{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:O6FHWGMVB274I6MLS6P3SM2TG4","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":"e466426ef03b70cd82391fcf19469199d1a54ee9164c5bad0b372917ff534487","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-01-29T15:38:12Z","title_canon_sha256":"c6aa074b3606ec88c4ed0fd2952449b9b74ac4f98da16f8b6a809b302c3af3ba"},"schema_version":"1.0","source":{"id":"1601.08158","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1601.08158","created_at":"2026-05-18T01:21:40Z"},{"alias_kind":"arxiv_version","alias_value":"1601.08158v1","created_at":"2026-05-18T01:21:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1601.08158","created_at":"2026-05-18T01:21:40Z"},{"alias_kind":"pith_short_12","alias_value":"O6FHWGMVB274","created_at":"2026-05-18T12:30:36Z"},{"alias_kind":"pith_short_16","alias_value":"O6FHWGMVB274I6ML","created_at":"2026-05-18T12:30:36Z"},{"alias_kind":"pith_short_8","alias_value":"O6FHWGMV","created_at":"2026-05-18T12:30:36Z"}],"graph_snapshots":[{"event_id":"sha256:bdb9ee84160a6c2a570710ac1214c6bd6754643d683453770270fccb1923fa02","target":"graph","created_at":"2026-05-18T01:21:40Z","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":"The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor.\n  In this paper we propose a framework, implemented in the PCL library, which provides a set of valuable tools to easily develop and evaluate semantic localization systems. The implementation includes the generation of 3D global descriptors following a Bag-of-Words approach. ","authors_text":"Ismael Garc\\'ia-Varea, Jes\\'us Mart\\'inez-G\\'omez, Miguel Cazorla, Vicente Morell","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-01-29T15:38:12Z","title":"Semantic Localization in the PCL library"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1601.08158","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":"sha256:02fcaa1206849e9e99147b3dea80cca9c1111bf602b1b871945c81d32800ca7f","target":"record","created_at":"2026-05-18T01:21:40Z","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":"e466426ef03b70cd82391fcf19469199d1a54ee9164c5bad0b372917ff534487","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-01-29T15:38:12Z","title_canon_sha256":"c6aa074b3606ec88c4ed0fd2952449b9b74ac4f98da16f8b6a809b302c3af3ba"},"schema_version":"1.0","source":{"id":"1601.08158","kind":"arxiv","version":1}},"canonical_sha256":"778a7b19950ebfc4798b979fb93353373b37a486363e95d4625104d10038a14a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"778a7b19950ebfc4798b979fb93353373b37a486363e95d4625104d10038a14a","first_computed_at":"2026-05-18T01:21:40.220559Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:21:40.220559Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"B67z9KJP37yDI+ycpe5LMKJ0LuoeQnTGFKlENDfl0K2N7+KVF0sCFVbah5RnR9EusDCacfG682bJCD04h1mnDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:21:40.221037Z","signed_message":"canonical_sha256_bytes"},"source_id":"1601.08158","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:02fcaa1206849e9e99147b3dea80cca9c1111bf602b1b871945c81d32800ca7f","sha256:bdb9ee84160a6c2a570710ac1214c6bd6754643d683453770270fccb1923fa02"],"state_sha256":"966801d5532eebb0de2b14a0b863c022014b02157570440799d9f5349313edab"}