYRHYR

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/E4PYRHYRG27X7EOG54GIA6V5IJ \
  | 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: 271f889f1136bf7f91c6ef0c807abd4274b55b2504081444a3c90fbc894b4945

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6b5dee85534b0895227eff858cc79a8c156109f8cf9260fb6b14f0d1048c57bf",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-10T07:20:34Z",
    "title_canon_sha256": "1dda08ca50df03924504a94e8a9892dae2e8c0d212f51976860fb8ab0a9fb3b7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.09383",
    "kind": "arxiv",
    "version": 2
  }
}