Pith Number

pith:KHQLIPRD

pith:2020:KHQLIPRD42IX47RMK5N4LMMVLN

not attested not anchored not stored refs pending

Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM

Justin S. Smith, Patricio A. Vela, Yipu Zhao

arxiv:2008.10123 v1 · 2020-08-23 · cs.CV · 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{KHQLIPRD42IX47RMK5N4LMMVLN}

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	2026-07-05T01:29:20.858126Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

51e0b43e23e6917e7e2c575bc5b1955b576815c321bd2b93dca7559d2023a20d

Aliases

arxiv: 2008.10123 · arxiv_version: 2008.10123v1 · doi: 10.48550/arxiv.2008.10123 · pith_short_12: KHQLIPRD42IX · pith_short_16: KHQLIPRD42IX47RM · pith_short_8: KHQLIPRD

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/KHQLIPRD42IX47RMK5N4LMMVLN \
  | 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: 51e0b43e23e6917e7e2c575bc5b1955b576815c321bd2b93dca7559d2023a20d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b9be1163c66ba84fabe8a10b597b475a3aa9354fb42b1ce8cc119b1765ddff36",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2020-08-23T22:41:35Z",
    "title_canon_sha256": "4eca714a0739d85ff5e99c07cbb8263193067a19405f9ec7d59dbf5d08f1470d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2008.10123",
    "kind": "arxiv",
    "version": 1
  }
}