Pith Number

pith:6ANHO4PB

pith:2022:6ANHO4PB5DSUOYOSJ4HQR2YEO4

not attested not anchored not stored refs pending

OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure

Stefan Leutenegger

arxiv:2202.09199 v2 · 2022-02-18 · eess.IV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{6ANHO4PB5DSUOYOSJ4HQR2YEO4}

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

7 papers in Pith

VOCA: Visual Odometry with Codec Awareness

Cross-Spectral Stereo Inertial Odometry

The Monado SLAM Dataset for Egocentric Visual-Inertial Tracking

Event-based SLAM Benchmark for High-Speed Maneuvers

LAMP: Localization Aware Multi-camera People Tracking in Metric 3D World

Receipt and verification

First computed	2026-07-05T04:47:56.963877Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f01a7771e1e8e54761d24f0f08eb0477202ed5a2e300f60bf433f5a7bfc8639e

Aliases

arxiv: 2202.09199 · arxiv_version: 2202.09199v2 · doi: 10.48550/arxiv.2202.09199 · pith_short_12: 6ANHO4PB5DSU · pith_short_16: 6ANHO4PB5DSUOYOS · pith_short_8: 6ANHO4PB

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/6ANHO4PB5DSUOYOSJ4HQR2YEO4 \
  | 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: f01a7771e1e8e54761d24f0f08eb0477202ed5a2e300f60bf433f5a7bfc8639e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f8c0edc4c76e22e099218a18901cd1db7507e827b2b04164b13040f7519a855e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.IV",
    "submitted_at": "2022-02-18T13:53:43Z",
    "title_canon_sha256": "dfcf6a2a8afacb018302a1ca3b10623d42fa9e3933275ed9d16f7c8b109c8f16"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2202.09199",
    "kind": "arxiv",
    "version": 2
  }
}