Pith Number

pith:RETJSFIM

pith:2021:RETJSFIMAMUNOIKRSV47K42FZJ

not attested not anchored not stored refs pending

Simultaneous Localization and Mapping: Through the Lens of Nonlinear Optimization

Amay Saxena, Chih-Yuan Chiu, Joseph Menke, Ritika Shrivastava, Shankar Sastry

arxiv:2112.05921 v4 · 2021-12-11 · eess.SY · cs.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{RETJSFIMAMUNOIKRSV47K42FZJ}

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	2026-07-05T04:45:57.419158Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

892699150c0328d721519579f57345ca45c71dbad2099e1aa701a14d1fb7f7fb

Aliases

arxiv: 2112.05921 · arxiv_version: 2112.05921v4 · doi: 10.48550/arxiv.2112.05921 · pith_short_12: RETJSFIMAMUN · pith_short_16: RETJSFIMAMUNOIKR · pith_short_8: RETJSFIM

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/RETJSFIMAMUNOIKRSV47K42FZJ \
  | 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: 892699150c0328d721519579f57345ca45c71dbad2099e1aa701a14d1fb7f7fb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7b6cdba4d311b2d10addd83cabe8019d54c706fd4472703fe773126419c695db",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2021-12-11T05:57:38Z",
    "title_canon_sha256": "e2b4d5366dac107bdd4147b2081e167f4166bc17e083a8ac5432990eff62e2c6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2112.05921",
    "kind": "arxiv",
    "version": 4
  }
}