Pith Number

pith:G3UC7TRR

pith:2023:G3UC7TRRYJODUTNRQNHEWQMSLD

not attested not anchored not stored refs pending

VoxelMap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry

Chang Wu, Qiyan Li, Xiaotong Kong, Yifei Yuan, Ying Zhang, Yuan You

arxiv:2308.02799 v1 · 2023-08-05 · 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{G3UC7TRRYJODUTNRQNHEWQMSLD}

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

Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion

Receipt and verification

First computed	2026-07-05T06:38:07.704065Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

36e82fce31c25c3a4db1834e4b419258c686958878841228a6abd29232030ae7

Aliases

arxiv: 2308.02799 · arxiv_version: 2308.02799v1 · doi: 10.48550/arxiv.2308.02799 · pith_short_12: G3UC7TRRYJOD · pith_short_16: G3UC7TRRYJODUTNR · pith_short_8: G3UC7TRR

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/G3UC7TRRYJODUTNRQNHEWQMSLD \
  | 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: 36e82fce31c25c3a4db1834e4b419258c686958878841228a6abd29232030ae7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "341bd1812ed984fa68f3f9692c0b54410436ed15048ad2c15bec470100a2a3d7",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-08-05T06:07:16Z",
    "title_canon_sha256": "fd9b7cce40672c9158e8dcb51b608c8b75d02d7a9e4b062c7d2f462cb82331c2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2308.02799",
    "kind": "arxiv",
    "version": 1
  }
}