Pith Number

pith:LE2KNHDT

pith:2019:LE2KNHDTZNPPZI7Z4WISLHMTNX

not attested not anchored not stored refs pending

Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps

Alexander Millane, C\'esar Cadena, Helen Oleynikova, Juan Nieto, Roland Siegwart

arxiv:1908.01863 v1 · 2019-08-05 · 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{LE2KNHDTZNPPZI7Z4WISLHMTNX}

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	2026-07-04T23:51:48.523271Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5934a69c73cb5efca3f9e591259d936dd289d1a794ba8b06fa50c3890601582e

Aliases

arxiv: 1908.01863 · arxiv_version: 1908.01863v1 · doi: 10.48550/arxiv.1908.01863 · pith_short_12: LE2KNHDTZNPP · pith_short_16: LE2KNHDTZNPPZI7Z · pith_short_8: LE2KNHDT

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/LE2KNHDTZNPPZI7Z4WISLHMTNX \
  | 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: 5934a69c73cb5efca3f9e591259d936dd289d1a794ba8b06fa50c3890601582e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a826936484992c863b0eda2aa12d772185f5801942e5ac2acf647a12b3954215",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-08-05T21:11:07Z",
    "title_canon_sha256": "c666b2e8308f5b7b7f48dae979d14fe489486a07afe88cd445b08ce08486381f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1908.01863",
    "kind": "arxiv",
    "version": 1
  }
}