Pith Number

pith:ARMTBTMP

pith:2021:ARMTBTMPTPVBIFKTCD3U6BYHB6

not attested not anchored not stored refs pending

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping

Chunran Zheng, Fu Zhang, Jiarong Lin, Wei Xu

arxiv:2102.12400 v1 · 2021-02-24 · 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{ARMTBTMPTPVBIFKTCD3U6BYHB6}

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.

Cited by

1 paper in Pith

Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems

Receipt and verification

First computed	2026-07-05T02:18:12.366469Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

045930cd8f9bea14155310f74f07070f9faa73d7a79af8cd506ffefaded7d125

Aliases

arxiv: 2102.12400 · arxiv_version: 2102.12400v1 · doi: 10.48550/arxiv.2102.12400 · pith_short_12: ARMTBTMPTPVB · pith_short_16: ARMTBTMPTPVBIFKT · pith_short_8: ARMTBTMP

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/ARMTBTMPTPVBIFKTCD3U6BYHB6 \
  | 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: 045930cd8f9bea14155310f74f07070f9faa73d7a79af8cd506ffefaded7d125

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7a43e19e9361c53912b350c92e50e1cb72d49cc5d2e125e6e3c5c1730199277a",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-24T16:38:14Z",
    "title_canon_sha256": "716c321b134433eba2cf2388b05b75dd7234faf1bae45c084f1d5d67713388a7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.12400",
    "kind": "arxiv",
    "version": 1
  }
}