Pith Number

pith:XHMKTXMW

pith:2020:XHMKTXMWN3J56KRQWSPYZPOWXV

not attested not anchored not stored refs pending

Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements

Jinxu Liu, Wei Gao, Zhanyi Hu

arxiv:2010.11675 v5 · 2020-10-22 · 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{XHMKTXMWN3J56KRQWSPYZPOWXV}

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	2026-07-05T03:25:11.105503Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b9d8a9dd966ed3df2a30b49f8cbdd6bd5d5ee79d007f72fb81b67b31b864ed38

Aliases

arxiv: 2010.11675 · arxiv_version: 2010.11675v5 · doi: 10.48550/arxiv.2010.11675 · pith_short_12: XHMKTXMWN3J5 · pith_short_16: XHMKTXMWN3J56KRQ · pith_short_8: XHMKTXMW

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/XHMKTXMWN3J56KRQWSPYZPOWXV \
  | 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: b9d8a9dd966ed3df2a30b49f8cbdd6bd5d5ee79d007f72fb81b67b31b864ed38

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b4a1f66cff03fbba142bbfc99f86f5389f5568355f5c1959c6c4b9a4322bb989",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-10-22T13:14:34Z",
    "title_canon_sha256": "4f0ca39d266079d851b9d1b10dd14b17b12e3a5203ca5c380f02c3d9d22cbb4c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2010.11675",
    "kind": "arxiv",
    "version": 5
  }
}