Pith Number

pith:4B3FRVKQ

pith:2022:4B3FRVKQDFT7XEX7AAIX7IWLKY

not attested not anchored not stored refs pending

An Extrinsic Calibration Method between LiDAR and GNSS/INS for Autonomous Driving

Chengjie Wang, Guohang Yan, Jiahao Pi, Xinyu Cai, Yikang Li

arxiv:2209.07694 v2 · 2022-09-16 · cs.RO

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Add to your LaTeX paper

\usepackage{pith}
\pithnumber{4B3FRVKQDFT7XEX7AAIX7IWLKY}

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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.

Cited by

1 paper in Pith

Joint Optimization-based Targetless Extrinsic Calibration for Multiple LiDARs and GNSS-Aided INS of Ground Vehicles

Receipt and verification

First computed	2026-07-05T05:46:23.979533Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e07658d5501967fb92ff00117fa2cb5609fa7b07e28dd2c6b92976d9beb20c7a

Aliases

arxiv: 2209.07694 · arxiv_version: 2209.07694v2 · doi: 10.48550/arxiv.2209.07694 · pith_short_12: 4B3FRVKQDFT7 · pith_short_16: 4B3FRVKQDFT7XEX7 · pith_short_8: 4B3FRVKQ

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/4B3FRVKQDFT7XEX7AAIX7IWLKY \
  | 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: e07658d5501967fb92ff00117fa2cb5609fa7b07e28dd2c6b92976d9beb20c7a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3967f0a13bdc4e2f88b9899fb788bcffb22a51aa5d227875b4cdb5d6dcb92853",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-16T03:32:36Z",
    "title_canon_sha256": "6ac82cee595fd05281f6f1c7d4e0d91e0ecfb5f457fef2b0cbf255c0a40d1ffd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.07694",
    "kind": "arxiv",
    "version": 2
  }
}