Pith Number

pith:BHVA7A2U

pith:2022:BHVA7A2UMMEW6POBK2E7252KJC

not attested not anchored not stored refs pending

S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations

Holger Voos, Hriday Bavle, Javier Civera, Jose Luis Sanchez-Lopez, Muhammad Shaheer

arxiv:2212.11770 v3 · 2022-12-22 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{BHVA7A2UMMEW6POBK2E7252KJC}

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

1 paper in Pith

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments

Receipt and verification

First computed	2026-07-05T06:14:07.683272Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

09ea0f835463096f3dc15689fd774a48b49960ba42eb7f8aacf2a77dc57ce546

Aliases

arxiv: 2212.11770 · arxiv_version: 2212.11770v3 · doi: 10.48550/arxiv.2212.11770 · pith_short_12: BHVA7A2UMMEW · pith_short_16: BHVA7A2UMMEW6POB · pith_short_8: BHVA7A2U

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/BHVA7A2UMMEW6POBK2E7252KJC \
  | 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: 09ea0f835463096f3dc15689fd774a48b49960ba42eb7f8aacf2a77dc57ce546

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2946ab94c703c46e6d0cfcc9309d8aa91c19811db90f70e48a86c99b0d38db18",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-12-22T15:06:21Z",
    "title_canon_sha256": "e1ca582188a3b0593c95f18630e10799906879fe4cf5a26a3d4446c0662910b2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2212.11770",
    "kind": "arxiv",
    "version": 3
  }
}