Pith Number

pith:ERLUJDWD

pith:2023:ERLUJDWDB6URV2OK4N466SJ4ES

not attested not anchored not stored refs pending

Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning

Haozhi Cao, Kangcheng Liu, Lihua Xie, Pengyu Yin, Shenghai Yuan, Shuyang Zhang, Thien-Minh Nguyen

arxiv:2309.08914 v1 · 2023-09-16 · 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{ERLUJDWDB6URV2OK4N466SJ4ES}

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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	2026-07-05T06:51:31.460448Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2457448ec30fa91ae9cae379ef493c248cf0136bfdb20f9561904662ed665be9

Aliases

arxiv: 2309.08914 · arxiv_version: 2309.08914v1 · doi: 10.48550/arxiv.2309.08914 · pith_short_12: ERLUJDWDB6UR · pith_short_16: ERLUJDWDB6URV2OK · pith_short_8: ERLUJDWD

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/ERLUJDWDB6URV2OK4N466SJ4ES \
  | 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: 2457448ec30fa91ae9cae379ef493c248cf0136bfdb20f9561904662ed665be9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ff66913673087b01e76ea2df8f592fe1092bcd16defa54c1346b3d6b043e82e7",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-16T07:39:00Z",
    "title_canon_sha256": "4bdc7970f78a7cd37c5459ed5c065269c4a82592d71d88e16e537ad9265c98a6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.08914",
    "kind": "arxiv",
    "version": 1
  }
}