Pith Number

pith:XY3JSZ4R

pith:2022:XY3JSZ4R72CUNOZGGBLWPGJM5K

not attested not anchored not stored refs pending

A Tightly Coupled LiDAR-IMU Odometry through Iterated Point-Level Undistortion

Hao Ma, Keke Liu, Zemin Wang

arxiv:2209.12249 v2 · 2022-09-25 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XY3JSZ4R72CUNOZGGBLWPGJM5K}

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	2026-07-05T05:01:41.372253Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

be36996791fe8546bb26305767992cea9fb144bdb353ca48ffe6876310356ed9

Aliases

arxiv: 2209.12249 · arxiv_version: 2209.12249v2 · doi: 10.48550/arxiv.2209.12249 · pith_short_12: XY3JSZ4R72CU · pith_short_16: XY3JSZ4R72CUNOZG · pith_short_8: XY3JSZ4R

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/XY3JSZ4R72CUNOZGGBLWPGJM5K \
  | 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: be36996791fe8546bb26305767992cea9fb144bdb353ca48ffe6876310356ed9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7ab18739f948ff555a3118b62756c318e105c560eaddc860ce5f4e3e6cc7f91f",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-25T15:48:42Z",
    "title_canon_sha256": "a5b770d1ab15690c7e22ccb2f282cecf8e9ddd0f06fa0d4b2a1f7dded5b10947"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.12249",
    "kind": "arxiv",
    "version": 2
  }
}