Pith Number

pith:2VP2SW4X

pith:2019:2VP2SW4XXDD66AVJVNXPLOPMPK

not attested not anchored not stored refs pending

A fast, complete, point cloud based loop closure for LiDAR odometry and mapping

Fu Zhang, Jiarong Lin

arxiv:1909.11811 v1 · 2019-09-25 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{2VP2SW4XXDD66AVJVNXPLOPMPK}

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	2026-07-05T00:07:28.263544Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d55fa95b97b8c7ef02a9ab6ef5b9ec7a9418792dd5bd4a5a23964553b50263fd

Aliases

arxiv: 1909.11811 · arxiv_version: 1909.11811v1 · doi: 10.48550/arxiv.1909.11811 · pith_short_12: 2VP2SW4XXDD6 · pith_short_16: 2VP2SW4XXDD66AVJ · pith_short_8: 2VP2SW4X

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/2VP2SW4XXDD66AVJVNXPLOPMPK \
  | 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: d55fa95b97b8c7ef02a9ab6ef5b9ec7a9418792dd5bd4a5a23964553b50263fd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "04db3bee22ce600935517032d1de73ac942851e88d8273c11053619e83d1c0b8",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-09-25T23:25:23Z",
    "title_canon_sha256": "0a0129eaf8fab64eee8ae2ce5d7e863ee2088fedfd079047a97bc41e31d592fb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1909.11811",
    "kind": "arxiv",
    "version": 1
  }
}