Pith Number

pith:VCZTB7DN

pith:2017:VCZTB7DNGXVBA65NL3MNKP7YBC

not attested not anchored not stored refs pending

Sparse Optimization for Robust and Efficient Loop Closing

Guoquan Huang, John Leonard, Jose Neira, Yasir Latif

arxiv:1701.08921 v1 · 2017-01-31 · 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{VCZTB7DNGXVBA65NL3MNKP7YBC}

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	2026-05-18T00:51:38.894038Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a8b330fc6d35ea107bad5ed8d53ff8089e9d4a5985cb5366de161b21575a8a59

Aliases

arxiv: 1701.08921 · arxiv_version: 1701.08921v1 · doi: 10.48550/arxiv.1701.08921 · pith_short_12: VCZTB7DNGXVB · pith_short_16: VCZTB7DNGXVBA65N · pith_short_8: VCZTB7DN

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/VCZTB7DNGXVBA65NL3MNKP7YBC \
  | 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: a8b330fc6d35ea107bad5ed8d53ff8089e9d4a5985cb5366de161b21575a8a59

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1f58de63f03e5378e2a056dbd6f30e7c047b5ca563d3dda0bbc4434d0e583e71",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-01-31T05:32:09Z",
    "title_canon_sha256": "491f97897c58cf352db4ded66d00fd9215b2aa1b7a7b409dfec92b7920dba149"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1701.08921",
    "kind": "arxiv",
    "version": 1
  }
}