{"id":"https://openalex.org/W2164703480","doi":"https://doi.org/10.1109/iccv.2007.4409077","title":"The 3D-3D Registration Problem Revisited","display_name":"The 3D-3D Registration Problem Revisited","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2164703480","doi":"https://doi.org/10.1109/iccv.2007.4409077","mag":"2164703480"},"language":"en","primary_location":{"id":"doi:10.1109/iccv.2007.4409077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccv.2007.4409077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE 11th International Conference on Computer Vision","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/A5101819061","display_name":"Hongdong Li","orcid":"https://orcid.org/0000-0003-4125-1554"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Hongdong Li","raw_affiliation_strings":["RSISE, Australian National University, Australia","VISTA, NICTA, Australia"],"affiliations":[{"raw_affiliation_string":"RSISE, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"VISTA, NICTA, Australia","institution_ids":["https://openalex.org/I42894916"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020854336","display_name":"Richard Hartley","orcid":null},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Richard Hartley","raw_affiliation_strings":["RSISE, Australian National University, Australia","VISTA, NICTA, Australia"],"affiliations":[{"raw_affiliation_string":"RSISE, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"VISTA, NICTA, Australia","institution_ids":["https://openalex.org/I42894916"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101819061"],"corresponding_institution_ids":["https://openalex.org/I118347636","https://openalex.org/I42894916"],"apc_list":null,"apc_paid":null,"fwci":164.9842,"has_fulltext":false,"cited_by_count":199,"citation_normalized_percentile":{"value":0.99912587,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T12288","display_name":"Optimization and Search Problems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/initialization","display_name":"Initialization","score":0.8066423535346985},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.6906393766403198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.651818573474884},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5647687911987305},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5331912040710449},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.48396944999694824},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.45379531383514404},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43787819147109985},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37479183077812195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33993932604789734},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.250600665807724}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8066423535346985},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.6906393766403198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.651818573474884},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5647687911987305},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5331912040710449},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.48396944999694824},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.45379531383514404},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43787819147109985},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37479183077812195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33993932604789734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.250600665807724},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iccv.2007.4409077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccv.2007.4409077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE 11th International Conference on Computer Vision","raw_type":"proceedings-article"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/25916","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/25916","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of ICCV 2007","raw_type":"Conference paper"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/733796200","is_oa":false,"landing_page_url":"https://hdl.handle.net/1885/733796200","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"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":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1493988777","https://openalex.org/W1496447336","https://openalex.org/W1518078339","https://openalex.org/W1548836129","https://openalex.org/W1569491704","https://openalex.org/W1599434464","https://openalex.org/W1600307065","https://openalex.org/W1988874269","https://openalex.org/W1993267444","https://openalex.org/W2004312117","https://openalex.org/W2030480533","https://openalex.org/W2033554200","https://openalex.org/W2033819227","https://openalex.org/W2049981393","https://openalex.org/W2056394258","https://openalex.org/W2096077837","https://openalex.org/W2106308174","https://openalex.org/W2113622401","https://openalex.org/W2115880351","https://openalex.org/W2117098034","https://openalex.org/W2119851068","https://openalex.org/W2124638941","https://openalex.org/W2129802333","https://openalex.org/W2131590504","https://openalex.org/W2140935196","https://openalex.org/W2154084838","https://openalex.org/W2157364958","https://openalex.org/W2157725552","https://openalex.org/W2165053603","https://openalex.org/W2166820607","https://openalex.org/W2168002178","https://openalex.org/W4211107109","https://openalex.org/W4238764921","https://openalex.org/W6629518761","https://openalex.org/W6629766475","https://openalex.org/W6634060075","https://openalex.org/W6635897114","https://openalex.org/W6682411693"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W3204184292","https://openalex.org/W2354676191","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W3188646203","https://openalex.org/W2355833770","https://openalex.org/W2596692027","https://openalex.org/W4295724548","https://openalex.org/W2549189808"],"abstract_inverted_index":{"We":[0],"describe":[1],"a":[2,54,79],"new":[3],"framework":[4,43],"for":[5],"globally":[6],"solving":[7],"the":[8,37,47,63,67,72,84,91],"3D-3D":[9],"registration":[10],"problem":[11,17,68,85],"with":[12],"unknown":[13],"point":[14],"correspondences.":[15],"This":[16],"is":[18,22,44],"significant":[19],"as":[20,100],"it":[21],"frequently":[23],"encountered":[24],"in":[25],"many":[26,97],"applications.":[27],"Existing":[28],"methods":[29],"are":[30],"not":[31],"fully":[32],"satisfactory,":[33],"mainly":[34],"due":[35],"to":[36,96],"risk":[38],"of":[39,66,71,90],"local":[40],"minima.":[41],"Our":[42],"grounded":[45],"on":[46],"Lipschitz":[48],"global":[49,56],"optimization":[50],"theory.":[51],"It":[52],"achieves":[53],"guaranteed":[55],"optimality":[57],"without":[58],"any":[59],"initialization.":[60],"By":[61],"exploiting":[62],"special":[64],"structure":[65],"itself":[69],"and":[70],"3D":[73],"rotation":[74],"space":[75],"SO(3),":[76],"we":[77],"propose":[78],"box-and-ball":[80],"algorithm,":[81],"which":[82],"solves":[83],"efficiently.":[86],"The":[87],"main":[88],"idea":[89],"work":[92],"can":[93],"be":[94],"applied":[95],"other":[98],"problems":[99],"well.":[101]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":7}],"updated_date":"2026-03-16T09:10:04.655348","created_date":"2025-10-10T00:00:00"}