Pith Number

pith:IPJ5NH63

pith:2025:IPJ5NH63MIQROMZKKF6LGXXT2G

not attested not anchored not stored refs pending

vS-Graphs: Tightly Coupling Visual SLAM and 3D Scene Graphs Exploiting Hierarchical Scene Understanding

Ali Tourani, David Morilla-Cabello, Holger Voos, Hriday Bavle, Jose Luis Sanchez-Lopez, Miguel Fernandez-Cortizas, Saad Ejaz

arxiv:2503.01783 v3 · 2025-03-03 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{IPJ5NH63MIQROMZKKF6LGXXT2G}

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

2 papers in Pith

Situationally-aware Path Planning Exploiting 3D Scene Graphs

Passage-Aware Structural Mapping for RGB-D Visual SLAM

Receipt and verification

First computed	2026-06-23T01:11:54.652974Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

43d3d69fdb622117332a517cb35ef3d1a2dfabcbd3020422a35af9aee457cb39

Aliases

arxiv: 2503.01783 · arxiv_version: 2503.01783v3 · doi: 10.48550/arxiv.2503.01783 · pith_short_12: IPJ5NH63MIQR · pith_short_16: IPJ5NH63MIQROMZK · pith_short_8: IPJ5NH63

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/IPJ5NH63MIQROMZKKF6LGXXT2G \
  | 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: 43d3d69fdb622117332a517cb35ef3d1a2dfabcbd3020422a35af9aee457cb39

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f2aa422b73c560ee523b8b8273093d541ee654124d1e2ea66ebf777f0c9e2dd5",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-03-03T18:15:11Z",
    "title_canon_sha256": "56c25fdef8b90a613b252f2be60a5e2da75e716902b1e93f6d966a23fb9f01e3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2503.01783",
    "kind": "arxiv",
    "version": 3
  }
}