{"id":"https://openalex.org/W1655949121","doi":"https://doi.org/10.1109/icinfa.2015.7279339","title":"Advanced absolute orientation algorithm based on unit quaternion on alignment","display_name":"Advanced absolute orientation algorithm based on unit quaternion on alignment","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1655949121","doi":"https://doi.org/10.1109/icinfa.2015.7279339","mag":"1655949121"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","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/A5088132533","display_name":"Baoling Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Baoling Qin","raw_affiliation_strings":["Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000449798","display_name":"Xiuzhi Li","orcid":"https://orcid.org/0000-0001-6778-9147"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuzhi Li","raw_affiliation_strings":["Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103252095","display_name":"Songmin Jia","orcid":"https://orcid.org/0000-0003-2040-0848"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songmin Jia","raw_affiliation_strings":["Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041119666","display_name":"Ailin Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ailin Yang","raw_affiliation_strings":["Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025501345","display_name":"Huan Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Qiu","raw_affiliation_strings":["Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"College of Electronic and Control Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088132533"],"corresponding_institution_ids":["https://openalex.org/I37796252","https://openalex.org/I4210100255"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.028723,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"499","last_page":"503"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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/T10638","display_name":"Optical measurement and interference techniques","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"}}],"keywords":[{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.8734368085861206},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7907004952430725},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7649711966514587},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.7626270055770874},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6807059645652771},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6641830205917358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5823472142219543},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5717682242393494},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5706514716148376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5655178427696228},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4423125386238098},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.41125980019569397},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3798271417617798},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2993365526199341},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.1932072639465332}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8734368085861206},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7907004952430725},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7649711966514587},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.7626270055770874},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6807059645652771},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6641830205917358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5823472142219543},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5717682242393494},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5706514716148376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5655178427696228},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4423125386238098},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.41125980019569397},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3798271417617798},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2993365526199341},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.1932072639465332},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321913","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1993267444","https://openalex.org/W2022735534","https://openalex.org/W2049981393","https://openalex.org/W2092182081","https://openalex.org/W2094694151","https://openalex.org/W2107528150","https://openalex.org/W2112328181","https://openalex.org/W2151103935","https://openalex.org/W2159593339","https://openalex.org/W2164278908","https://openalex.org/W2333033188","https://openalex.org/W2372932456"],"related_works":["https://openalex.org/W2912782527","https://openalex.org/W2559085038","https://openalex.org/W2184781617","https://openalex.org/W2724122122","https://openalex.org/W2410884360","https://openalex.org/W2613823046","https://openalex.org/W4251240031","https://openalex.org/W2032794652","https://openalex.org/W2002904063","https://openalex.org/W2574175918"],"abstract_inverted_index":{"The":[0,59,96],"main":[1],"objective":[2],"of":[3,72,80,93,104,149],"this":[4,26,75,128],"paper":[5],"is":[6,33,45,63,102,115,139],"to":[7,35,50,86,108,117,141],"develop":[8],"3D":[9,111],"point":[10,56,73,154],"cloud":[11,57,155],"alignment":[12],"technique":[13],"by":[14],"using":[15],"an":[16],"improved":[17],"absolute":[18],"orientation":[19],"algorithm":[20,101,138,152],"based":[21,136],"on":[22,90],"unit":[23,60],"quaternion.":[24],"In":[25,127],"method,":[27],"Scale":[28],"Invariant":[29],"Features":[30],"Transform":[31],"(SIFT)":[32],"used":[34,46],"find":[36],"corresponding":[37],"feature":[38],"points,":[39],"and":[40,119],"Random":[41],"Sample":[42],"Consensus":[43],"(RANSAC)":[44],"as":[47],"robust":[48],"estimator":[49],"remove":[51],"false":[52],"matches":[53],"in":[54,153],"the":[55,69,78,91,105,150],"group.":[58],"quaternion":[61],"solution":[62],"employed":[64],"for":[65],"initial":[66,70,94],"registration.":[67,95,112,144,156],"After":[68],"registration":[71,81,89],"clouds,":[74],"cannot":[76],"meet":[77],"requirements":[79],"accuracy.":[82],"Therefore,":[83],"we":[84],"need":[85],"achieve":[87,142],"accurate":[88],"basis":[92],"Iterative":[97],"Closest":[98],"Point":[99],"(ICP)":[100],"one":[103],"widely-used":[106],"methods":[107],"cope":[109],"with":[110],"However,":[113],"ICP":[114,137],"vulnerable":[116],"outliers":[118],"missing":[120],"data,":[121],"which":[122],"severely":[123],"compromises":[124],"its":[125],"performance.":[126],"paper,":[129],"Sparse":[130],"L":[131],"<sub":[132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">p</sub>":[134],"-norm":[135],"developed":[140],"precise":[143],"Experimental":[145],"results":[146],"verified":[147],"accuracy":[148],"presented":[151]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
