Pith Number

pith:EDJJXGC2

pith:2021:EDJJXGC2AZWKZ5CNSU7RFIM7EX

not attested not anchored not stored refs pending

AirDOS: Dynamic SLAM benefits from Articulated Objects

Chen Wang, Mina Henein, Sebastian Scherer, Wenshan Wang, Yuheng Qiu

arxiv:2109.09903 v3 · 2021-09-21 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{EDJJXGC2AZWKZ5CNSU7RFIM7EX}

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	2026-07-05T05:15:35.645167Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

20d29b985a066cacf44d953f12a19f25e6121644bfb89a48d783f38f0ff2344d

Aliases

arxiv: 2109.09903 · arxiv_version: 2109.09903v3 · doi: 10.48550/arxiv.2109.09903 · pith_short_12: EDJJXGC2AZWK · pith_short_16: EDJJXGC2AZWKZ5CN · pith_short_8: EDJJXGC2

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/EDJJXGC2AZWKZ5CNSU7RFIM7EX \
  | 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: 20d29b985a066cacf44d953f12a19f25e6121644bfb89a48d783f38f0ff2344d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0133eab307d228681bcd95782fe7195ad43832d82cddfd5194d2c2272f22085f",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-21T01:23:48Z",
    "title_canon_sha256": "2f4ed6c92b9a82a2cde6d55d20b5f909ce05056d4f8d5b760b26734db25bd160"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.09903",
    "kind": "arxiv",
    "version": 3
  }
}