Pith Number

pith:T4AIR2FW

pith:2019:T4AIR2FWRWVED7OLY72IAV2KIO

not attested not anchored not stored refs pending

Improved Pose Graph Optimization for Planar Motions Using Riemannian Geometry on the Manifold of Dual Quaternions

Benjamin Noack, Johannes Cox, Kailai Li, Uwe D. Hanebeck

arxiv:1907.13566 v2 · 2019-07-31 · 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{T4AIR2FWRWVED7OLY72IAV2KIO}

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	2026-07-05T00:20:43.670004Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9f0088e8b68daa41fdcbc7f480574a43a704741935691728bd74e93e23dddd80

Aliases

arxiv: 1907.13566 · arxiv_version: 1907.13566v2 · doi: 10.48550/arxiv.1907.13566 · pith_short_12: T4AIR2FWRWVE · pith_short_16: T4AIR2FWRWVED7OL · pith_short_8: T4AIR2FW

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/T4AIR2FWRWVED7OLY72IAV2KIO \
  | 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: 9f0088e8b68daa41fdcbc7f480574a43a704741935691728bd74e93e23dddd80

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7d87635a37edd8c4474b791af4cdf66286798402d99a34fba50cb07f76ea3890",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-07-31T15:47:21Z",
    "title_canon_sha256": "f8dcce231d6602f611fee1e3e3bd57712f1c2d25170299d7e79c350ff0d5b9af"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1907.13566",
    "kind": "arxiv",
    "version": 2
  }
}