{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:T2YWHHBVANJIZ7AILS4DZU22GX","short_pith_number":"pith:T2YWHHBV","schema_version":"1.0","canonical_sha256":"9eb1639c3503528cfc085cb83cd35a35d7260f878cb48515ff824fab478aaa42","source":{"kind":"arxiv","id":"1903.03968","version":1},"attestation_state":"computed","paper":{"title":"Communication constrained cloud-based long-term visual localization in real time","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Huan Yin, Li Tang, Rong Xiong, Xiaqing Ding, Yue Wang","submitted_at":"2019-03-10T11:02:40Z","abstract_excerpt":"Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where appearance may change significantly over time. In this paper, we propose a cloud-based visual localization system targeting at long-term localization in real time. On the robot, we employ two estimators to achieve accurate and real-time performance. One is a sliding-window based visual inertial odometry, which integrates constraints from consecutive observations and"},"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":"1903.03968","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-10T11:02:40Z","cross_cats_sorted":[],"title_canon_sha256":"57c253722ebc1ca4bb8fb0b29aac5259970800ae57cac818f385812440f54869","abstract_canon_sha256":"fd1347758621d949821987889bdbfcf1552859cad935d9fb065ba6fcd74c477d"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:51:40.424269Z","signature_b64":"Y9RyrVaF0ak0dniEAN+ApfIiJsR48OODmzxLPzRm86p2TbojGGSrTGsUXAdK0aOE8UDv0R6cfoRtVK6LwuZaDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9eb1639c3503528cfc085cb83cd35a35d7260f878cb48515ff824fab478aaa42","last_reissued_at":"2026-05-17T23:51:40.423768Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:51:40.423768Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Communication constrained cloud-based long-term visual localization in real time","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Huan Yin, Li Tang, Rong Xiong, Xiaqing Ding, Yue Wang","submitted_at":"2019-03-10T11:02:40Z","abstract_excerpt":"Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where appearance may change significantly over time. In this paper, we propose a cloud-based visual localization system targeting at long-term localization in real time. On the robot, we employ two estimators to achieve accurate and real-time performance. One is a sliding-window based visual inertial odometry, which integrates constraints from consecutive observations and"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.03968","kind":"arxiv","version":1},"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":"1903.03968","created_at":"2026-05-17T23:51:40.423847+00:00"},{"alias_kind":"arxiv_version","alias_value":"1903.03968v1","created_at":"2026-05-17T23:51:40.423847+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.03968","created_at":"2026-05-17T23:51:40.423847+00:00"},{"alias_kind":"pith_short_12","alias_value":"T2YWHHBVANJI","created_at":"2026-05-18T12:33:27.125529+00:00"},{"alias_kind":"pith_short_16","alias_value":"T2YWHHBVANJIZ7AI","created_at":"2026-05-18T12:33:27.125529+00:00"},{"alias_kind":"pith_short_8","alias_value":"T2YWHHBV","created_at":"2026-05-18T12:33:27.125529+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/T2YWHHBVANJIZ7AILS4DZU22GX","json":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX.json","graph_json":"https://pith.science/api/pith-number/T2YWHHBVANJIZ7AILS4DZU22GX/graph.json","events_json":"https://pith.science/api/pith-number/T2YWHHBVANJIZ7AILS4DZU22GX/events.json","paper":"https://pith.science/paper/T2YWHHBV"},"agent_actions":{"view_html":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX","download_json":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX.json","view_paper":"https://pith.science/paper/T2YWHHBV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1903.03968&json=true","fetch_graph":"https://pith.science/api/pith-number/T2YWHHBVANJIZ7AILS4DZU22GX/graph.json","fetch_events":"https://pith.science/api/pith-number/T2YWHHBVANJIZ7AILS4DZU22GX/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX/action/timestamp_anchor","attest_storage":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX/action/storage_attestation","attest_author":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX/action/author_attestation","sign_citation":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX/action/citation_signature","submit_replication":"https://pith.science/pith/T2YWHHBVANJIZ7AILS4DZU22GX/action/replication_record"}},"created_at":"2026-05-17T23:51:40.423847+00:00","updated_at":"2026-05-17T23:51:40.423847+00:00"}