Pith Number

pith:H3BSHZ6G

pith:2021:H3BSHZ6GKHOEGCUN3WMPZCIF6I

not attested not anchored not stored refs pending

CorAl -- Are the point clouds Correctly Aligned?

Achim J. Lilienthal, Daniel Adolfsson, Henrik Andreasson, Martin Magnusson, Qianfang Liao

arxiv:2109.09820 v1 · 2021-09-20 · 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{H3BSHZ6GKHOEGCUN3WMPZCIF6I}

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	2026-07-05T03:15:54.867643Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3ec323e7c651dc430a8ddd98fc8905f22481344852a547f94623f44d452c35cc

Aliases

arxiv: 2109.09820 · arxiv_version: 2109.09820v1 · doi: 10.48550/arxiv.2109.09820 · pith_short_12: H3BSHZ6GKHOE · pith_short_16: H3BSHZ6GKHOEGCUN · pith_short_8: H3BSHZ6G

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/H3BSHZ6GKHOEGCUN3WMPZCIF6I \
  | 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: 3ec323e7c651dc430a8ddd98fc8905f22481344852a547f94623f44d452c35cc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ccd9ffadee32342a4a693e069bce51163596b10907f57354fa20ac96f0e73b56",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-20T20:06:22Z",
    "title_canon_sha256": "efc45bb4056b18d30adb457135ec61c4b9e91b8dcf925ab8c4a68d0c97a94116"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.09820",
    "kind": "arxiv",
    "version": 1
  }
}