{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:YPZX53ZSZ3NFDFFDCV6YMJCIVP","short_pith_number":"pith:YPZX53ZS","schema_version":"1.0","canonical_sha256":"c3f37eef32ceda5194a3157d862448abdb641e2961e12fb889273ba2ed7105e6","source":{"kind":"arxiv","id":"1707.08680","version":2},"attestation_state":"computed","paper":{"title":"Entropy-Based $Sim(3)$ Calibration of 2D Lidars to Egomotion Sensors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jacob Lambert, Jonathan Kelly, Lee Clement, Matthew Giamou","submitted_at":"2017-07-27T01:37:04Z","abstract_excerpt":"This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information. We extend recent work in this area to the problem of recovering the $Sim(3)$ transformation between a 2D lidar and a rigidly attached monocular camera, where the scale of the camera trajectory is not known a priori. We demonstrate the robustness of our approach on realistic simulations in multiple environments, as well as on data collected from a hand-held sensor rig. Given a non-degenerate trajectory and a suffici"},"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":"1707.08680","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-07-27T01:37:04Z","cross_cats_sorted":[],"title_canon_sha256":"b079dce9c68aef3c4a681a8edb27a859b12650312de2bcb19c6b3d7a855b1197","abstract_canon_sha256":"c327842e6682d0fc24b3daa05d1b61468ef6337c449061a483d37eab13654d93"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:10:47.558606Z","signature_b64":"WZLsgweo3Iopd0LMtAgBFJlG/7IlQ+t2P2k4tKZKNPWOmVBpPz4zObah7iRZkmn29UpyDtvDdCmMzhbW6bx1DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c3f37eef32ceda5194a3157d862448abdb641e2961e12fb889273ba2ed7105e6","last_reissued_at":"2026-05-18T00:10:47.558051Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:10:47.558051Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Entropy-Based $Sim(3)$ Calibration of 2D Lidars to Egomotion Sensors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jacob Lambert, Jonathan Kelly, Lee Clement, Matthew Giamou","submitted_at":"2017-07-27T01:37:04Z","abstract_excerpt":"This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information. We extend recent work in this area to the problem of recovering the $Sim(3)$ transformation between a 2D lidar and a rigidly attached monocular camera, where the scale of the camera trajectory is not known a priori. We demonstrate the robustness of our approach on realistic simulations in multiple environments, as well as on data collected from a hand-held sensor rig. Given a non-degenerate trajectory and a suffici"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.08680","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":"1707.08680","created_at":"2026-05-18T00:10:47.558140+00:00"},{"alias_kind":"arxiv_version","alias_value":"1707.08680v2","created_at":"2026-05-18T00:10:47.558140+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1707.08680","created_at":"2026-05-18T00:10:47.558140+00:00"},{"alias_kind":"pith_short_12","alias_value":"YPZX53ZSZ3NF","created_at":"2026-05-18T12:31:56.362134+00:00"},{"alias_kind":"pith_short_16","alias_value":"YPZX53ZSZ3NFDFFD","created_at":"2026-05-18T12:31:56.362134+00:00"},{"alias_kind":"pith_short_8","alias_value":"YPZX53ZS","created_at":"2026-05-18T12:31:56.362134+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/YPZX53ZSZ3NFDFFDCV6YMJCIVP","json":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP.json","graph_json":"https://pith.science/api/pith-number/YPZX53ZSZ3NFDFFDCV6YMJCIVP/graph.json","events_json":"https://pith.science/api/pith-number/YPZX53ZSZ3NFDFFDCV6YMJCIVP/events.json","paper":"https://pith.science/paper/YPZX53ZS"},"agent_actions":{"view_html":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP","download_json":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP.json","view_paper":"https://pith.science/paper/YPZX53ZS","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1707.08680&json=true","fetch_graph":"https://pith.science/api/pith-number/YPZX53ZSZ3NFDFFDCV6YMJCIVP/graph.json","fetch_events":"https://pith.science/api/pith-number/YPZX53ZSZ3NFDFFDCV6YMJCIVP/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP/action/timestamp_anchor","attest_storage":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP/action/storage_attestation","attest_author":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP/action/author_attestation","sign_citation":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP/action/citation_signature","submit_replication":"https://pith.science/pith/YPZX53ZSZ3NFDFFDCV6YMJCIVP/action/replication_record"}},"created_at":"2026-05-18T00:10:47.558140+00:00","updated_at":"2026-05-18T00:10:47.558140+00:00"}