Pith Number

pith:E7VVO2GS

pith:2021:E7VVO2GSSZEI5WHAT3EEO5ZCMD

not attested not anchored not stored refs pending

Partial Hierarchical Pose Graph Optimization for SLAM

Alexander Korovko, Dmitry Robustov

arxiv:2110.08639 v1 · 2021-10-16 · 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{E7VVO2GSSZEI5WHAT3EEO5ZCMD}

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	2026-07-05T03:23:18.886980Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

27eb5768d296488ed8e09ec847772260e7fbc5693ff9fa6f66f2af1eadd456fe

Aliases

arxiv: 2110.08639 · arxiv_version: 2110.08639v1 · doi: 10.48550/arxiv.2110.08639 · pith_short_12: E7VVO2GSSZEI · pith_short_16: E7VVO2GSSZEI5WHA · pith_short_8: E7VVO2GS

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/E7VVO2GSSZEI5WHAT3EEO5ZCMD \
  | 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: 27eb5768d296488ed8e09ec847772260e7fbc5693ff9fa6f66f2af1eadd456fe

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ed239e220449a65f8d69e5d7216c33bd49830d0716b439b4cf628e209f9a6e49",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-16T18:48:59Z",
    "title_canon_sha256": "9351b28bc457a6792c9f5c25d4acc86cd5229c1f2d443119f57277a43fa72c80"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.08639",
    "kind": "arxiv",
    "version": 1
  }
}