Pith Number

pith:JKICZRJU

pith:2018:JKICZRJUWHM723C3UJ7N2X6MVB

not attested not anchored not stored refs pending

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs

Jessy W. Grizzle, Jiunn-Kai Huang, Lu Gan, Maani Ghaffari Jadidi, Ross Hartley, Ryan M. Eustice

arxiv:1803.07531 v3 · 2018-03-20 · 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{JKICZRJUWHM723C3UJ7N2X6MVB}

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	2026-05-17T23:45:46.904419Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4a902cc534b1d9fd6c5ba27edd5fcca85e9fb98b63a900e0014ce702d35e9ecc

Aliases

arxiv: 1803.07531 · arxiv_version: 1803.07531v3 · doi: 10.48550/arxiv.1803.07531 · pith_short_12: JKICZRJUWHM7 · pith_short_16: JKICZRJUWHM723C3 · pith_short_8: JKICZRJU

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/JKICZRJUWHM723C3UJ7N2X6MVB \
  | 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: 4a902cc534b1d9fd6c5ba27edd5fcca85e9fb98b63a900e0014ce702d35e9ecc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "574413d257a3953ae34e73a46fe0f1788e0a4d9f65b0fa80bd79fd10813082dd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-03-20T17:16:12Z",
    "title_canon_sha256": "6125a074adb05d7c39d9c38834cac6789617a7e4d6e9c9eea01f5a70f4c1ee02"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1803.07531",
    "kind": "arxiv",
    "version": 3
  }
}