Pith Number

pith:3MCYLCBV

pith:2026:3MCYLCBVB3G7V7QQCIBQCGVSNT

not attested not anchored not stored refs pending

PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM

Brett T. Lopez, Christa S. Robison, Nakul S. Joshi, Philip R. Osteen, Yanlong Ma

arxiv:2606.28637 v1 · 2026-06-26 · 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{3MCYLCBVB3G7V7QQCIBQCGVSNT}

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	2026-06-30T00:15:21.413391Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

db058588350ecdfafe101203011ab26cdca52eaeba771632c1c50ac83bafd668

Aliases

arxiv: 2606.28637 · arxiv_version: 2606.28637v1 · doi: 10.48550/arxiv.2606.28637 · pith_short_12: 3MCYLCBVB3G7 · pith_short_16: 3MCYLCBVB3G7V7QQ · pith_short_8: 3MCYLCBV

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/3MCYLCBVB3G7V7QQCIBQCGVSNT \
  | 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: db058588350ecdfafe101203011ab26cdca52eaeba771632c1c50ac83bafd668

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ba5e8ead444e63786b5cd71f232b7d7dd875637a6f5b104751f8ad4cfb103e9e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-26T22:48:47Z",
    "title_canon_sha256": "4b632803978b7219609fd732a178521e4bb128410d35bd07ae985e01210225cf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.28637",
    "kind": "arxiv",
    "version": 1
  }
}