Pith Number

pith:DHTTCOQ6

pith:2022:DHTTCOQ6IWVIMJMCSO35VFEJCY

not attested not anchored not stored refs pending

NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection

Hong Zhang, Li He, Ruihao Zhou, Xubin Lin, Yisheng Guan

arxiv:2209.12513 v1 · 2022-09-26 · 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{DHTTCOQ6IWVIMJMCSO35VFEJCY}

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	2026-07-05T05:01:04.160064Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

19e7313a1e45aa86258293b7da94891607200588476d20151353ddd566e79cc9

Aliases

arxiv: 2209.12513 · arxiv_version: 2209.12513v1 · doi: 10.48550/arxiv.2209.12513 · pith_short_12: DHTTCOQ6IWVI · pith_short_16: DHTTCOQ6IWVIMJMC · pith_short_8: DHTTCOQ6

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/DHTTCOQ6IWVIMJMCSO35VFEJCY \
  | 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: 19e7313a1e45aa86258293b7da94891607200588476d20151353ddd566e79cc9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "61128184caaff412d1df6939cda0cd4f4635d20b505e3bbdbf66982d12a3327c",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-26T08:39:54Z",
    "title_canon_sha256": "9877208337f310418ead3a9af1b7b11ad7f7d1073b403c98a46a747993907793"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.12513",
    "kind": "arxiv",
    "version": 1
  }
}