Pith Number

pith:THYIZ2EY

pith:2019:THYIZ2EYZLEP2YA77GU4D5VOG7

not attested not anchored not stored refs pending

Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra

Joshua G. Mangelson, Maani Ghaffari, Ram Vasudevan, Ryan M. Eustice

arxiv:1906.07795 v1 · 2019-06-18 · 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{THYIZ2EYZLEP2YA77GU4D5VOG7}

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	2026-05-17T23:42:57.764281Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

99f08ce898cac8fd601ff9a9c1f6ae37ec271403d1876557562d168ff0984b1d

Aliases

arxiv: 1906.07795 · arxiv_version: 1906.07795v1 · doi: 10.48550/arxiv.1906.07795 · pith_short_12: THYIZ2EYZLEP · pith_short_16: THYIZ2EYZLEP2YA7 · pith_short_8: THYIZ2EY

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/THYIZ2EYZLEP2YA77GU4D5VOG7 \
  | 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: 99f08ce898cac8fd601ff9a9c1f6ae37ec271403d1876557562d168ff0984b1d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9b7009b112957056270c0c6ac24e40320981679a04feb735f7c10e2282ffd49c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-06-18T20:28:16Z",
    "title_canon_sha256": "fbc39a7a31e8546df6f204d457f209eef2c701cb7cdba712beb19b2974f28b4a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.07795",
    "kind": "arxiv",
    "version": 1
  }
}