Pith Number

pith:ZSQNZZMZ

pith:2019:ZSQNZZMZGVLS73J4XOZBXZQGA2

not attested not anchored not stored refs pending

A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees

Jonathan P. How, Kasra Khosoussi, Yulun Tian

arxiv:1907.04904 v1 · 2019-07-10 · cs.RO · cs.DS

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZSQNZZMZGVLS73J4XOZBXZQGA2}

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	2026-05-17T23:40:54.597931Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cca0dce59935572fed3cbbb21be60606bfbd22c8dd18c8038077e0137b4cf17f

Aliases

arxiv: 1907.04904 · arxiv_version: 1907.04904v1 · doi: 10.48550/arxiv.1907.04904 · pith_short_12: ZSQNZZMZGVLS · pith_short_16: ZSQNZZMZGVLS73J4 · pith_short_8: ZSQNZZMZ

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/ZSQNZZMZGVLS73J4XOZBXZQGA2 \
  | 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: cca0dce59935572fed3cbbb21be60606bfbd22c8dd18c8038077e0137b4cf17f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f63aacff1827a81bde91a9f7d174e240da71473afa4b716238af4f717b5cc39e",
    "cross_cats_sorted": [
      "cs.DS"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-07-10T19:57:24Z",
    "title_canon_sha256": "5f18723fa4c6b76cf17c709f99227024fdb98d4315b120f71ecfab5509538380"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1907.04904",
    "kind": "arxiv",
    "version": 1
  }
}