{"entities":{"Q2957706":{"pageid":2968425,"ns":120,"title":"Item:Q2957706","lastrevid":52731029,"modified":"2026-01-23T09:23:21Z","type":"item","id":"Q2957706","labels":{"en":{"language":"en","value":"Lagrangian duality in complex pose graph optimization"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6678732"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$C62ACC50-8B76-4026-B8DB-77C3F3F665A8","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"c3dfdf46e4c1efe1f2c631aac450ebe9aa85dac8","datavalue":{"value":{"text":"Lagrangian Duality in Complex Pose Graph Optimization","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2957706$FF098DEE-90ED-42D6-9066-725AC038A539","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"376b4d63cf170ba72cca0e782a2da66a572633a0","datavalue":{"value":"1354.93097","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$A642DDD0-B186-4993-B916-6BECC6BEC916","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6dab24bb962e97a8d55192531057b4340b725be9","datavalue":{"value":"10.1007/978-3-319-42056-1_5","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$814253D6-5D9B-42EB-B7B3-6A3168D4BFCE","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b9b2d8aae179c22bf6974d054e862a3d4b5edf88","datavalue":{"value":{"entity-type":"item","numeric-id":450823,"id":"Q450823"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$193730E6-0152-4C40-8E63-E08DC8081A1F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"779a776ded59fed4b4a4d63fe9d10d3468e798ab","datavalue":{"value":{"entity-type":"item","numeric-id":709214,"id":"Q709214"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$E56DCC71-BE06-4117-84EE-8269CE310EB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4827ec8c6ab3ab56ae7c06a9a8960c5c7fcb3891","datavalue":{"value":{"entity-type":"item","numeric-id":1395736,"id":"Q1395736"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$A74800FC-0D5F-44F6-92E0-61866B655D32","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7bfe5a4f41280ee3d654804f67d4df97106be35f","datavalue":{"value":{"entity-type":"item","numeric-id":2957701,"id":"Q2957701"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$9D61D475-416B-4E6C-826B-0094A6CE3C3B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"10dfb43c7185210e67dd4f65f8a3dc19dfd4cd12","datavalue":{"value":{"time":"+2017-01-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2957706$700935E0-E4B7-4D12-B2C5-6E87DCDA4C4F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$9E2E4DEE-ABD5-47CE-8C54-2B2814008EE7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e3bc6c7cda8279d6ad2b578e7a7e4967447c3cc4","datavalue":{"value":"93E20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$181FE293-5501-4137-AB1A-DBD41DE5D09A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0865fb7043e066374ab3ed0ebe0fcf43197958c5","datavalue":{"value":"93B60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$765F0939-A6BA-41BB-8D7B-B43F3AE9F91A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"38697d6534d6c487b3a9c5a23685b94b3e7a5bf2","datavalue":{"value":"49N15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$727FB435-19E9-472F-986C-B6CF836023DF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"747ca2a29edc80ef77db4b4376cee27cb80d39e3","datavalue":{"value":"90C22","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$1FB490DF-9E55-4ABC-A73E-2F9F35E9AD8E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9bbf61edc380e5919c61d7e731133f33ddb22b0e","datavalue":{"value":"6678732","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$992D93CE-1222-45D2-BDB8-CEAAA7B9D2F1","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"003ccbf26f87cc11c98af668cdc39237d404a52a","datavalue":{"value":"maximum likelihood estimation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2957706$4CE92EBF-616F-4A59-8EEF-F7E9ADC335F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"06a11beb74127d2c301eb0dd072c511101fa3c6e","datavalue":{"value":"mobile robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q2957706$3CFF440D-ACB0-4CC5-998B-D7B0DF850C58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9cd240ce9d11dda3e0d931a69cf83e0dfdd7b9a8","datavalue":{"value":"motion estimation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2957706$3C33A3F6-624A-426D-BFF4-1B81A8A1121F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1e2ab3f83c1279d67683c13498308ae2095bc2ed","datavalue":{"value":"position measurement","type":"string"},"datatype":"string"},"type":"statement","id":"Q2957706$63C21360-6C7E-47F1-819E-F71B2A7A828B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"505c7f4d5cdd739f67ea2f0c6a8885978af0ff3e","datavalue":{"value":"rotation measurement","type":"string"},"datatype":"string"},"type":"statement","id":"Q2957706$154488E7-A076-47CF-962A-5B4C0BA778A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"355378ecbe95621b2c1980d8807bfff881198037","datavalue":{"value":"simultaneous localization and mapping","type":"string"},"datatype":"string"},"type":"statement","id":"Q2957706$2B5C1D0D-F9D4-466E-A2FB-068CB1DED882","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d1ecf978a28e5d1baefdbd10dbc4f102a6158a13","datavalue":{"value":"duality","type":"string"},"datatype":"string"},"type":"statement","id":"Q2957706$E7FB52E2-93B1-4ACD-AF23-6EF83A634509","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"81f6d3226865bb179391bcbd9e461df281de5c3f","datavalue":{"value":{"entity-type":"item","numeric-id":34586,"id":"Q34586"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$762417B0-B3BB-4A3C-9BBD-BE406C5FBD5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1463","hash":"0d2e1eb6e9077e73acb9d7765eaeb38c01d91076","datavalue":{"value":{"entity-type":"item","numeric-id":46456,"id":"Q46456"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$E15890D0-214C-42CA-ADCB-383C1308A7BD","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$6F76F6DE-E5E4-453A-A2BA-82C91D40D70E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"87fa21a5d54ca5d9c2fbb43f5fde26ad35479ba5","datavalue":{"value":"https://doi.org/10.1007/978-3-319-42056-1_5","type":"string"},"datatype":"url"},"type":"statement","id":"Q2957706$05C90009-6DC7-49E8-85D4-F632EA34AE82","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"826c09360a414f15ac1cd1c5caac23b1c5df0a23","datavalue":{"value":"W2524584226","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2957706$FDF18EA7-4685-4ADA-B38C-8F650610C92D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"29863ae0efa823fbdb89534087158a604a921647","datavalue":{"value":{"entity-type":"item","numeric-id":450824,"id":"Q450824"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$B5811ED0-C5D7-4C62-80E7-A9352BAF2CD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e21c072879b7a55f01fbc6d60a9efccd14b4afc0","datavalue":{"value":{"entity-type":"item","numeric-id":5413664,"id":"Q5413664"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$27F06025-2E4D-440D-85E8-654EA88D763D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d8f51123d4849920c0bd477136f67ae685bea6fb","datavalue":{"value":{"entity-type":"item","numeric-id":4821526,"id":"Q4821526"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$80935CD0-9DFF-4FE9-B4BB-2F9706D37C35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"36fe5a8c7193f0faef52c57a2040dd8a905b6684","datavalue":{"value":{"entity-type":"item","numeric-id":638915,"id":"Q638915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$447ABDD0-9899-4828-B4FE-E62DAFF6B36A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cf81aa09128085d36397a0cec0b3ad8d22b895f7","datavalue":{"value":{"entity-type":"item","numeric-id":1024914,"id":"Q1024914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$6449515E-C4AB-4E55-9367-C86D5D29F17B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9ed292bbf47b8d0094c4e501d9d31597223bcd0c","datavalue":{"value":{"entity-type":"item","numeric-id":2869799,"id":"Q2869799"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$01AE778B-ED77-4801-9EA6-FA314FFDB902","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"88777b9ab04c69a696d66c83a199776a3c5cb65a","datavalue":{"value":{"entity-type":"item","numeric-id":4794522,"id":"Q4794522"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$8665F79C-9C13-4A4E-AA85-DCE650A64C22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"833ad0e15af6f6c880e8c6f7f74d040da3054014","datavalue":{"value":{"entity-type":"item","numeric-id":361258,"id":"Q361258"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$E8B12033-1CC5-41C6-999D-D6B280D1BF22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"63fecd6d47d729f8cde15b88a2fffd3b5ebb52c1","datavalue":{"value":{"entity-type":"item","numeric-id":5844253,"id":"Q5844253"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$2FF2EC79-90B2-44D5-A66E-66FB0D3B1F02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0c2318c248c61f470611dfbee9a9e9433348853d","datavalue":{"value":{"entity-type":"item","numeric-id":885103,"id":"Q885103"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$BF4EA3B2-A197-4AAA-A66D-E21049BB3413","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eccd50a5399482b4278d441db8691fc0654a9bd2","datavalue":{"value":{"entity-type":"item","numeric-id":3457100,"id":"Q3457100"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$2F5C41BD-8F36-4C9E-AB8B-C0C3EA6C41F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7092c86c6e72784b91ff361f88100b90f71e645c","datavalue":{"value":{"entity-type":"item","numeric-id":1939627,"id":"Q1939627"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$5E94BA52-419D-42B7-8C63-05D01FF19675","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f6d155a4f269ae320c6c373d7a6d41716a8b6c61","datavalue":{"value":{"entity-type":"item","numeric-id":417440,"id":"Q417440"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$FA6E88A1-289B-4749-8C65-3A79F8387A94","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"368e63ce0b0a703c33121f1100334d7011454ea9","datavalue":{"value":{"entity-type":"item","numeric-id":4573006,"id":"Q4573006"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$81A775EA-FD53-46B7-91FF-D57EA6A77D46","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d6cd8599a37acf4eabf5fee83ec5dcedbb00d1bb","datavalue":{"value":{"entity-type":"item","numeric-id":5190243,"id":"Q5190243"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$F7F6C937-AAE6-418D-965C-3B6462B43D3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"68400b3b73bb4c0a41fee678e03ee01881cb909d","datavalue":{"value":{"entity-type":"item","numeric-id":5501229,"id":"Q5501229"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$2919BF2D-13F1-4016-990E-662498BB2BD9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"14d65f813b7bf62e89eaf2eb886e2ecf258499df","datavalue":{"value":{"entity-type":"item","numeric-id":4221106,"id":"Q4221106"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$51003DDA-7D6D-4751-BA88-DB967F73F2E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6e3d0273e9047b2cb74bd7e4876710e877086b73","datavalue":{"value":{"entity-type":"item","numeric-id":3075549,"id":"Q3075549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$74BB2B93-BB3B-4128-826B-CE3CDF5C4185","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"645f6837700145869824747ccbde813b8904eaaa","datavalue":{"value":{"entity-type":"item","numeric-id":617701,"id":"Q617701"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$A096C9E1-84E5-404E-831E-BCAB9B637CDC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4cf1996cf2459d1207b9f2bd87cb8ff96397830b","datavalue":{"value":{"entity-type":"item","numeric-id":3012048,"id":"Q3012048"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$81453A2D-0537-4A20-95A1-21D677C73051","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ac362dab0a7b0fee304e2356500b2b60ad67d8b3","datavalue":{"value":{"entity-type":"item","numeric-id":462358,"id":"Q462358"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$4826C93C-FEFC-4A08-A716-6B66A99D1825","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3185177bd4c6a333014b7737741bdb255dbb8961","datavalue":{"value":{"entity-type":"item","numeric-id":5353175,"id":"Q5353175"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$F1C06960-7EFD-403E-A790-93FD2FBDF64A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d64e20cb9cb1194b3c11dd906536bf1ef680bf81","datavalue":{"value":{"entity-type":"item","numeric-id":5175646,"id":"Q5175646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$1861C2EB-6B11-4D85-B719-68B457682151","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"84fab3ebe8ea17e9d16b3333576de76fa131000e","datavalue":{"value":{"entity-type":"item","numeric-id":1575069,"id":"Q1575069"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2957706$85659B3C-BB07-4129-815E-4C0588F01530","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"53ff8a29ed560b72c8d1f1d2fa29cdb43cdd8400","datavalue":{"value":{"entity-type":"item","numeric-id":5399885,"id":"Q5399885"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0f63f8286224a5c0880996e45cf3845b7a8af82b","datavalue":{"value":{"amount":"+0.7102504968643188","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2957706$37CA9103-D217-4B09-BCA2-8D98CBD9D18D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"57cb1e151e95e92cf4531c2e94a6eaac57809515","datavalue":{"value":{"entity-type":"item","numeric-id":5860378,"id":"Q5860378"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4107956ddcc450a43be2140f7ffc36d7fe994df1","datavalue":{"value":{"amount":"+0.6935354471206665","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2957706$9F67F69F-50A2-4492-BE0E-1CEE22DA596E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2fdcc8f7e89bc3dadacb522711f8d999836952f1","datavalue":{"value":{"entity-type":"item","numeric-id":2583329,"id":"Q2583329"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6761e34db6556b3abbb86ab5f260171bc6acec66","datavalue":{"value":{"amount":"+0.6853143572807312","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2957706$D5F61F1B-F45B-4597-BD68-6E1115F5E093","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5b3e071a4cbb10806c53d954a87cccaee75bba62","datavalue":{"value":{"entity-type":"item","numeric-id":2642729,"id":"Q2642729"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6cf489b163e93ffa097d9401eaa77a9d430831af","datavalue":{"value":{"amount":"+0.6812818646430969","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2957706$D632DAF4-AF27-4E6E-8A02-659FDC1C69AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6d7d555bb33b6f7dbc59c55f37a1c2a623a6fcf1","datavalue":{"value":{"entity-type":"item","numeric-id":5223311,"id":"Q5223311"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8ca102263be2ce2fdbe70f406b86078fbdcfce5f","datavalue":{"value":{"amount":"+0.6783515810966492","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2957706$C7E5A15A-7B2F-4061-BEB5-5339AEB32A51","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2957706","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2957706"}}}}}