Pith Number

pith:3EYDINB4

pith:2021:3EYDINB4JCANZ6P3PGOS32ZBL3

not attested not anchored not stored refs pending

Exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization

Hailiang Tang, Jing Fan, Jingnan Liu, Tisheng Zhang, Xiaoji Niu

arxiv:2109.03010 v2 · 2021-09-07 · 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{3EYDINB4JCANZ6P3PGOS32ZBL3}

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	2026-07-05T05:11:34.916412Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d93034343c4880dcf9fb799d2deb215efdaa95a3e6318d1b9aa1fbd07d8bd401

Aliases

arxiv: 2109.03010 · arxiv_version: 2109.03010v2 · doi: 10.48550/arxiv.2109.03010 · pith_short_12: 3EYDINB4JCAN · pith_short_16: 3EYDINB4JCANZ6P3 · pith_short_8: 3EYDINB4

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/3EYDINB4JCANZ6P3PGOS32ZBL3 \
  | 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: d93034343c4880dcf9fb799d2deb215efdaa95a3e6318d1b9aa1fbd07d8bd401

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d5bdc11d598409908838fd82890e1d84041e74c504d746fc3e1a9d9774992798",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-07T11:56:00Z",
    "title_canon_sha256": "486cd0af6286cf84dae84affafa95110e12352ee7b3b00c7524009217ea8b921"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.03010",
    "kind": "arxiv",
    "version": 2
  }
}