{"id":"https://openalex.org/W4211102924","doi":"https://doi.org/10.1109/icnsc52481.2021.9702130","title":"Parallel 3D ICP Based on Conditionally Constrained Corresponding Points and Applications","display_name":"Parallel 3D ICP Based on Conditionally Constrained Corresponding Points and Applications","publication_year":2021,"publication_date":"2021-12-03","ids":{"openalex":"https://openalex.org/W4211102924","doi":"https://doi.org/10.1109/icnsc52481.2021.9702130"},"language":"en","primary_location":{"id":"doi:10.1109/icnsc52481.2021.9702130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc52481.2021.9702130","pdf_url":null,"source":{"id":"https://openalex.org/S4363608459","display_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","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/A5041968100","display_name":"Tun Dong Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tun Dong Liu","raw_affiliation_strings":["Xiamen University,Department of Automation,Xiamen,China,361102"],"affiliations":[{"raw_affiliation_string":"Xiamen University,Department of Automation,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024719972","display_name":"Fan Zhen Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Zhen Kong","raw_affiliation_strings":["Xiamen University,Department of Automation,Xiamen,China,361102"],"affiliations":[{"raw_affiliation_string":"Xiamen University,Department of Automation,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100713715","display_name":"Miao He","orcid":"https://orcid.org/0000-0003-3876-8157"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao He","raw_affiliation_strings":["Xiamen University,Department of Automation,Xiamen,China,361102"],"affiliations":[{"raw_affiliation_string":"Xiamen University,Department of Automation,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111726884","display_name":"Xiao Wu","orcid":"https://orcid.org/0009-0004-7013-6234"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Ming Wu","raw_affiliation_strings":["Xiamen University,Department of Automation,Xiamen,China,361102"],"affiliations":[{"raw_affiliation_string":"Xiamen University,Department of Automation,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000220177","display_name":"Gui Fang Shao","orcid":null},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gui Fang Shao","raw_affiliation_strings":["Xiamen University,Department of Automation,Xiamen,China,361102"],"affiliations":[{"raw_affiliation_string":"Xiamen University,Department of Automation,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041968100"],"corresponding_institution_ids":["https://openalex.org/I191208505"],"apc_list":null,"apc_paid":null,"fwci":0.4172,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.53476887,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"30","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":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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.856718897819519},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.852533221244812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6927956342697144},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6916521191596985},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5533398389816284},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.5531366467475891},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5142912268638611},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4757116436958313},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47166717052459717},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4499189257621765},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44548124074935913},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4081355333328247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3680935502052307},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23014041781425476}],"concepts":[{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.856718897819519},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.852533221244812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6927956342697144},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6916521191596985},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5533398389816284},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.5531366467475891},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5142912268638611},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4757116436958313},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47166717052459717},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4499189257621765},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44548124074935913},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4081355333328247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3680935502052307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23014041781425476},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icnsc52481.2021.9702130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc52481.2021.9702130","pdf_url":null,"source":{"id":"https://openalex.org/S4363608459","display_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1964365496","https://openalex.org/W1979164741","https://openalex.org/W1998544300","https://openalex.org/W2012464174","https://openalex.org/W2049981393","https://openalex.org/W2545694617","https://openalex.org/W2791719807","https://openalex.org/W2909749587","https://openalex.org/W3084704703","https://openalex.org/W4210781262","https://openalex.org/W4249866455","https://openalex.org/W6640432562"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W4200038092"],"abstract_inverted_index":{"The":[0,104],"iterative":[1],"closest":[2],"point":[3,44,48,87,102,114],"(ICP)":[4],"tends":[5],"to":[6,12,65],"fall":[7],"into":[8],"local":[9],"optimality":[10],"due":[11],"inaccurate":[13],"initial":[14],"poses":[15],"during":[16],"the":[17,20,43,46,55,61,67,75,81,85,91,96,112,117,129,139,150],"registration":[18,41],"of":[19,42,77,90,122,152],"multi-view":[21,86,113],"3D":[22],"cloud.":[23,103],"Therefore,":[24],"this":[25],"paper":[26],"proposes":[27],"a":[28,39,126,158],"parallel":[29,70],"ICP":[30],"algorithm":[31,109],"with":[32],"conditional":[33],"constraint":[34],"corresponding":[35,47],"points.":[36],"To":[37,73],"achieve":[38],"fine":[40],"cloud,":[45,115],"set":[49],"is":[50,63,93,134,145],"first":[51],"filtered":[52],"by":[53,95],"adding":[54],"normal":[56],"and":[57,119,138,155],"color":[58],"information.":[59],"Then":[60],"OpenMP":[62],"introduced":[64],"accelerate":[66],"program":[68],"in":[69,80,125,157],"for":[71],"ICP.":[72,123],"verify":[74],"effectiveness":[76],"our":[78,108],"algorithm,":[79],"V-Rep":[82],"simulation":[83],"environment,":[84],"cloud":[88],"data":[89],"scene":[92],"obtained":[94],"RGB-D":[97],"cameras":[98],"from":[99],"different":[100],"angles":[101],"results":[105],"show":[106],"that":[107],"can":[110],"fuse":[111],"improve":[116],"accuracy":[118],"real-time":[120],"performance":[121],"Furthermore,":[124],"large-scale":[127],"calculation,":[128],"average":[130],"single":[131],"iteration":[132],"time":[133],"less":[135],"than":[136],"0.1s,":[137],"RMSE":[140],"(root":[141],"mean":[142],"square":[143],"error)":[144],"about":[146],"0.1,":[147],"which":[148],"meets":[149],"need":[151],"target":[153],"recognition":[154],"sorting":[156],"three-dimensional":[159],"industrial":[160],"scene.":[161]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}