Pith Number

pith:W4LPFQBX

pith:2019:W4LPFQBXBHPHS3T4F5LTDFEFWJ

not attested not anchored not stored refs pending

Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation

Cesar Cadena, Juan Nieto, Mingyang Li, Roland Siegwart, Thomas Schneider

arxiv:1901.07242 v1 · 2019-01-22 · cs.RO

Open paper page JSON Open Graph Bundle Merged state What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{W4LPFQBXBHPHS3T4F5LTDFEFWJ}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more

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	2026-05-17T23:55:47.674815Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b716f2c03709de796e7c2f57319485b2443b92981fce89c4d77994ac42ef985e

Aliases

arxiv: 1901.07242 · arxiv_version: 1901.07242v1 · doi: 10.48550/arxiv.1901.07242 · pith_short_12: W4LPFQBXBHPH · pith_short_16: W4LPFQBXBHPHS3T4 · pith_short_8: W4LPFQBX

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/W4LPFQBXBHPHS3T4F5LTDFEFWJ \
  | 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: b716f2c03709de796e7c2f57319485b2443b92981fce89c4d77994ac42ef985e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "aeebe5b4821ee3765658dce391ac3d2ca0154e8a92a87c25bf1a52c660dea59f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-01-22T10:22:32Z",
    "title_canon_sha256": "992322878a6f0881df5689d343bb47c5288d8ee9f70fce4ca4385146bff2cc84"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1901.07242",
    "kind": "arxiv",
    "version": 1
  }
}