Pith Number

pith:Z7KDV4JE

pith:2023:Z7KDV4JE46M2MY7UCPRCYS4AQW

not attested not anchored not stored refs pending

FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels

Jun Liu, Xiaoyu Zhao, Yunzhou Zhang, Zhengnan He

arxiv:2302.04031 v3 · 2023-02-08 · 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{Z7KDV4JE46M2MY7UCPRCYS4AQW}

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	2026-07-05T06:33:18.646661Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cfd43af124e799a663f413e22c4b8085b1774c13bdc1576fd33c03081b9f21e6

Aliases

arxiv: 2302.04031 · arxiv_version: 2302.04031v3 · doi: 10.48550/arxiv.2302.04031 · pith_short_12: Z7KDV4JE46M2 · pith_short_16: Z7KDV4JE46M2MY7U · pith_short_8: Z7KDV4JE

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/Z7KDV4JE46M2MY7UCPRCYS4AQW \
  | 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: cfd43af124e799a663f413e22c4b8085b1774c13bdc1576fd33c03081b9f21e6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "396cff2f46a98886cf1c8262dc12fd73ae6aa77b4079f34b9919dbfcc2a0b0f3",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-02-08T13:07:35Z",
    "title_canon_sha256": "238180d7789f76d70784d5b53f829b9f5126c571e986c6da07feb9908d43d26f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2302.04031",
    "kind": "arxiv",
    "version": 3
  }
}