Pith Number

pith:37ZXSPGC

pith:2012:37ZXSPGCYAVHQ7XJAS5AGSC5KE

not attested not anchored not stored refs pending

From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization

Andrea Censi, Luca Carlone

arxiv:1211.3063 v1 · 2012-11-13 · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{37ZXSPGCYAVHQ7XJAS5AGSC5KE}

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	2026-05-18T03:40:51.911193Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

dff3793cc2c02a787ee904ba03485d5135e4e6e529cb56e07cb74c3ead73836a

Aliases

arxiv: 1211.3063 · arxiv_version: 1211.3063v1 · doi: 10.48550/arxiv.1211.3063 · pith_short_12: 37ZXSPGCYAVH · pith_short_16: 37ZXSPGCYAVHQ7XJ · pith_short_8: 37ZXSPGC

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/37ZXSPGCYAVHQ7XJAS5AGSC5KE \
  | 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: dff3793cc2c02a787ee904ba03485d5135e4e6e529cb56e07cb74c3ead73836a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9bd50d72b2314cafa3b5e348f73f8bee6f38eb918d37ed980fe71e7aad16a5f0",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2012-11-13T18:08:27Z",
    "title_canon_sha256": "ac4c1b81400d117bdd64f18177733ebebab51b0818de033c5f831ff43a3d6082"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1211.3063",
    "kind": "arxiv",
    "version": 1
  }
}