{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:VE6WBYDF2U7EMTX6UJU6BNH6NA","short_pith_number":"pith:VE6WBYDF","canonical_record":{"source":{"id":"2307.12116","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-22T16:05:23Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"99771e09042fbaeba671c0d84e50ad3d06bf76c154aafa1a91ad107454572056","abstract_canon_sha256":"d92387a059abb9b405adb361ccb27dc9b5d0e51a993a7be414ddd836232d31f5"},"schema_version":"1.0"},"canonical_sha256":"a93d60e065d53e464efea269e0b4fe68289cbbffad5f83c9c73ce1098288ed96","source":{"kind":"arxiv","id":"2307.12116","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.12116","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"arxiv_version","alias_value":"2307.12116v1","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.12116","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"pith_short_12","alias_value":"VE6WBYDF2U7E","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"pith_short_16","alias_value":"VE6WBYDF2U7EMTX6","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"pith_short_8","alias_value":"VE6WBYDF","created_at":"2026-07-05T06:33:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:VE6WBYDF2U7EMTX6UJU6BNH6NA","target":"record","payload":{"canonical_record":{"source":{"id":"2307.12116","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-22T16:05:23Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"99771e09042fbaeba671c0d84e50ad3d06bf76c154aafa1a91ad107454572056","abstract_canon_sha256":"d92387a059abb9b405adb361ccb27dc9b5d0e51a993a7be414ddd836232d31f5"},"schema_version":"1.0"},"canonical_sha256":"a93d60e065d53e464efea269e0b4fe68289cbbffad5f83c9c73ce1098288ed96","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:33:49.696001Z","signature_b64":"QDhTZtPdaF5hbFkUpDoaho294TurZ7wbtx3xtkX1Ash+qcb5940+GklqSdJ8QAEqgytlXzNaPxMMo1zbdVjLCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a93d60e065d53e464efea269e0b4fe68289cbbffad5f83c9c73ce1098288ed96","last_reissued_at":"2026-07-05T06:33:49.695514Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:33:49.695514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2307.12116","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:33:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5gDmzO/0u7s0/zVtC7G5yePwYpgL5M0bPMaZ+rroz+4zYtyf78jsrVNUv7sNmNnsaekVWZD/JJ6E4kpukN2YBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T09:58:22.537703Z"},"content_sha256":"5237e7e4983d84e891b9f61d93b755401606c17763723704ed3bb2d57b8b8075","schema_version":"1.0","event_id":"sha256:5237e7e4983d84e891b9f61d93b755401606c17763723704ed3bb2d57b8b8075"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:VE6WBYDF2U7EMTX6UJU6BNH6NA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Huan Yin, Shaojie Shen, Zehuan Yu, Zhijian Qiao","submitted_at":"2023-07-22T16:05:23Z","abstract_excerpt":"Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical applications due to occlusion and viewpoint change. In this paper, we propose a graph-theoretic framework to address the problem of global point cloud registration with low overlap. To this end, we construct a consistency graph to facilitate robust data association and employ graduated non-convexity (GNC) for reliable pose estimation, following the state-of-the-art (S"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.12116","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2307.12116/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:33:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mRYpXa7+1cZRbFM9qi4pOMOnUR+Qp88C0eqVTX8fPsXsYYuFCxjoHwnvMq8VCZxm5OaCLoJAVqXJtbdbOJrwCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T09:58:22.538014Z"},"content_sha256":"5e0b4c300992454d38d6dfe7a22de681a7e04eb2e1bbde7998fa9c64a8e45ca6","schema_version":"1.0","event_id":"sha256:5e0b4c300992454d38d6dfe7a22de681a7e04eb2e1bbde7998fa9c64a8e45ca6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VE6WBYDF2U7EMTX6UJU6BNH6NA/bundle.json","state_url":"https://pith.science/pith/VE6WBYDF2U7EMTX6UJU6BNH6NA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VE6WBYDF2U7EMTX6UJU6BNH6NA/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-14T09:58:22Z","links":{"resolver":"https://pith.science/pith/VE6WBYDF2U7EMTX6UJU6BNH6NA","bundle":"https://pith.science/pith/VE6WBYDF2U7EMTX6UJU6BNH6NA/bundle.json","state":"https://pith.science/pith/VE6WBYDF2U7EMTX6UJU6BNH6NA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VE6WBYDF2U7EMTX6UJU6BNH6NA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:VE6WBYDF2U7EMTX6UJU6BNH6NA","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":"d92387a059abb9b405adb361ccb27dc9b5d0e51a993a7be414ddd836232d31f5","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-22T16:05:23Z","title_canon_sha256":"99771e09042fbaeba671c0d84e50ad3d06bf76c154aafa1a91ad107454572056"},"schema_version":"1.0","source":{"id":"2307.12116","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.12116","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"arxiv_version","alias_value":"2307.12116v1","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.12116","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"pith_short_12","alias_value":"VE6WBYDF2U7E","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"pith_short_16","alias_value":"VE6WBYDF2U7EMTX6","created_at":"2026-07-05T06:33:49Z"},{"alias_kind":"pith_short_8","alias_value":"VE6WBYDF","created_at":"2026-07-05T06:33:49Z"}],"graph_snapshots":[{"event_id":"sha256:5e0b4c300992454d38d6dfe7a22de681a7e04eb2e1bbde7998fa9c64a8e45ca6","target":"graph","created_at":"2026-07-05T06:33:49Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2307.12116/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical applications due to occlusion and viewpoint change. In this paper, we propose a graph-theoretic framework to address the problem of global point cloud registration with low overlap. To this end, we construct a consistency graph to facilitate robust data association and employ graduated non-convexity (GNC) for reliable pose estimation, following the state-of-the-art (S","authors_text":"Huan Yin, Shaojie Shen, Zehuan Yu, Zhijian Qiao","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-22T16:05:23Z","title":"Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.12116","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":"sha256:5237e7e4983d84e891b9f61d93b755401606c17763723704ed3bb2d57b8b8075","target":"record","created_at":"2026-07-05T06:33:49Z","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":"d92387a059abb9b405adb361ccb27dc9b5d0e51a993a7be414ddd836232d31f5","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-22T16:05:23Z","title_canon_sha256":"99771e09042fbaeba671c0d84e50ad3d06bf76c154aafa1a91ad107454572056"},"schema_version":"1.0","source":{"id":"2307.12116","kind":"arxiv","version":1}},"canonical_sha256":"a93d60e065d53e464efea269e0b4fe68289cbbffad5f83c9c73ce1098288ed96","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a93d60e065d53e464efea269e0b4fe68289cbbffad5f83c9c73ce1098288ed96","first_computed_at":"2026-07-05T06:33:49.695514Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:33:49.695514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QDhTZtPdaF5hbFkUpDoaho294TurZ7wbtx3xtkX1Ash+qcb5940+GklqSdJ8QAEqgytlXzNaPxMMo1zbdVjLCw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:33:49.696001Z","signed_message":"canonical_sha256_bytes"},"source_id":"2307.12116","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5237e7e4983d84e891b9f61d93b755401606c17763723704ed3bb2d57b8b8075","sha256:5e0b4c300992454d38d6dfe7a22de681a7e04eb2e1bbde7998fa9c64a8e45ca6"],"state_sha256":"7d44a43a19687f48d3a17df3bc60dd3fca70dfc24eb3f50c81ae284f229a585b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/n598ueJ3tAdFZmF9JwHNHXZh3ojby6QBDv4l3hvpt3wWGbb2D0EZxnGE/mHzxWJjh3VOPdzQHvsgzS+iIAxBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T09:58:22.540443Z","bundle_sha256":"969a5f29f5a02bec5148bc6292c40a1019447b265cc47b755d701bb01bc2da4e"}}