{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2015:OKFTZPUJHXD47L76DCMF5AP4MP","short_pith_number":"pith:OKFTZPUJ","schema_version":"1.0","canonical_sha256":"728b3cbe893dc7cfaffe18985e81fc63fee913174f8c1d90027604b747bc10c5","source":{"kind":"arxiv","id":"1511.06489","version":2},"attestation_state":"computed","paper":{"title":"A Simple Hierarchical Pooling Data Structure for Loop Closure","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Konstantine Tsotsos, Stefano Soatto, Xiaohan Fei","submitted_at":"2015-11-20T04:56:47Z","abstract_excerpt":"We propose a data structure obtained by hierarchically averaging bag-of-word descriptors during a sequence of views that achieves average speedups in large-scale loop closure applications ranging from 4 to 20 times on benchmark datasets. Although simple, the method works as well as sophisticated agglomerative schemes at a fraction of the cost with minimal loss of performance."},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1511.06489","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2015-11-20T04:56:47Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"a15781286a12961253835d78e91302fcccfa7a94dc59089d4e118bff5c716ab5","abstract_canon_sha256":"56b431a5cfd816300f082c0cc7b287935dbc3c427c88c229857abe0c0dd305af"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:02:28.467122Z","signature_b64":"G2dP81GdWo4Dw+xopLCr/k69EIc8s0Q7fTxnyqh9GAMEViswQhG9F03JXkoeX+mkXou/YHudNRAx79eVVRufCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"728b3cbe893dc7cfaffe18985e81fc63fee913174f8c1d90027604b747bc10c5","last_reissued_at":"2026-05-18T00:02:28.466494Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:02:28.466494Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Simple Hierarchical Pooling Data Structure for Loop Closure","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Konstantine Tsotsos, Stefano Soatto, Xiaohan Fei","submitted_at":"2015-11-20T04:56:47Z","abstract_excerpt":"We propose a data structure obtained by hierarchically averaging bag-of-word descriptors during a sequence of views that achieves average speedups in large-scale loop closure applications ranging from 4 to 20 times on benchmark datasets. Although simple, the method works as well as sophisticated agglomerative schemes at a fraction of the cost with minimal loss of performance."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1511.06489","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1511.06489","created_at":"2026-05-18T00:02:28.466592+00:00"},{"alias_kind":"arxiv_version","alias_value":"1511.06489v2","created_at":"2026-05-18T00:02:28.466592+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1511.06489","created_at":"2026-05-18T00:02:28.466592+00:00"},{"alias_kind":"pith_short_12","alias_value":"OKFTZPUJHXD4","created_at":"2026-05-18T12:29:34.919912+00:00"},{"alias_kind":"pith_short_16","alias_value":"OKFTZPUJHXD47L76","created_at":"2026-05-18T12:29:34.919912+00:00"},{"alias_kind":"pith_short_8","alias_value":"OKFTZPUJ","created_at":"2026-05-18T12:29:34.919912+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP","json":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP.json","graph_json":"https://pith.science/api/pith-number/OKFTZPUJHXD47L76DCMF5AP4MP/graph.json","events_json":"https://pith.science/api/pith-number/OKFTZPUJHXD47L76DCMF5AP4MP/events.json","paper":"https://pith.science/paper/OKFTZPUJ"},"agent_actions":{"view_html":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP","download_json":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP.json","view_paper":"https://pith.science/paper/OKFTZPUJ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1511.06489&json=true","fetch_graph":"https://pith.science/api/pith-number/OKFTZPUJHXD47L76DCMF5AP4MP/graph.json","fetch_events":"https://pith.science/api/pith-number/OKFTZPUJHXD47L76DCMF5AP4MP/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP/action/timestamp_anchor","attest_storage":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP/action/storage_attestation","attest_author":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP/action/author_attestation","sign_citation":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP/action/citation_signature","submit_replication":"https://pith.science/pith/OKFTZPUJHXD47L76DCMF5AP4MP/action/replication_record"}},"created_at":"2026-05-18T00:02:28.466592+00:00","updated_at":"2026-05-18T00:02:28.466592+00:00"}