Pith Number

pith:UMJENEX7

pith:2016:UMJENEX72EQGWI6H4RBWDV34TX

not attested not anchored not stored refs pending

Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles

Ben Barnes, Dinuka Abeywardena, Gamini Dissanayake, Sarath Kodagoda, Shoudong Huang

arxiv:1607.01486 v1 · 2016-07-06 · 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{UMJENEX72EQGWI6H4RBWDV34TX}

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	2026-05-18T01:11:26.299593Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a3124692ffd1206b23c7e44361d77c9dd5f287e61cfe5af1f5b1e97ee81e7f5a

Aliases

arxiv: 1607.01486 · arxiv_version: 1607.01486v1 · doi: 10.48550/arxiv.1607.01486 · pith_short_12: UMJENEX72EQG · pith_short_16: UMJENEX72EQGWI6H · pith_short_8: UMJENEX7

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/UMJENEX72EQGWI6H4RBWDV34TX \
  | 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: a3124692ffd1206b23c7e44361d77c9dd5f287e61cfe5af1f5b1e97ee81e7f5a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "dceb083d62dc3df39523d0a111d17a64e1e965cec6cb616347ac231a92825c54",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-07-06T06:28:18Z",
    "title_canon_sha256": "f0990b4ff197f57554ac18f81be81399f175573919b4911c4b89004de74f3c9c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1607.01486",
    "kind": "arxiv",
    "version": 1
  }
}