Pith Number

pith:7WZRZMEJ

pith:2016:7WZRZMEJEFCQZ7NHQDP53GDA76

not attested not anchored not stored refs pending

ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

Juan D. Tardos, Raul Mur-Artal

arxiv:1610.06475 v2 · 2016-10-20 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{7WZRZMEJEFCQZ7NHQDP53GDA76}

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

2 papers in Pith

Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion Model

MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Reality

Receipt and verification

First computed	2026-07-05T01:21:32.695213Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fdb31cb08921450cfda780dfdd9860ffbebbaf13fbc77c7271e7d9b01f59eeab

Aliases

arxiv: 1610.06475 · arxiv_version: 1610.06475v2 · doi: 10.48550/arxiv.1610.06475 · pith_short_12: 7WZRZMEJEFCQ · pith_short_16: 7WZRZMEJEFCQZ7NH · pith_short_8: 7WZRZMEJ

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/7WZRZMEJEFCQZ7NHQDP53GDA76 \
  | 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: fdb31cb08921450cfda780dfdd9860ffbebbaf13fbc77c7271e7d9b01f59eeab

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b7f0928709e1a2bf422bdd4161de3ffc548f9e7a47b6e22319dcce90998ce1b8",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-10-20T16:04:31Z",
    "title_canon_sha256": "86912b0723a59256ff63a0e38f67654c7ebdbd05347ddeaa052079da46cdf6ec"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1610.06475",
    "kind": "arxiv",
    "version": 2
  }
}