{"id":"https://openalex.org/W4206604957","doi":"https://doi.org/10.1007/s40747-021-00599-0","title":"Robust affine registration method using line/surface normals and correntropy criterion","display_name":"Robust affine registration method using line/surface normals and correntropy criterion","publication_year":2022,"publication_date":"2022-01-04","ids":{"openalex":"https://openalex.org/W4206604957","doi":"https://doi.org/10.1007/s40747-021-00599-0"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-021-00599-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00599-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00599-0.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00599-0.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100742924","display_name":"Abdurrahman Y\u0131lmaz","orcid":"https://orcid.org/0000-0001-8946-6664"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Abdurrahman Yilmaz","raw_affiliation_strings":["Control and Automation Engineering Department, Electrical and Electronics Engineering Faculty, Istanbul Technical University, Ayazaga Campus, Maslak, 34469, Sar\u00fdyer/Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-8946-6664","affiliations":[{"raw_affiliation_string":"Control and Automation Engineering Department, Electrical and Electronics Engineering Faculty, Istanbul Technical University, Ayazaga Campus, Maslak, 34469, Sar\u00fdyer/Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088462186","display_name":"Hakan Temelta\u015f","orcid":"https://orcid.org/0000-0002-3016-0027"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Hakan Temeltas","raw_affiliation_strings":["Control and Automation Engineering Department, Electrical and Electronics Engineering Faculty, Istanbul Technical University, Ayazaga Campus, Maslak, 34469, Sar\u00fdyer/Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-3016-0027","affiliations":[{"raw_affiliation_string":"Control and Automation Engineering Department, Electrical and Electronics Engineering Faculty, Istanbul Technical University, Ayazaga Campus, Maslak, 34469, Sar\u00fdyer/Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100742924"],"corresponding_institution_ids":["https://openalex.org/I48912391"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":2.5498,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.91551969,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":"2","first_page":"1","last_page":"19"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.7874789237976074},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7660247087478638},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6582149863243103},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6514349579811096},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.6383369565010071},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6320051550865173},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5966358184814453},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.5709255337715149},{"id":"https://openalex.org/keywords/affine-hull","display_name":"Affine hull","score":0.5457879304885864},{"id":"https://openalex.org/keywords/affine-shape-adaptation","display_name":"Affine shape adaptation","score":0.50409996509552},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4927845299243927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.49239909648895264},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.47725626826286316},{"id":"https://openalex.org/keywords/affine-combination","display_name":"Affine combination","score":0.4659987688064575},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4512943923473358},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.44430550932884216},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4355486333370209},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36536890268325806},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35050302743911743},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3424963653087616},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15786483883857727},{"id":"https://openalex.org/keywords/affine-space","display_name":"Affine space","score":0.14204826951026917},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13026311993598938}],"concepts":[{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.7874789237976074},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7660247087478638},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6582149863243103},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6514349579811096},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.6383369565010071},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6320051550865173},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5966358184814453},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.5709255337715149},{"id":"https://openalex.org/C112128483","wikidata":"https://www.wikidata.org/wiki/Q382504","display_name":"Affine hull","level":4,"score":0.5457879304885864},{"id":"https://openalex.org/C18516315","wikidata":"https://www.wikidata.org/wiki/Q4688950","display_name":"Affine shape adaptation","level":4,"score":0.50409996509552},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4927845299243927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.49239909648895264},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.47725626826286316},{"id":"https://openalex.org/C207221997","wikidata":"https://www.wikidata.org/wiki/Q938614","display_name":"Affine combination","level":3,"score":0.4659987688064575},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4512943923473358},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.44430550932884216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4355486333370209},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36536890268325806},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35050302743911743},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3424963653087616},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15786483883857727},{"id":"https://openalex.org/C173110770","wikidata":"https://www.wikidata.org/wiki/Q382698","display_name":"Affine space","level":3,"score":0.14204826951026917},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13026311993598938},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-021-00599-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00599-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00599-0.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/51714","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/51714","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Other literature type"}],"best_oa_location":{"id":"doi:10.1007/s40747-021-00599-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00599-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00599-0.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6997276782","display_name":null,"funder_award_id":"116E734","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4206604957.pdf","grobid_xml":"https://content.openalex.org/works/W4206604957.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W651493530","https://openalex.org/W1971517213","https://openalex.org/W2000534355","https://openalex.org/W2003612343","https://openalex.org/W2049981393","https://openalex.org/W2068078373","https://openalex.org/W2093886878","https://openalex.org/W2109064983","https://openalex.org/W2114354851","https://openalex.org/W2130763585","https://openalex.org/W2134236847","https://openalex.org/W2140139548","https://openalex.org/W2153504150","https://openalex.org/W2211074159","https://openalex.org/W2344109021","https://openalex.org/W2416516821","https://openalex.org/W2543842619","https://openalex.org/W2555204372","https://openalex.org/W2580558899","https://openalex.org/W2584306035","https://openalex.org/W2592770051","https://openalex.org/W2610614679","https://openalex.org/W2737539165","https://openalex.org/W2755252125","https://openalex.org/W2756582824","https://openalex.org/W2791130602","https://openalex.org/W2795159926","https://openalex.org/W2803861785","https://openalex.org/W2883028377","https://openalex.org/W2927456911","https://openalex.org/W2946305700","https://openalex.org/W2947373936","https://openalex.org/W2959935261","https://openalex.org/W2963041832","https://openalex.org/W2966241579","https://openalex.org/W2981727879","https://openalex.org/W2995235358","https://openalex.org/W2995795897","https://openalex.org/W3035030518","https://openalex.org/W3041319445","https://openalex.org/W3042698810","https://openalex.org/W3126626257","https://openalex.org/W3162353055","https://openalex.org/W3176124701","https://openalex.org/W3177280664","https://openalex.org/W4249866455","https://openalex.org/W6600605178"],"related_works":["https://openalex.org/W2184784635","https://openalex.org/W2498386001","https://openalex.org/W2180439206","https://openalex.org/W4294763240","https://openalex.org/W2372251801","https://openalex.org/W1814305722","https://openalex.org/W2145856415","https://openalex.org/W2621707713","https://openalex.org/W4224866196","https://openalex.org/W4323641618"],"abstract_inverted_index":{"Abstract":[0],"The":[1,213],"problem":[2,56],"of":[3,11,62,68,104,189,239],"matching":[4],"point":[5,35,72,124,148,173,211,222],"clouds":[6,223],"is":[7,14,42,64,94,139,158,175,196,202],"an":[8],"efficient":[9],"way":[10],"registration,":[12],"which":[13],"significant":[15],"for":[16,146,160,177,182],"many":[17],"research":[18],"fields":[19],"including":[20],"computer":[21],"vision,":[22],"machine":[23],"learning,":[24],"and":[25,60,89,180,198,209,226],"robotics.":[26],"There":[27],"may":[28],"be":[29],"linear":[30,46],"or":[31,136],"non-linear":[32],"transformation":[33,122],"between":[34,123,172],"clouds,":[36],"but":[37],"determining":[38],"the":[39,58,65,69,91,97,102,115,143,153,165,170,186,190,229,233,236,240],"affine":[40,66,77,111,147,193],"relation":[41],"more":[43,224],"challenging":[44],"among":[45],"cases.":[47],"Various":[48],"methods":[49,231],"have":[50],"been":[51],"presented":[52],"to":[53,83,100,106,120],"overcome":[54],"this":[55,128],"in":[57,114,127,232],"literature":[59,116],"one":[61],"them":[63],"variant":[67],"iterative":[70],"closest":[71],"(ICP)":[73],"algorithm.":[74],"However,":[75],"traditional":[76],"ICP":[78,194],"variants":[79],"are":[80],"highly":[81],"sensitive":[82],"effects":[84],"such":[85,107],"as":[86],"noises,":[87],"deformations,":[88],"outliers;":[90],"least-square":[92],"metric":[93,119],"substituted":[95],"with":[96,142],"correntropy":[98,144,155],"criterion":[99,145,156],"increase":[101],"robustness":[103],"ICPs":[105,112],"effects.":[108],"Correntropy-based":[109],"robust":[110,192],"available":[113],"use":[117],"point-to-point":[118],"estimate":[121],"clouds.":[125],"Conversely,":[126],"study,":[129],"a":[130],"line/surface":[131,161],"normal":[132,162],"that":[133,168,217],"examines":[134],"point-to-curve":[135],"point-to-plane":[137],"distances":[138],"employed":[140],"together":[141],"cloud":[149],"registration":[150,179,200,237],"problems.":[151],"First,":[152],"maximum":[154],"measure":[157],"built":[159],"conditions.":[163],"Then,":[164],"closed-form":[166],"solution":[167],"maximizes":[169],"similarity":[171],"sets":[174],"achieved":[176,215],"2D":[178,208],"extended":[181],"3D":[183,210],"registration.":[184],"Finally,":[185],"application":[187],"procedure":[188],"developed":[191],"method":[195,219],"given":[197],"its":[199],"performance":[201],"examined":[203],"through":[204],"extensive":[205],"experiments":[206],"on":[207],"sets.":[212],"results":[214],"highlight":[216],"our":[218],"can":[220],"align":[221],"robustly":[225],"precisely":[227],"than":[228],"state-of-the-art":[230],"literature,":[234],"while":[235],"time":[238],"process":[241],"remains":[242],"at":[243],"reasonable":[244],"levels.":[245]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}