Pith Number

pith:B7RBVUYU

pith:2023:B7RBVUYUNKSLORVRGZ7VIESKMM

not attested not anchored not stored refs pending

Global Localization in Unstructured Environments using Semantic Object Maps Built from Various Viewpoints

Annika Thomas, Jacqueline Ankenbauer, Jonathan P. How, Parker C. Lusk

arxiv:2303.04658 v2 · 2023-03-08 · 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{B7RBVUYUNKSLORVRGZ7VIESKMM}

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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

LunarLoc: Segment-Based Global Localization on the Moon

Receipt and verification

First computed	2026-07-05T07:05:06.885118Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0fe21ad3146aa4b746b1367f54124a633d9615c233dcfd87e3512947d4f1536d

Aliases

arxiv: 2303.04658 · arxiv_version: 2303.04658v2 · doi: 10.48550/arxiv.2303.04658 · pith_short_12: B7RBVUYUNKSL · pith_short_16: B7RBVUYUNKSLORVR · pith_short_8: B7RBVUYU

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/B7RBVUYUNKSLORVRGZ7VIESKMM \
  | 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: 0fe21ad3146aa4b746b1367f54124a633d9615c233dcfd87e3512947d4f1536d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ddaaa2be3a294ad313976983eb033e10eb927797bacdd67ce7d83fb5b390717f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-03-08T15:26:22Z",
    "title_canon_sha256": "104c041cb4ddc33714e853fa0db8511e9b8a8533f3e5ec8d8b2897824267fd99"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.04658",
    "kind": "arxiv",
    "version": 2
  }
}