Pith Number

pith:TCR2DYZ4

pith:2021:TCR2DYZ4T6CGA2WEXWNB5FZVLB

not attested not anchored not stored refs pending

R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

Fu Zhang, Jiarong Lin

arxiv:2109.07982 v1 · 2021-09-10 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{TCR2DYZ4T6CGA2WEXWNB5FZVLB}

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.

Cited by

1 paper in Pith

Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems

Receipt and verification

First computed	2026-07-05T03:15:03.805869Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

98a3a1e33c9f84606ac4bd9a1e97355852fe2d293f141a470276c997b1601075

Aliases

arxiv: 2109.07982 · arxiv_version: 2109.07982v1 · doi: 10.48550/arxiv.2109.07982 · pith_short_12: TCR2DYZ4T6CG · pith_short_16: TCR2DYZ4T6CGA2WE · pith_short_8: TCR2DYZ4

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/TCR2DYZ4T6CGA2WEXWNB5FZVLB \
  | 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: 98a3a1e33c9f84606ac4bd9a1e97355852fe2d293f141a470276c997b1601075

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c6c5c5da49263d5872528ab1bff92c08e22062876b83538eff489c8c0c10ef8d",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-10T22:43:59Z",
    "title_canon_sha256": "a51bf459424d3344d458e2afb1a99bbfab9bf3d6a6793bb57c2471c9833b9389"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.07982",
    "kind": "arxiv",
    "version": 1
  }
}