Pith Number

pith:O6HO4CAW

pith:2019:O6HO4CAWN7QFJLFMDVGX4T66WE

not attested not anchored not stored refs pending

Recognizing and Tracking High-Level, Human-Meaningful Navigation Features of Occupancy Grid Maps

Payam Nikdel, Richard Vaughan

arxiv:1903.03669 v1 · 2019-03-08 · 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{O6HO4CAWN7QFJLFMDVGX4T66WE}

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	2026-05-17T23:51:41.321481Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

778eee08166fe054acac1d4d7e4fdeb118c9df64e7fb05c4b0f5809938089ef2

Aliases

arxiv: 1903.03669 · arxiv_version: 1903.03669v1 · doi: 10.48550/arxiv.1903.03669 · pith_short_12: O6HO4CAWN7QF · pith_short_16: O6HO4CAWN7QFJLFM · pith_short_8: O6HO4CAW

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/O6HO4CAWN7QFJLFMDVGX4T66WE \
  | 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: 778eee08166fe054acac1d4d7e4fdeb118c9df64e7fb05c4b0f5809938089ef2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "012b9f3d31deb727bdabd9caa6c473acc5cfa7abd43f2721263eaccebcb54d7e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-03-08T21:07:10Z",
    "title_canon_sha256": "5f70322fc4ad0675aaca78189937bb7c794094315f0a1eba52c60f0ebed948e0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1903.03669",
    "kind": "arxiv",
    "version": 1
  }
}