Pith Number

pith:FFJN5N2Q

pith:2015:FFJN5N2QP6C2JJFT2WUI6JBVV2

not attested not anchored not stored refs pending

Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions

David Rosen, Frank Dellaert, Giuseppe Calafiore, John Leonard, Luca Carlone

arxiv:1506.00746 v2 · 2015-06-02 · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{FFJN5N2QP6C2JJFT2WUI6JBVV2}

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	2026-05-18T01:36:37.952234Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2952deb7507f85a4a4b3d5a88f2435aebe323b81ca1b47f0a6ddb86ce26829c4

Aliases

arxiv: 1506.00746 · arxiv_version: 1506.00746v2 · doi: 10.48550/arxiv.1506.00746 · pith_short_12: FFJN5N2QP6C2 · pith_short_16: FFJN5N2QP6C2JJFT · pith_short_8: FFJN5N2Q

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/FFJN5N2QP6C2JJFT2WUI6JBVV2 \
  | 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: 2952deb7507f85a4a4b3d5a88f2435aebe323b81ca1b47f0a6ddb86ce26829c4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b33757dc3b03a44e3bd98c4e7126230a812537a7f30e1e94d21c066572e97288",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-06-02T04:37:37Z",
    "title_canon_sha256": "0af7cfef92e049cb3b949dbd1b7956d7add7a9d0c11ad67551215774d8599663"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1506.00746",
    "kind": "arxiv",
    "version": 2
  }
}