Pith Number

pith:7NZWZV2K

pith:2022:7NZWZV2K3TGC3OWTNFHYKBZ36T

not attested not anchored not stored refs pending

FAST-LIO, Then Bayesian ICP, Then GTSFM

Frank Dellaert, Jerred Chen, Jianhao Jiao, Ming Liu, Shicong Ma, Xiangcheng Hu

arxiv:2210.00146 v2 · 2022-10-01 · 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{7NZWZV2K3TGC3OWTNFHYKBZ36T}

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	2026-07-05T05:03:39.795798Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fb736cd74adccc2dbad3694f85073bf4d513005e3b056a692a15eb560154c96f

Aliases

arxiv: 2210.00146 · arxiv_version: 2210.00146v2 · doi: 10.48550/arxiv.2210.00146 · pith_short_12: 7NZWZV2K3TGC · pith_short_16: 7NZWZV2K3TGC3OWT · pith_short_8: 7NZWZV2K

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/7NZWZV2K3TGC3OWTNFHYKBZ36T \
  | 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: fb736cd74adccc2dbad3694f85073bf4d513005e3b056a692a15eb560154c96f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "441ddc87f0ddc91ae15dfbf388abd710acfba843d98d7303baf8855b6fca0a2c",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-10-01T00:02:48Z",
    "title_canon_sha256": "af7152e3ecc0beb612a9159a29f37c01a3933439e697b2b18f7616324d36f39f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.00146",
    "kind": "arxiv",
    "version": 2
  }
}