Pith Number

pith:KMBJBX6U

pith:2019:KMBJBX6UFJJFQE75BQ6SF22DBI

not attested not anchored not stored refs pending

Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation

Jessy W. Grizzle, Maani Ghaffari, Ross Hartley, Ryan M. Eustice

arxiv:1904.09251 v2 · 2019-04-19 · 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{KMBJBX6UFJJFQE75BQ6SF22DBI}

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

1 paper in Pith

Four Simple Proprioceptive Estimators for Legged Robots

Receipt and verification

First computed	2026-07-05T00:18:35.457723Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

530290dfd42a525813fd0c3d22eb430a204a1869c89f40949c043d381bf8e32b

Aliases

arxiv: 1904.09251 · arxiv_version: 1904.09251v2 · doi: 10.48550/arxiv.1904.09251 · pith_short_12: KMBJBX6UFJJF · pith_short_16: KMBJBX6UFJJFQE75 · pith_short_8: KMBJBX6U

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/KMBJBX6UFJJFQE75BQ6SF22DBI \
  | 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: 530290dfd42a525813fd0c3d22eb430a204a1869c89f40949c043d381bf8e32b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b3c4f7cad8b3b242cb8c5fcc46ed6e03ec8365d54d19710fecb581aa72fa11fe",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-19T16:03:24Z",
    "title_canon_sha256": "536ee3173e9f3ca56fba0051d3985da24c9f3b2b0d4a1c6458056560db1d3ea6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.09251",
    "kind": "arxiv",
    "version": 2
  }
}