Pith Number

pith:CG6VBVWD

pith:2019:CG6VBVWDNPZYBP3226464AARML

not attested not anchored not stored refs pending

Real-Time, Environmentally-Robust 3D LiDAR Localization

Bohuan Xue, Huaiyang Huang, Linwei Zheng, Ming Liu, Rui Fan, Yilong Zhu

arxiv:1910.12728 v1 · 2019-10-28 · 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{CG6VBVWDNPZYBP3226464AARML}

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

When and Where Localization Fails: An Analysis of the Iterative Closest Point in Evolving Environment

Receipt and verification

First computed	2026-07-05T00:15:19.676996Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

11bd50d6c36bf380bf7ad7b9ee001162fd8bf633994778e33f2393ef3accf14e

Aliases

arxiv: 1910.12728 · arxiv_version: 1910.12728v1 · doi: 10.48550/arxiv.1910.12728 · pith_short_12: CG6VBVWDNPZY · pith_short_16: CG6VBVWDNPZYBP32 · pith_short_8: CG6VBVWD

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/CG6VBVWDNPZYBP3226464AARML \
  | 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: 11bd50d6c36bf380bf7ad7b9ee001162fd8bf633994778e33f2393ef3accf14e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6018b3400bc1583d603f577dda4572b4999a038ce6a6bb626586f9c9f6a8e267",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-10-28T14:49:45Z",
    "title_canon_sha256": "4b1ba0210c9835bfa4c97d1dc6508f19241672ba02bdc2d0f6e4f31d5801181d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1910.12728",
    "kind": "arxiv",
    "version": 1
  }
}