Pith Number

pith:ANUSKHM7

pith:2021:ANUSKHM7JA3O4VHTSMUICNCOXD

not attested not anchored not stored refs pending

Incremental Abstraction in Distributed Probabilistic SLAM Graphs

Andrew J. Davison, Edgar Sucar, Joseph Ortiz, Talfan Evans

arxiv:2109.06241 v2 · 2021-09-13 · cs.CV · 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{ANUSKHM7JA3O4VHTSMUICNCOXD}

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	2026-07-05T04:11:26.883834Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0369251d9f4836ee54f3932881344eb8d8b816c56c63f9350a47331032313234

Aliases

arxiv: 2109.06241 · arxiv_version: 2109.06241v2 · doi: 10.48550/arxiv.2109.06241 · pith_short_12: ANUSKHM7JA3O · pith_short_16: ANUSKHM7JA3O4VHT · pith_short_8: ANUSKHM7

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/ANUSKHM7JA3O4VHTSMUICNCOXD \
  | 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: 0369251d9f4836ee54f3932881344eb8d8b816c56c63f9350a47331032313234

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c4169837ec75e796b45d292664647e8aea8af6dbe574b689831d0e435eae70d3",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2021-09-13T18:16:36Z",
    "title_canon_sha256": "ad5c23fce3a2e203fdd77596a55259a96d9f87718115f3e727ab9c7e1065b93c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.06241",
    "kind": "arxiv",
    "version": 2
  }
}