Pith Number

pith:EZK23CFV

pith:2021:EZK23CFVLODM77X4ZWXRQCWGDM

not attested not anchored not stored refs pending

A Biologically Inspired Global Localization System for Mobile Robots Using LiDAR Sensor

Alois Knoll, Carlo Cagnetta, Genghang Zhuang, Kai Huang, Zhenshan Bing

arxiv:2109.12928 v1 · 2021-09-27 · 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{EZK23CFVLODM77X4ZWXRQCWGDM}

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	2026-07-05T03:17:38.814036Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2655ad88b55b86cffefccdaf180ac61b2aeb409eb9903deff11b65cb213bc9da

Aliases

arxiv: 2109.12928 · arxiv_version: 2109.12928v1 · doi: 10.48550/arxiv.2109.12928 · pith_short_12: EZK23CFVLODM · pith_short_16: EZK23CFVLODM77X4 · pith_short_8: EZK23CFV

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/EZK23CFVLODM77X4ZWXRQCWGDM \
  | 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: 2655ad88b55b86cffefccdaf180ac61b2aeb409eb9903deff11b65cb213bc9da

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "79ace0711264cab0937feccfeaba420b14c85cc89ac3bcb1390e2f747271ee37",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-27T10:25:17Z",
    "title_canon_sha256": "b3e75db086c4c98bbd9cf2108e404504bc3cc4b9e46354f6eb102198c44dd12b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.12928",
    "kind": "arxiv",
    "version": 1
  }
}