Pith Number

pith:AJFOJPSE

pith:2016:AJFOJPSE6D2BTK7NZL42JCBCFG

not attested not anchored not stored refs pending

RFM-SLAM: Exploiting Relative Feature Measurements to Separate Orientation and Position Estimation in SLAM

Saurav Agarwal, Suman Chakravorty, Vikram Shree

arxiv:1609.05235 v1 · 2016-09-16 · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{AJFOJPSE6D2BTK7NZL42JCBCFG}

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	2026-05-18T01:04:30.816476Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

024ae4be44f0f419abedcaf9a488222995cbd3ec1cfa6e10a1b41ccd2642fd5b

Aliases

arxiv: 1609.05235 · arxiv_version: 1609.05235v1 · doi: 10.48550/arxiv.1609.05235 · pith_short_12: AJFOJPSE6D2B · pith_short_16: AJFOJPSE6D2BTK7N · pith_short_8: AJFOJPSE

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/AJFOJPSE6D2BTK7NZL42JCBCFG \
  | 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: 024ae4be44f0f419abedcaf9a488222995cbd3ec1cfa6e10a1b41ccd2642fd5b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "af81a13a881183ba85b49babd8f4c63fd40692dc3859a24fa63f61c485a237da",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-09-16T21:01:08Z",
    "title_canon_sha256": "7c84d33b57c6050919af3eda4d44bbd4f78b8ee93ea96858816137b0e99d0df6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1609.05235",
    "kind": "arxiv",
    "version": 1
  }
}