Pith Number

pith:6HALA7CV

pith:2019:6HALA7CVCEI6KA6F63OWMLKI37

not attested not anchored not stored refs pending

Loop Closure Detection in Closed Environments

Achim Schweikard, Elmar Rueckert, Nils Rottmann, Ralf Bruder

arxiv:1908.04558 v1 · 2019-08-13 · 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{6HALA7CVCEI6KA6F63OWMLKI37}

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	2026-07-04T23:55:14.757066Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f1c0b07c551111e503c5f6dd662d48dfe2175bb133f2bff633ea44afdf68a08e

Aliases

arxiv: 1908.04558 · arxiv_version: 1908.04558v1 · doi: 10.48550/arxiv.1908.04558 · pith_short_12: 6HALA7CVCEI6 · pith_short_16: 6HALA7CVCEI6KA6F · pith_short_8: 6HALA7CV

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/6HALA7CVCEI6KA6F63OWMLKI37 \
  | 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: f1c0b07c551111e503c5f6dd662d48dfe2175bb133f2bff633ea44afdf68a08e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1a486b443057f291bad81e456387da5c949412dce698ec0522c4bd0b1e75666a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-08-13T09:28:01Z",
    "title_canon_sha256": "6fde6afe854443a05c88ce4d105bdf9534701261e6ac05160c27bf2bd555f1af"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1908.04558",
    "kind": "arxiv",
    "version": 1
  }
}