Pith Number

pith:CDTVKYEZ

pith:2022:CDTVKYEZM73JAOS4HJNRY6OGCH

not attested not anchored not stored refs pending

POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes

Angela P. Schoellig, James Servos, Jingxing Qian, Jun Yang, Steven L. Waslander, Veronica Chatrath

arxiv:2205.01202 v2 · 2022-05-02 · 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{CDTVKYEZM73JAOS4HJNRY6OGCH}

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	2026-07-05T04:40:27.180157Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

10e755609967f6903a5c3a5b1c79c611e32fe3fd2f6a012ad4683206cfcba937

Aliases

arxiv: 2205.01202 · arxiv_version: 2205.01202v2 · doi: 10.48550/arxiv.2205.01202 · pith_short_12: CDTVKYEZM73J · pith_short_16: CDTVKYEZM73JAOS4 · pith_short_8: CDTVKYEZ

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/CDTVKYEZM73JAOS4HJNRY6OGCH \
  | 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: 10e755609967f6903a5c3a5b1c79c611e32fe3fd2f6a012ad4683206cfcba937

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "619f2b9c0b0875e324a6c5f6307d8867b59bf38d913de2ab665b3b20d6ec9a42",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-05-02T20:33:11Z",
    "title_canon_sha256": "ffee4f6bd73710258f3f99ead0c14ade4d2ef94e829ccf29a786e52992c3ae5f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2205.01202",
    "kind": "arxiv",
    "version": 2
  }
}