Pith Number

pith:F42CXTXX

pith:2022:F42CXTXXELOEJXQMTYLDDWGWPK

not attested not anchored not stored refs pending

Relative Transformation Estimation Based on Fusion of Odometry and UWB Ranging Data

Lihua Xie, Thien Hoang Nguyen

arxiv:2202.00279 v2 · 2022-02-01 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{F42CXTXXELOEJXQMTYLDDWGWPK}

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.

Cited by

1 paper in Pith

Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM

Receipt and verification

First computed	2026-07-05T05:57:30.056878Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2f342bcef722dc44de0c9e1631d8d67a830c1e1db44b88dc432bee09de500eb9

Aliases

arxiv: 2202.00279 · arxiv_version: 2202.00279v2 · doi: 10.48550/arxiv.2202.00279 · pith_short_12: F42CXTXXELOE · pith_short_16: F42CXTXXELOEJXQM · pith_short_8: F42CXTXX

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/F42CXTXXELOEJXQMTYLDDWGWPK \
  | 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: 2f342bcef722dc44de0c9e1631d8d67a830c1e1db44b88dc432bee09de500eb9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "826a61088de0d9820564204ffbdc17a09512b89365d119b6deb3ad5da88e826f",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-02-01T09:00:57Z",
    "title_canon_sha256": "3edd4779522423ec2145a741c2e4a5b8a6dfcb9980494f72489fb0a066799b64"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2202.00279",
    "kind": "arxiv",
    "version": 2
  }
}