Pith Number

pith:BDN2WCZD

pith:2015:BDN2WCZDR6XICVMYLFGJZCSRJE

not attested not anchored not stored refs pending

Pose Graph Optimization in the Complex Domain: Lagrangian Duality, Conditions For Zero Duality Gap, and Optimal Solutions

Frank Dellaert, Giuseppe Calafiore, Luca Carlone

arxiv:1505.03437 v1 · 2015-05-13 · 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{BDN2WCZDR6XICVMYLFGJZCSRJE}

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	2026-05-18T02:12:09.159938Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

08dbab0b238fae815598594c9c8a51490d8c901fb0bb01d56cb5e750f776cfec

Aliases

arxiv: 1505.03437 · arxiv_version: 1505.03437v1 · doi: 10.48550/arxiv.1505.03437 · pith_short_12: BDN2WCZDR6XI · pith_short_16: BDN2WCZDR6XICVMY · pith_short_8: BDN2WCZD

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/BDN2WCZDR6XICVMYLFGJZCSRJE \
  | 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: 08dbab0b238fae815598594c9c8a51490d8c901fb0bb01d56cb5e750f776cfec

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0792d680e8ac86106ca0a1d5c47b6e1bade20ed6f3198834b9911b7df44bb500",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-05-13T15:45:32Z",
    "title_canon_sha256": "b4650c7751d5836d441f779b54c451a46a2987af5ebfe8c62f039dcc308de2ca"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1505.03437",
    "kind": "arxiv",
    "version": 1
  }
}