Pith Number

pith:ZX4EWB6S

pith:2022:ZX4EWB6SA2KPQVBQTGNQA653HK

not attested not anchored not stored refs pending

Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation

Guoquan Huang, Liu Ren, Nathaniel Merrill, Stefan Leutenegger, Xingxing Zuo, Xinyu Huang, Xi Peng, Yuliang Guo

arxiv:2205.01823 v2 · 2022-05-04 · 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{ZX4EWB6SA2KPQVBQTGNQA653HK}

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	2026-07-05T04:39:50.087925Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cdf84b07d20694f85430999b007bbb3abeed1cb227b01d72612ca316df7d12a3

Aliases

arxiv: 2205.01823 · arxiv_version: 2205.01823v2 · doi: 10.48550/arxiv.2205.01823 · pith_short_12: ZX4EWB6SA2KP · pith_short_16: ZX4EWB6SA2KPQVBQ · pith_short_8: ZX4EWB6S

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/ZX4EWB6SA2KPQVBQTGNQA653HK \
  | 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: cdf84b07d20694f85430999b007bbb3abeed1cb227b01d72612ca316df7d12a3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f014b47864315918f2623c7657bc5a17a0c736adb577413a129088595948f035",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-05-04T00:14:45Z",
    "title_canon_sha256": "54ccf8a2da5c452a88df592c889c7f87aa695f2ac3b38fd9216a27a1d070c0de"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2205.01823",
    "kind": "arxiv",
    "version": 2
  }
}