Pith Number

pith:3BNPUXJ3

pith:2021:3BNPUXJ3DW52OWKQI4HFMSBVM2

not attested not anchored not stored refs pending

Hierarchical Topometric Representation of 3D Robotic Maps

Hao Sun, Jiawei Hou, S\"oren Schwertfeger, Yajun Ha, Zhenpeng He

arxiv:2111.08283 v2 · 2021-11-16 · 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{3BNPUXJ3DW52OWKQI4HFMSBVM2}

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.

Cited by

1 paper in Pith

Fast Expanding Safe Circular Regions for Efficient Local Path Planning

Receipt and verification

First computed	2026-07-05T03:34:47.751905Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d85afa5d3b1dbba75950470e56483566b93473f9d0847ade1e0284a6ee9ce5cd

Aliases

arxiv: 2111.08283 · arxiv_version: 2111.08283v2 · doi: 10.48550/arxiv.2111.08283 · pith_short_12: 3BNPUXJ3DW52 · pith_short_16: 3BNPUXJ3DW52OWKQ · pith_short_8: 3BNPUXJ3

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/3BNPUXJ3DW52OWKQI4HFMSBVM2 \
  | 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: d85afa5d3b1dbba75950470e56483566b93473f9d0847ade1e0284a6ee9ce5cd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2573e0db5d2a8139fb932742a1d35d4636974d262e8a4d16227d8d0777cbb2c0",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-16T08:20:33Z",
    "title_canon_sha256": "8dab00f5fdeec918317f593b5e56c821153f5f8355800eb55ba630feabccf632"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.08283",
    "kind": "arxiv",
    "version": 2
  }
}