Pith Number

pith:ES2C3QKR

pith:2022:ES2C3QKRINA4BMQOYSYOXLX3RM

not attested not anchored not stored refs pending

Incremental cycle bases for cycle-based pose graph optimization

Brendon Forsgren, Kevin Brink, Prashant Ganesh, Timothy McLain

arxiv:2209.07626 v2 · 2022-09-15 · 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{ES2C3QKRINA4BMQOYSYOXLX3RM}

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	2026-07-05T05:23:33.473068Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

24b42dc1514341c0b20ec4b0ebaefb8b1fc07d0bd8d6318bced698126edd5b66

Aliases

arxiv: 2209.07626 · arxiv_version: 2209.07626v2 · doi: 10.48550/arxiv.2209.07626 · pith_short_12: ES2C3QKRINA4 · pith_short_16: ES2C3QKRINA4BMQO · pith_short_8: ES2C3QKR

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/ES2C3QKRINA4BMQOYSYOXLX3RM \
  | 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: 24b42dc1514341c0b20ec4b0ebaefb8b1fc07d0bd8d6318bced698126edd5b66

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a74ef3e4452c8cbc697c099a5834b98f19b9c30d1b8810d48f8429b04d4f8f18",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-15T21:55:48Z",
    "title_canon_sha256": "d852d07489742e84c5e045ac1e258f19f4f84fe0589e2741f82f882ac41ff5bd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.07626",
    "kind": "arxiv",
    "version": 2
  }
}