Pith Number

pith:CQUIX4YA

pith:2015:CQUIX4YAMD335AAXL3UMFXPOIE

not attested not anchored not stored refs pending

An EKF-SLAM algorithm with consistency properties

Axel Barrau, Silvere Bonnabel

arxiv:1510.06263 v3 · 2015-10-21 · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{CQUIX4YAMD335AAXL3UMFXPOIE}

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

3 papers in Pith

On Fast Attitude Filtering Using Matrix Fisher Distributions with Stability Guarantee

Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements

Iterated Invariant EKF for Quadruped Robot Odometry

Receipt and verification

First computed	2026-05-18T01:06:24.552096Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

14288bf30060f7be80175ee8c2ddee4124735af55e7cdbfe6cd78d1916434741

Aliases

arxiv: 1510.06263 · arxiv_version: 1510.06263v3 · doi: 10.48550/arxiv.1510.06263 · pith_short_12: CQUIX4YAMD33 · pith_short_16: CQUIX4YAMD335AAX · pith_short_8: CQUIX4YA

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/CQUIX4YAMD335AAXL3UMFXPOIE \
  | 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: 14288bf30060f7be80175ee8c2ddee4124735af55e7cdbfe6cd78d1916434741

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ed57bee22c10422f3ce89e45b3908310bceec8ca3806fc2511273bbc9e67e190",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-10-21T14:18:52Z",
    "title_canon_sha256": "5fcd15b9fc9fc266863c1d67fb1c341ac2a8f43b6c0b87e9f5228d28412b7bcc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1510.06263",
    "kind": "arxiv",
    "version": 3
  }
}