{"id":"https://openalex.org/W2971330398","doi":"https://doi.org/10.1109/icip.2019.8803365","title":"Kpsnet: Keypoint Detection and Feature Extraction for Point Cloud Registration","display_name":"Kpsnet: Keypoint Detection and Feature Extraction for Point Cloud Registration","publication_year":2019,"publication_date":"2019-08-26","ids":{"openalex":"https://openalex.org/W2971330398","doi":"https://doi.org/10.1109/icip.2019.8803365","mag":"2971330398"},"language":"en","primary_location":{"id":"doi:10.1109/icip.2019.8803365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip.2019.8803365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Image Processing (ICIP)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10453/137262","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079966531","display_name":"Anan Du","orcid":"https://orcid.org/0000-0002-9634-3125"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Anan Du","raw_affiliation_strings":["School of Electrical and Data Engineering, University of Technology Sydney"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Data Engineering, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043863561","display_name":"Xiaoshui Huang","orcid":"https://orcid.org/0000-0002-3579-538X"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Xiaoshui Huang","raw_affiliation_strings":["School of Electrical and Data Engineering, University of Technology Sydney"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Data Engineering, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409994","display_name":"Jian Zhang","orcid":"https://orcid.org/0000-0002-7240-3541"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jian Zhang","raw_affiliation_strings":["School of Electrical and Data Engineering, University of Technology Sydney"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Data Engineering, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019592402","display_name":"Lingxiang Yao","orcid":"https://orcid.org/0000-0002-6570-985X"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lingxiang Yao","raw_affiliation_strings":["School of Electrical and Data Engineering, University of Technology Sydney"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Data Engineering, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063629854","display_name":"Qiang Wu","orcid":"https://orcid.org/0000-0001-5641-2483"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Qiang Wu","raw_affiliation_strings":["School of Electrical and Data Engineering, University of Technology Sydney"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Data Engineering, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5079966531"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":0.3882,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.60201693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"2576","last_page":"2580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7599437832832336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7534942626953125},{"id":"https://openalex.org/keywords/extractor","display_name":"Extractor","score":0.7516422867774963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7363454103469849},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.7125838398933411},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.681688666343689},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.6212171316146851},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.6210160255432129},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5908105373382568},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.588861882686615},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4793965816497803},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46772301197052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.161854088306427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07677692174911499}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7599437832832336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7534942626953125},{"id":"https://openalex.org/C117978034","wikidata":"https://www.wikidata.org/wiki/Q5422192","display_name":"Extractor","level":2,"score":0.7516422867774963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7363454103469849},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.7125838398933411},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.681688666343689},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.6212171316146851},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.6210160255432129},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5908105373382568},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.588861882686615},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4793965816497803},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46772301197052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.161854088306427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07677692174911499},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C21880701","wikidata":"https://www.wikidata.org/wiki/Q2144042","display_name":"Process engineering","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icip.2019.8803365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip.2019.8803365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Image Processing (ICIP)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/137262","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/137262","pdf_url":"http://hdl.handle.net/10453/137262","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/137262","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/137262","pdf_url":"http://hdl.handle.net/10453/137262","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2971330398.pdf","grobid_xml":"https://content.openalex.org/works/W2971330398.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1972485825","https://openalex.org/W1985238052","https://openalex.org/W1989476314","https://openalex.org/W2073700113","https://openalex.org/W2099606917","https://openalex.org/W2133098875","https://openalex.org/W2160821342","https://openalex.org/W2336961836","https://openalex.org/W2560609797","https://openalex.org/W2566265240","https://openalex.org/W2742069755","https://openalex.org/W2742438537","https://openalex.org/W2883357174","https://openalex.org/W2900862165","https://openalex.org/W2963121255","https://openalex.org/W2963272646","https://openalex.org/W2963939259","https://openalex.org/W2964347182","https://openalex.org/W4247250903","https://openalex.org/W6739778489","https://openalex.org/W6753472729","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2487162673","https://openalex.org/W2793211469","https://openalex.org/W2949152769","https://openalex.org/W4372354731","https://openalex.org/W2807634898","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W1692008701","https://openalex.org/W2942366970"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,30,51,54,63,84,87,109,113,119],"KPSNet,":[4],"a":[5,25,36],"KeyPoint":[6],"Siamese":[7],"Network":[8],"to":[9,23,43,68,82,104],"simultaneously":[10],"learn":[11,44],"task-desirable":[12],"keypoint":[13,19],"detector":[14,20],"and":[15,72,90,93,116],"feature":[16,39],"extractor.":[17],"The":[18,38],"is":[21,41],"optimized":[22,42],"predict":[24],"score":[26],"vector,":[27],"which":[28],"signifies":[29],"probability":[31],"of":[32,47,121],"each":[33],"candidate":[34],"being":[35],"keypoint.":[37],"extractor":[40],"robust":[45],"features":[46],"keypoints":[48,55,71],"by":[49],"exploiting":[50],"correspondence":[52,85],"between":[53,86],"generated":[56],"from":[57],"two":[58,88],"inputs,":[59],"respectively.":[60],"For":[61],"training,":[62],"KPSNet":[64],"does":[65],"not":[66],"require":[67],"manually":[69],"annotate":[70],"local":[73],"patches":[74],"pairwise.":[75],"Instead,":[76],"we":[77],"design":[78],"an":[79],"alignment":[80],"module":[81],"establish":[83],"inputs":[89],"generate":[91],"positive":[92],"negative":[94],"samples":[95],"on-the-fly.":[96],"Therefore,":[97],"our":[98,122],"method":[99,111],"can":[100],"be":[101],"easily":[102],"extended":[103],"new":[105],"scenes.":[106],"We":[107],"test":[108],"proposed":[110],"on":[112],"open-source":[114],"benchmark":[115],"experiments":[117],"show":[118],"validity":[120],"method.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}