{"id":"https://openalex.org/W2246013616","doi":"https://doi.org/10.1109/dicta.2015.7371253","title":"Direct 6-DoF Pose Estimation from Point-Plane Correspondences","display_name":"Direct 6-DoF Pose Estimation from Point-Plane Correspondences","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2246013616","doi":"https://doi.org/10.1109/dicta.2015.7371253","mag":"2246013616"},"language":"en","primary_location":{"id":"doi:10.1109/dicta.2015.7371253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dicta.2015.7371253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Digital Image Computing: Techniques and Applications (DICTA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003580485","display_name":"Kourosh Khoshelham","orcid":"https://orcid.org/0000-0001-6639-1727"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Kourosh Khoshelham","raw_affiliation_strings":["Department of Infrastructure Engineering, University of Melbourne, Melbourne, Australia"],"affiliations":[{"raw_affiliation_string":"Department of Infrastructure Engineering, University of Melbourne, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5003580485"],"corresponding_institution_ids":["https://openalex.org/I165779595"],"apc_list":null,"apc_paid":null,"fwci":2.4324,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.90241202,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/pose","display_name":"Pose","score":0.7074222564697266},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6671053171157837},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6569035053253174},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.645635187625885},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5915743708610535},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5858311653137207},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5752298831939697},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5706682801246643},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5657305717468262},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5449730753898621},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5438982844352722},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.5126911401748657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4845068156719208},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4465329051017761},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.396855890750885},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.26254335045814514},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21733036637306213},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13509395718574524}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7074222564697266},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6671053171157837},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6569035053253174},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.645635187625885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5915743708610535},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5858311653137207},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5752298831939697},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5706682801246643},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5657305717468262},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5449730753898621},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5438982844352722},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.5126911401748657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4845068156719208},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4465329051017761},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.396855890750885},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.26254335045814514},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21733036637306213},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13509395718574524},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/dicta.2015.7371253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dicta.2015.7371253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Digital Image Computing: Techniques and Applications (DICTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1966590435","https://openalex.org/W1972671602","https://openalex.org/W1987659019","https://openalex.org/W1988874269","https://openalex.org/W1989550683","https://openalex.org/W1992989752","https://openalex.org/W1993267444","https://openalex.org/W1996398108","https://openalex.org/W2009594804","https://openalex.org/W2014558587","https://openalex.org/W2037686083","https://openalex.org/W2041094000","https://openalex.org/W2049981393","https://openalex.org/W2059582912","https://openalex.org/W2063549868","https://openalex.org/W2069285223","https://openalex.org/W2091226544","https://openalex.org/W2094694151","https://openalex.org/W2110830603","https://openalex.org/W2119851068","https://openalex.org/W2127739279","https://openalex.org/W2132512702","https://openalex.org/W2141205356","https://openalex.org/W2158455546","https://openalex.org/W2165053603","https://openalex.org/W2209124607"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4320086129","https://openalex.org/W4320058782","https://openalex.org/W4253893311","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W2196111060","https://openalex.org/W2807666361","https://openalex.org/W2228459732"],"abstract_inverted_index":{"Localizing":[0],"a":[1,60,68],"mobile":[2],"sensor":[3,19,69],"in":[4,90],"an":[5],"indoor":[6],"environment":[7,15],"usually":[8],"involves":[9],"obtaining":[10],"3D":[11],"scans":[12],"of":[13,55,67,92,96,106,115,122],"the":[14,18,23,81,97,123],"and":[16,49,87,112,117],"estimating":[17,64],"pose":[20,66],"by":[21,31,70],"matching":[22],"successive":[24],"scans.":[25,56],"This":[26,57],"can":[27],"be":[28],"done":[29],"effectively":[30],"minimizing":[32,71],"point-plane":[33,72],"distances":[34],"for":[35,46,52,63],"which":[36],"only":[37],"iterative":[38],"solutions":[39,43],"are":[40,44,50],"available.":[41],"Iterative":[42],"notorious":[45],"convergence":[47],"issues,":[48],"inefficient":[51],"long":[53],"sequences":[54],"paper":[58],"presents":[59],"direct":[61,82,98,124],"method":[62,83,99],"6-dof":[65],"distances.":[73],"Through":[74],"experimental":[75],"evaluation":[76],"it":[77],"is":[78,100,126],"shown":[79],"that":[80],"gives":[84],"accurate":[85],"estimates,":[86],"performs":[88],"robustly":[89],"presence":[91],"noise.":[93],"The":[94],"performance":[95],"also":[101],"evaluated":[102],"with":[103],"point":[104],"clouds":[105],"different":[107],"scale,":[108],"poor":[109],"plane":[110],"configurations":[111],"large":[113],"numbers":[114],"points":[116],"planes.":[118],"A":[119],"MATLAB":[120],"implementation":[121],"solution":[125],"available":[127],"at:":[128],"http://people.eng.unimelb.edu.au/kkhoshelham/research.html#directmotion.":[129]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}