{"id":"https://openalex.org/W2118799426","doi":"https://doi.org/10.1109/icra.2012.6224717","title":"Point set registration through minimization of the L&lt;inf&gt;2&lt;/inf&gt; distance between 3D-NDT models","display_name":"Point set registration through minimization of the L&lt;inf&gt;2&lt;/inf&gt; distance between 3D-NDT models","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2118799426","doi":"https://doi.org/10.1109/icra.2012.6224717","mag":"2118799426"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics 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/A5044352907","display_name":"Todor Stoyanov","orcid":"https://orcid.org/0000-0002-6013-4874"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Todor Stoyanov","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","Center of Applied Autonomous Sensor Systems (AASS)\u00d6rebro University Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS)\u00d6rebro University Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101576376","display_name":"Martin Magnusson","orcid":"https://orcid.org/0000-0001-8658-2985"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Martin Magnusson","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","Center of Applied Autonomous Sensor Systems (AASS)\u00d6rebro University Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS)\u00d6rebro University Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088586617","display_name":"Achim J. Lilienthal","orcid":"https://orcid.org/0000-0003-0217-9326"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Achim J. Lilienthal","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","Center of Applied Autonomous Sensor Systems (AASS)\u00d6rebro University Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS)\u00d6rebro University Sweden","institution_ids":["https://openalex.org/I26437253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044352907"],"corresponding_institution_ids":["https://openalex.org/I26437253"],"apc_list":null,"apc_paid":null,"fwci":164.3427,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.99915966,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5196","last_page":"5201"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980000257492065,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9930999875068665,"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/algorithm","display_name":"Algorithm","score":0.5636289119720459},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5476993918418884},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.533175528049469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.485257625579834},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.4733678996562958},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.449631929397583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44808757305145264},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43171262741088867},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.43065354228019714},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.42787081003189087},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.421925812959671},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.41825318336486816},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3681168258190155},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2776506543159485},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.15877440571784973},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11042487621307373},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.10871732234954834},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07716113328933716}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5636289119720459},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5476993918418884},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.533175528049469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.485257625579834},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.4733678996562958},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.449631929397583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44808757305145264},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43171262741088867},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.43065354228019714},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.42787081003189087},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.421925812959671},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.41825318336486816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3681168258190155},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2776506543159485},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.15877440571784973},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11042487621307373},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.10871732234954834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07716113328933716},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.258.8054","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.258.8054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.aass.oru.se/Research/Learning/publications/2012/Stoyanov_etal_2012-ICRA_Point_Set_Registration_through_Minimization_of_the_L2_Distance_between_3D-NDT_Models.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1573751879","https://openalex.org/W1599434464","https://openalex.org/W1650975994","https://openalex.org/W2004537679","https://openalex.org/W2006245542","https://openalex.org/W2033178790","https://openalex.org/W2049981393","https://openalex.org/W2068861396","https://openalex.org/W2071158641","https://openalex.org/W2093593306","https://openalex.org/W2111387969","https://openalex.org/W2131439959","https://openalex.org/W2131821152","https://openalex.org/W2132512702","https://openalex.org/W2133123543","https://openalex.org/W2145178709","https://openalex.org/W2150190641","https://openalex.org/W2160821342","https://openalex.org/W2901136733","https://openalex.org/W3083656528","https://openalex.org/W3148595793","https://openalex.org/W6635897114","https://openalex.org/W6676766710","https://openalex.org/W6682507740","https://openalex.org/W6756486208","https://openalex.org/W6817117944"],"related_works":["https://openalex.org/W1980892922","https://openalex.org/W2313490880","https://openalex.org/W2153599441","https://openalex.org/W2045048921","https://openalex.org/W4293209148","https://openalex.org/W2384380565","https://openalex.org/W4300265947","https://openalex.org/W1865437409","https://openalex.org/W2121891947","https://openalex.org/W2119844111"],"abstract_inverted_index":{"Point":[0,142],"set":[1],"registration-the":[2],"task":[3],"of":[4,13,44,68,97,134,138],"finding":[5],"the":[6,32,69,81,88,98,114,135,139],"best":[7],"fitting":[8],"alignment":[9],"between":[10,34,87],"two":[11],"sets":[12,72],"point":[14,60,71],"samples,":[15],"is":[16,120],"an":[17,76],"important":[18],"problem":[19],"in":[20,105],"mobile":[21],"robotics.":[22],"This":[23],"article":[24],"proposes":[25],"a":[26,42,106,132],"novel":[27],"registration":[28],"algorithm,":[29],"based":[30,79],"on":[31,80],"distance":[33,86],"Three-Dimensional":[35],"Normal":[36],"Distributions":[37],"Transforms.":[38],"3D-NDT":[39,66,144],"models":[40],"-":[41],"sub-class":[43],"Gaussian":[45],"Mixture":[46],"Models":[47],"with":[48],"uniformly":[49],"weighted,":[50],"largely":[51],"disjoint":[52],"components,":[53],"can":[54],"be":[55,125],"quickly":[56],"computed":[57,102],"from":[58],"range":[59],"data.":[61],"The":[62,117],"proposed":[63,118],"algorithm":[64,119],"constructs":[65],"representations":[67],"input":[70],"and":[73,93,103,122,128,143],"then":[74],"formulates":[75],"objective":[77,99],"function":[78,100],"L":[82],"<sub":[83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sub>":[85],"considered":[89],"models.":[90],"Analytic":[91],"first":[92],"second":[94],"order":[95],"derivatives":[96],"are":[101],"used":[104],"standard":[107],"Newton":[108],"method":[109],"optimization":[110],"scheme,":[111],"to":[112,124,131],"obtain":[113],"best-fitting":[115],"transformation.":[116],"evaluated":[121],"shown":[123],"more":[126],"accurate":[127],"faster,":[129],"compared":[130],"state":[133],"art":[136],"implementation":[137],"Iterative":[140],"Closest":[141],"Point-to-Distribution":[145],"algorithms.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}