Pith Number

pith:2POWEEDK

pith:2022:2POWEEDKY7BEXQ35NFKD2K5RM7

not attested not anchored not stored refs pending

onlineFGO: Online Continuous-Time Factor Graph Optimization with Time-Centric Multi-Sensor Fusion for Robust Localization in Large-Scale Environments

Dirk Abel, Felix Widmayer, Haoming Zhang, Lars L\"unnemann

arxiv:2211.05400 v2 · 2022-11-10 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{2POWEEDKY7BEXQ35NFKD2K5RM7}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T06:46:44.617376Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d3dd62106ac7c24bc37d69543d2bb167cee155ffc58f3667d4e575355d71ee21

Aliases

arxiv: 2211.05400 · arxiv_version: 2211.05400v2 · doi: 10.48550/arxiv.2211.05400 · pith_short_12: 2POWEEDKY7BE · pith_short_16: 2POWEEDKY7BEXQ35 · pith_short_8: 2POWEEDK

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/2POWEEDKY7BEXQ35NFKD2K5RM7 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: d3dd62106ac7c24bc37d69543d2bb167cee155ffc58f3667d4e575355d71ee21

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "616c63268ac6a508d6604a7bb230a8afca7c2213e6a49f0121813883bc6a5e90",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-11-10T08:03:52Z",
    "title_canon_sha256": "7170ed6ae4fd5771bc87751fa7de6f3b37fe612e89dd6f95c8b54afc7e7acadc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2211.05400",
    "kind": "arxiv",
    "version": 2
  }
}