Pith Number

pith:V6VL6WEW

pith:2023:V6VL6WEWH2BL6NH52D5PBU5C6J

not attested not anchored not stored refs pending

Occupancy Grid Map to Pose Graph-based Map: Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments

Alexander Braun, Andr\'e Borrmann, Miguel Arturo Vega Torres

arxiv:2308.05443 v1 · 2023-08-10 · 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{V6VL6WEWH2BL6NH52D5PBU5C6J}

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	2026-07-05T06:40:00.806827Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

afaabf58963e82bf34fdd0faf0d3a2f26a95bf687bbc4af11a4e434556a7b29b

Aliases

arxiv: 2308.05443 · arxiv_version: 2308.05443v1 · doi: 10.48550/arxiv.2308.05443 · pith_short_12: V6VL6WEWH2BL · pith_short_16: V6VL6WEWH2BL6NH5 · pith_short_8: V6VL6WEW

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/V6VL6WEWH2BL6NH52D5PBU5C6J \
  | 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: afaabf58963e82bf34fdd0faf0d3a2f26a95bf687bbc4af11a4e434556a7b29b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3a8e8b0b069e89952bf2cf35e8c666f609eb656a26aa50592806833d8084fbf8",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-08-10T08:59:47Z",
    "title_canon_sha256": "21a1a99329d1f2f525a9542a466bfd2f1e4a28d1fe0f248ec0e5df36a0cc263b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2308.05443",
    "kind": "arxiv",
    "version": 1
  }
}