Pith Number

pith:CPQJYUN6

pith:2016:CPQJYUN62KH3RGWBULAYI5R4RZ

not attested not anchored not stored refs pending

Consistent Map-based 3D Localization on Mobile Devices

Esha D. Nerurkar, Joel A. Hesch, Ryan C. DuToit, Stergios I. Roumeliotis

arxiv:1604.08087 v1 · 2016-04-27 · 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{CPQJYUN62KH3RGWBULAYI5R4RZ}

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	2026-05-18T01:16:08.185719Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

13e09c51bed28fb89ac1a2c184763c8e65f7d0b6a1baff218c0fe380f2be41ee

Aliases

arxiv: 1604.08087 · arxiv_version: 1604.08087v1 · doi: 10.48550/arxiv.1604.08087 · pith_short_12: CPQJYUN62KH3 · pith_short_16: CPQJYUN62KH3RGWB · pith_short_8: CPQJYUN6

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/CPQJYUN62KH3RGWBULAYI5R4RZ \
  | 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: 13e09c51bed28fb89ac1a2c184763c8e65f7d0b6a1baff218c0fe380f2be41ee

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "260841df976b0927f08333241dcd1660eb88d8cf5b183facc482417feec51cba",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-04-27T14:28:47Z",
    "title_canon_sha256": "be684e571e294e2ddc2a0a5991484b5d35620e24927061428dacf8738183a3ce"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1604.08087",
    "kind": "arxiv",
    "version": 1
  }
}