Pith Number

pith:CVMBHKXE

pith:2017:CVMBHKXEGYI5IR7VFQXVMGJLZP

not attested not anchored not stored refs pending

Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM

Gamini Dissanayake, Jingwei Song, Kanzhi Wu, Shoudong Huang, Teng Zhang

arxiv:1702.06680 v1 · 2017-02-22 · 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{CVMBHKXEGYI5IR7VFQXVMGJLZP}

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	2026-05-18T00:50:12.964218Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

155813aae43611d447f52c2f56192bcbda3a55bf627c004540c611766016804e

Aliases

arxiv: 1702.06680 · arxiv_version: 1702.06680v1 · doi: 10.48550/arxiv.1702.06680 · pith_short_12: CVMBHKXEGYI5 · pith_short_16: CVMBHKXEGYI5IR7V · pith_short_8: CVMBHKXE

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/CVMBHKXEGYI5IR7VFQXVMGJLZP \
  | 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: 155813aae43611d447f52c2f56192bcbda3a55bf627c004540c611766016804e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "981fa99d32df35230fcf2ac6bca1970d5a27801b84e7739f1faf72d6e49b3914",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-02-22T05:29:35Z",
    "title_canon_sha256": "57319e2945175f26db2a6361c93544c894f5e7cae29df5933b7736212b5c7d7b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1702.06680",
    "kind": "arxiv",
    "version": 1
  }
}