{"id":"https://openalex.org/W3001641602","doi":"https://doi.org/10.1109/access.2020.2969360","title":"Robust Rigid Registration Algorithm Based on Correntropy and Bi-Directional Distance","display_name":"Robust Rigid Registration Algorithm Based on Correntropy and Bi-Directional Distance","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3001641602","doi":"https://doi.org/10.1109/access.2020.2969360","mag":"3001641602"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2969360","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2969360","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08968341.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08968341.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039740748","display_name":"Teng Wan","orcid":"https://orcid.org/0000-0002-2594-8354"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Teng Wan","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-2594-8354","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044668212","display_name":"Shaoyi Du","orcid":"https://orcid.org/0000-0002-7092-0596"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoyi Du","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-7092-0596","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033107823","display_name":"Wenting Cui","orcid":"https://orcid.org/0000-0003-2047-2091"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenting Cui","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0003-2047-2091","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397450","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-8687-4427"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0001-8687-4427","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029512731","display_name":"Ce Li","orcid":"https://orcid.org/0000-0002-4627-6112"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ce Li","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4627-6112","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":11.157,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97647272,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"22225","last_page":"22234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9987999796867371,"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/robustness","display_name":"Robustness (evolution)","score":0.7909046411514282},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7534852623939514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.686962366104126},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6518064737319946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6256672739982605},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5578389167785645},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.5570091605186462},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5412222146987915},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4969315826892853},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4724239110946655},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20534801483154297},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.1518074870109558}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7909046411514282},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7534852623939514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.686962366104126},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6518064737319946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6256672739982605},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5578389167785645},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.5570091605186462},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5412222146987915},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4969315826892853},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4724239110946655},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20534801483154297},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.1518074870109558},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2020.2969360","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2969360","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08968341.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:ir.lzu.edu.cn/:262010/441541","is_oa":false,"landing_page_url":"http://ir.lzu.edu.cn/handle/262010/441541","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"},{"id":"pmh:oai:doaj.org/article:d703ad90cb9d47b2a11e8ab18a475acf","is_oa":true,"landing_page_url":"https://doaj.org/article/d703ad90cb9d47b2a11e8ab18a475acf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 22225-22234 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2969360","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2969360","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08968341.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6692319104","display_name":null,"funder_award_id":"61627811","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8396617935","display_name":"\u57fa\u4e8e\u56fe\u50cf\u70b9\u96c6\u914d\u51c6\u7684\u9ad8\u7cbe\u5ea6\u5927\u8303\u56f4\u4ea4\u901a\u573a\u666f\u4e09\u7ef4\u91cd\u5efa\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61971343","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3001641602.pdf","grobid_xml":"https://content.openalex.org/works/W3001641602.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W147717608","https://openalex.org/W612478963","https://openalex.org/W1567242735","https://openalex.org/W1602060479","https://openalex.org/W1612997784","https://openalex.org/W1636905106","https://openalex.org/W1953042028","https://openalex.org/W1967368660","https://openalex.org/W1981969979","https://openalex.org/W2012394521","https://openalex.org/W2021851106","https://openalex.org/W2026676075","https://openalex.org/W2049854196","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2072692661","https://openalex.org/W2093886878","https://openalex.org/W2109064983","https://openalex.org/W2113524221","https://openalex.org/W2118104180","https://openalex.org/W2118631462","https://openalex.org/W2134236847","https://openalex.org/W2139958836","https://openalex.org/W2148440329","https://openalex.org/W2156222070","https://openalex.org/W2159029220","https://openalex.org/W2211074159","https://openalex.org/W2541905211","https://openalex.org/W2710528994","https://openalex.org/W2713928454","https://openalex.org/W2744185614","https://openalex.org/W2883028377","https://openalex.org/W2892629518","https://openalex.org/W2921176990","https://openalex.org/W2927456911","https://openalex.org/W3103648783","https://openalex.org/W4210781262","https://openalex.org/W6605994888","https://openalex.org/W6618872416","https://openalex.org/W6633927477","https://openalex.org/W6640432562","https://openalex.org/W6641077695","https://openalex.org/W6653542844","https://openalex.org/W6676282880","https://openalex.org/W6681580237"],"related_works":["https://openalex.org/W4244892557","https://openalex.org/W1997869659","https://openalex.org/W188064357","https://openalex.org/W3006513224","https://openalex.org/W2046456988","https://openalex.org/W2163635433","https://openalex.org/W2357409937","https://openalex.org/W1520712096","https://openalex.org/W3011318504","https://openalex.org/W3154360165"],"abstract_inverted_index":{"Point":[0],"set":[1],"registration":[2,24,30,81,100,117,148],"is":[3,35,50,58,89,96,126],"a":[4,27,119],"key":[5],"method":[6],"in":[7],"computer":[8],"vision":[9],"and":[10,18,26,55,77,146],"pattern":[11],"recognition.":[12],"In":[13,111,137],"this":[14,115],"paper,":[15],"the":[16,53,73,80,85,92,99,104,131,138,140],"correntropy":[17,87],"bi-directional":[19,93],"distance":[20,94],"are":[21],"introduced":[22,97],"into":[23,98,108],"framework":[25,101],"new":[28,116,120],"robust":[29],"model":[31,82,105],"for":[32],"RGB-D":[33,67],"data":[34,68],"proposed.":[36],"Firstly,":[37],"as":[38,46],"registering":[39],"point":[40,123],"sets":[41],"with":[42],"smooth":[43],"structure,":[44],"such":[45],"surface":[47],"or":[48],"plane,":[49],"easy":[51],"failed,":[52],"color":[54],"position":[56],"information":[57],"fused":[59],"to":[60,71,102,113,130],"establish":[61],"more":[62,144],"precise":[63,147],"correspondence":[64],"between":[65],"two":[66],"sets.":[69],"Secondly,":[70],"reduce":[72],"influence":[74],"of":[75],"noises":[76],"eliminate":[78],"outliers,":[79],"based":[83],"on":[84],"maximum":[86],"criterion":[88],"established.":[90],"Thirdly,":[91],"measurement":[95],"avoid":[103],"being":[106],"trapped":[107],"local":[109,132],"extremum.":[110],"addition,":[112],"solve":[114],"problem,":[118],"iterative":[121],"closest":[122],"(ICP)":[124],"algorithm":[125,142],"proposed,":[127],"which":[128],"converges":[129],"optimal":[133],"solution":[134],"by":[135],"iterations.":[136],"experiments,":[139],"proposed":[141],"achieves":[143],"robustness":[145],"results":[149],"than":[150],"other":[151],"algorithms.":[152]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
