Pith Number

pith:TSM24CII

pith:2021:TSM24CIIDFLNIFJEK3SKHZJ6FI

not attested not anchored not stored refs pending

ikd-Tree: An Incremental K-D Tree for Robotic Applications

Fu Zhang, Wei Xu, Yixi Cai

arxiv:2102.10808 v1 · 2021-02-22 · 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{TSM24CIIDFLNIFJEK3SKHZJ6FI}

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

8 papers in Pith

FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry

Generalized-CVO: Fast and Correspondence-Free Local Point Cloud Registration with Second Order Riemannian Optimization

Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion

FUSE: A Framework for Unified State Estimation in Vehicular and Robotic SLAM Systems

Receipt and verification

First computed	2026-07-05T02:17:01.653207Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9c99ae09081956d4152456e4a3e53e2a16b39420b0973d3ee9bbb60496c121fd

Aliases

arxiv: 2102.10808 · arxiv_version: 2102.10808v1 · doi: 10.48550/arxiv.2102.10808 · pith_short_12: TSM24CIIDFLN · pith_short_16: TSM24CIIDFLNIFJE · pith_short_8: TSM24CII

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/TSM24CIIDFLNIFJEK3SKHZJ6FI \
  | 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: 9c99ae09081956d4152456e4a3e53e2a16b39420b0973d3ee9bbb60496c121fd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "169d92be8c6b9f29904bbcc9ecd1d66821fe997917a3219533dfa8aad3508b6a",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-22T07:14:12Z",
    "title_canon_sha256": "de3c82027e4164ebafc5cea31bae1c4cf8717cb4ba73bedd1491ada7c70834d7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.10808",
    "kind": "arxiv",
    "version": 1
  }
}