Pith Number

pith:H7Y7BDVB

pith:2022:H7Y7BDVBOF7IGELL5EJKBRDUHX

not attested not anchored not stored refs pending

An Enhanced LiDAR-Inertial SLAM System for Robotics Localization and Mapping

Kangcheng Liu

arxiv:2212.14209 v1 · 2022-12-29 · 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{H7Y7BDVBOF7IGELL5EJKBRDUHX}

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	2026-07-05T05:29:07.449779Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3ff1f08ea1717e83116be912a0c4743dff319a3f4201f21cca5f2378afc2d494

Aliases

arxiv: 2212.14209 · arxiv_version: 2212.14209v1 · doi: 10.48550/arxiv.2212.14209 · pith_short_12: H7Y7BDVBOF7I · pith_short_16: H7Y7BDVBOF7IGELL · pith_short_8: H7Y7BDVB

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/H7Y7BDVBOF7IGELL5EJKBRDUHX \
  | 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: 3ff1f08ea1717e83116be912a0c4743dff319a3f4201f21cca5f2378afc2d494

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cf10b617e70773d81d983de424123b42fb968b388cdcd026332476c68d9f47a8",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-12-29T08:01:19Z",
    "title_canon_sha256": "cc890dcd5619e905c4b3618b59371d3c1b5b175ccea23c71eb0cdffe3aefcd22"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2212.14209",
    "kind": "arxiv",
    "version": 1
  }
}