Pith Number

pith:BVBMCXBR

pith:2026:BVBMCXBRRRZGR67GVREFBU2FQ5

not attested not anchored not stored refs pending

H-RINS: Hierarchical Tightly-coupled Radar-Inertial State Estimation via Smoothing and Mapping

Ali Alridha Abdulkarim, Dzmitry Tsetserukou, Mikhail Litvinov

arxiv:2603.14109 v2 · 2026-03-14 · 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{BVBMCXBRRRZGR67GVREFBU2FQ5}

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	2026-06-23T02:13:22.413296Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0d42c15c318c7268fbe6ac4850d345876ad70e18584ca122228a908535646102

Aliases

arxiv: 2603.14109 · arxiv_version: 2603.14109v2 · doi: 10.48550/arxiv.2603.14109 · pith_short_12: BVBMCXBRRRZG · pith_short_16: BVBMCXBRRRZGR67G · pith_short_8: BVBMCXBR

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/BVBMCXBRRRZGR67GVREFBU2FQ5 \
  | 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: 0d42c15c318c7268fbe6ac4850d345876ad70e18584ca122228a908535646102

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "799e2bf3579ac08ea17f2a1848680e68e9ec843beba7ba50e881196108f28e33",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-14T20:30:49Z",
    "title_canon_sha256": "5e7fdff8dd854a339f2c03b353ddb573ef9bf3a854d126cbab60c8e689688842"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.14109",
    "kind": "arxiv",
    "version": 2
  }
}