Pith Number

pith:QJ4QNDYY

pith:2023:QJ4QNDYYT2C7J2W7GT33ZSFSI3

not attested not anchored not stored refs pending

Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans

Holger Voos, Hriday Bavle, Javier Civera, Jose Andres Millan-Romera, Jose Luis Sanchez-Lopez, Muhammad Shaheer

arxiv:2305.09295 v1 · 2023-05-16 · 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{QJ4QNDYYT2C7J2W7GT33ZSFSI3}

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	2026-07-05T06:10:46.353196Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8279068f189e85f4eadf34f7bcc8b246fdc593658ff286c7774fbf4f3075457b

Aliases

arxiv: 2305.09295 · arxiv_version: 2305.09295v1 · doi: 10.48550/arxiv.2305.09295 · pith_short_12: QJ4QNDYYT2C7 · pith_short_16: QJ4QNDYYT2C7J2W7 · pith_short_8: QJ4QNDYY

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/QJ4QNDYYT2C7J2W7GT33ZSFSI3 \
  | 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: 8279068f189e85f4eadf34f7bcc8b246fdc593658ff286c7774fbf4f3075457b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "20b0d049875ea4ebaef2c32c95f4c163b56d385ac29a0c47486a7deb75d540af",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-05-16T09:07:54Z",
    "title_canon_sha256": "7f59464c83097e98f4082c8fa9421dcc293fa37cab24a2854070ee8584c36038"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2305.09295",
    "kind": "arxiv",
    "version": 1
  }
}